Dynamatic EC 2000, Instruction Manual

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7.2 Menu B: CLCH PERFORMANCE
This is for adjusting the clutch performance using an internal proportional-integral-derivative
feedback loop (PID). Dynamatic recommends only adjusting the speed feedback parameters
4, 5, and 6. Dynamatic recommends trying to keep parameter 6 as low as possible (as high
DIFF values can cause a control speed to run away over time) and adjust parameters 4 and 5
until stable results are achieved.
1. CURR PROP GAIN
2. CURR INTGRL GAIN
3. CURRENT DIFF GAIN
4. SPEED PROP GAIN
The minimum speed for the clutch. Proportional control is the amount of response to an
incorrect speed and is proportional to the amount of error. For example, if you are driving a
car, and you want to be going 40 mph, but you drop below that, you hit the gas pedal to
accelerate until you hit 40 mph again.
5. SPED INTGRL GAIN
Integral control is a constant summation of error from the setpoint and provides feedback
proportional to the total rather than the error. While proportional control deals with a large
difference in target and actual speed, and derivative control deals with sudden changes,
integral control deals with small errors.
6. SPEED DIFF GAIN
Derivative control compensates for sudden changes in speed. For example, if you are driving
at 40 mph, but now you are on a hilly road. If you hit a large hill, the speed will drop fairly
quickly, but you press the gas pedal again to bring it back up. But you probably applied a lot
more gas than what was needed to counteract that sudden and drastic drop in speed.
Default: 0%
7. ENABLE CURRENT LOOP
The EC 2000 has two PID loops (as seen in the previous parameters), speed and current, where
the speed PID loop is fed into the current PID loop. This parameter allows the user to disable
the current PID loop. This is typically is used as last resort in performance stabilization.
•
ENABLE (default)
•
DISABLE
8. TORQUE LIMIT
The percentage of motor amps allowed until the torque limit fault is enabled. Default: 250%