56
3
．
The adjusted value can be observed in d0.24.
The regulation relationship between C1.06,C1.08(in
Fig.6-39) and feedback is similar to reference
regulation.Its adjusted value can be observed in d0.25.
C1.09 Proportional gain
KP
0.000
～
10.000
【
2.000
】
C1.10 Integral gain Ki
0.000
～
10.000
【
0.100
】
C1.11 Differential gain
Kd
0.000
～
10.000
【
0.100
】
C1.12 Sampling cycle T
0.01
～
50.00s
【
0.50s
】
The bigger the proportional gain of KP, the faster the
response, but oscillation may easily occur.
If only proportional gain KP is used in regulation, the
error cannot be eliminated completely. To eliminate the
error, please use the integral gain Ki to form a PI control
system. The bigger the Ki, the faster the response, but
oscillation may easily occur if Ki is too big.
The sampling cycle T refers to the sampling cycle of
feedback value. The PI regulator calculates once in each
sampling cycle. The bigger the sampling cycle the
slower the response.
C1.13 Output filter
0.01
～
10.00
【
0.05
】
This parameter defines the filter time of the close-loop
output (Frequency or torque).The bigger the output
filter,the slower the response.
C1.14 Error limit
0.0
～
20
％【
2.0
％】
This parameter defines the max. deviation of the output
from the reference, as shown in Fig. 6-43. Close-loop
regulator stops operation when the feedback value is
within this range.Setting this parameter correctly is
helpful to improve the system output accuracy and
stability.
Fig.6-43 Error limit
C1.15 Close-loop regulation characteristic 0
、
1
【
0
】
0: Positive
Set C1.15 to 0 if the motor speed is required to be
increased with the increase of the reference.
1: Negative
Set C1.15 to 1 if the motor speed is required to decrease
with the increase of the reference.
C1.16 Integral regulation
selection
0
、
1
【
0
】
0: Stop integral regulation when the frequency reaches
the upper and lower limits
1: Continue the integral regulation when the frequency
reaches the upper and lower limits
It is recommended to disable the integral regulation for
the system that requires fast response.
C1.17 Preset close-loop
frequency
0.00
～
1000.0Hz
【
0.00Hz
】
C1.18 Holding time of
preset
close-loop
frequency
0.0
～
3600.0s
【
0.0s
】
This function can make the close-loop regulation enter
stable status quickly.
When the close-loop function is enabled, the frequency
will ramp up to the preset close-loop frequency (C1.17)
within the Acc time, and then the drive will start
Error limit
Feedback value
Ooutput
frequency
Time
Time
Reference
