Function
Parameter
Setting
Check that the ramp settings are within frequency
converter capabilities and allowed application operating
specifications.
3-41 Ramp 1 Ramp
Up Time
3-42 Ramp 1 Ramp
Down Time
default setting
default setting
Set acceptable limits for the motor speed and frequency. 4-11 Motor Speed
Low Limit [RPM]
4-13 Motor Speed
High Limit [RPM]
4-19 Max Output
Frequency
0 RPM (default)
1500 RPM (default)
60 Hz (default 132 Hz)
4) Configure the Speed Control and select the Motor Control principle
Activation of Speed Control
1-00 Configuration
Mode
[1] Speed closed loop
Selection of Motor Control Principle
1-01 Motor Control
Principle
[3] Flux w motor feedb
5) Configure and scale the reference to the Speed Control
Set up Analog Input 53 as a reference Source
3-15 Reference
Resource 1
Not necessary (default)
Scale Analog Input 53 0 RPM (0V) to 1500 RPM (10 V)
6-1*
Not necessary (default)
6) Configure the 24 V HTL encoder signal as feedback for the Motor Control and the Speed Control
Set up digital input 32 and 33 as HTL encoder inputs
5-14 Terminal 32
Digital Input
5-15 Terminal 33
Digital Input
[0] No operation (default)
Select terminal 32/33 as motor feedback
1-02 Flux Motor
Feedback Source
Not necessary (default)
Select terminal 32/33 as Speed PID feedback
7-00 Speed PID
Feedback Source
Not necessary (default)
7) Tune the Speed Control PID parameters
Use the tuning guidelines when relevant or tune
manually
7-0*
See the guidelines
8) Save to finish
Save the parameter setting to the LCP for safe keeping
0-50 LCP Copy
[1] All to LCP
Table 3.3 Programming Order
3.6.6.2 Tuning PID Speed Control
The following tuning guidelines are relevant when using
one of the Flux motor control principles in applications
where the load is mainly inertial (with a low amount of
friction).
The value of
30-83 Speed PID Proportional Gain
is
dependent on the combined inertia of the motor and load,
and the selected bandwidth can be calculated using the
following formula:
Par. 7−02 =
Total inertia kgm2 x par. 1−25
Par. 1−20 x 9550
x Bandwidth rad /s
NOTICE
1-20 Motor Power [kW]
is the motor power in [kW] (i.e.
enter ‘4’ kW instead of ‘4000’ W in the formula).
A practical value for the bandwith is 20 rad/s. Check the
result of the
7-02 Speed PID Proportional Gain
calculation
against the following formula (not required when using a
high-resolution feedback such as a SinCos feedback):
Par. 7−02MAX = 0.01 x 4 x Encoder Resolution x Par. 7−06
2
x π
x
Max torque ripple %
The recommended start value for
7-06 Speed PID Lowpass
Filter Time
is 5 ms (lower encoder resolution calls for a
higher filter value). Typically, a max torque ripple of 3 % is
acceptable. For incremental encoders, the encoder
resolution is found in either
5-70 Term 32/33 Pulses Per
Revolution
(24 V HTL on standard frequency converter) or
17-11 Resolution (PPR)
(5 V TTL on Encoder Option MCB
102).
Generally, the practical maximum limit of
7-02 Speed PID
Proportional Gain
is determined by the encoder resolution
and the feedback filter time, but other factors in the
application might limit the
7-02 Speed PID Proportional Gain
to a lower value.
Basic Operating Principles
VLT
®
AutomationDrive FC 301/FC 302 Design Guide, 0.25-75 kW
MG33BF02 - Rev. 2013-12-20
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