Unidrive M200-201 Quick Start Guide
47
Issue Number: 6
If
Brake Controller Enable
(00.055) = 0, the brake controller is disabled.
If
Brake Controller Enable
(00.055) = 1, the brake controller is enabled with I/O set up to control the
brake via the relay output. Drive ok is re-routed to digital I/O.
If
Brake Controller Enable
(00.055) = 2, the brake controller is enabled with I/O set up to control the
brake via digital I/O. Drive ok is routed to the relay output.
If
Brake Controller Enable
(00.055) = 3, the brake controller is enabled, but no parameters are set up
to select the brake output.
Defines the proportional gain for frequency controller 1.
RFC modes only.
The controller includes a feed forward proportional gain (Kp), a feed forward integral gain (Ki), and a
differential feedback gain (Kd).
Proportional gain (Kp)
If Kp is non-zero and Ki is zero the controller will only have a proportional term, and there must be a
frequency error to produce a torque reference. Therefore as the motor load increases there will be a
difference between the reference and actual frequencies.
Integral gain (Ki)
The integral gain is provided to prevent frequency regulation. The error is accumulated over a period
of time and used to produce the necessary torque reference without any frequency error. Increasing
the integral gain reduces the time taken for the frequency to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque
to the motor.
Differential gain (Kd)
The differential gain is provided in the feedback of the frequency controller to give additional
damping.
Defines the integral gain for frequency controller 1. See
Frequency Controller Proportional Gain Kp1
(00.065).
00.065 {03.010}
Frequency Controller Proportional Gain Kp1
RW
Num
US
OL
Ú
Ö
RFC-A
0.000 to 200.000 s/rad
0.100 s/rad
00.066 {03.011}
Frequency Controller Integral Gain Ki1
RW
Num
US
OL
Ú
Ö
RFC-A
0.00 to 655.35 s
2
/rad
0.10 s
2
/rad
Unidrive M200 201 Quick Start Guide English Iss6.book Page 47 Thursday, September 10, 2015 1:48 PM
