Commissioning
Speed control
Parameterising of the speed control
6
63
KHB 13.0003-EN 2.0
6.2.2
Parameterising of the speed control
Before starting a control mode, the controller parameters often have to be adapted to
ensure a dynamic and adequately damped operating behaviour. Before this, the controller
parameters have to be selected depending on the system and the corresponding process.
Inthefollowing,speed control is tobeselected andthenparameterisedbymeansofashort
example. In addition to the control parameters (K
p
, T
n
), the limit values required for safe
operation (maximum speed, maximum acceleration, maximum deceleration and
maximum current) are determined.
No. Description
Identifier Control
field
Command
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1
Defining the operating mode
Speed control (03) is used as
operating mode (modes_of_
operation).
601
5
2F
60
60
00
03
00
00
00
2
Defining the maximum current
For limiting the current (max_
current) and the maximum
torque, the current is limited to
1.5 times the rated motor
current (1.5 times equals 1500
or 05DC
h
).
601
6
2B
73
60
00
DC
05
00
00
3
Speed controller setting (K
p
)
A gain (velocity_control_gain) of
K
p
= 2 (equals 200
h
) is selected.
601
6
2B
F9
60
01
00
02
00
00
4
Speed controller setting (T
n
)
An adjustment time (velocity_
control_time) of T
n
= 20000
μ
s
(equals 4E20
h
) is selected.
601
6
2B
F9
60
02
20
4E
00
00
5
Differential component setting
(TV)
The differential time constant of
the speed controller (velocity_
control_differential_time) is set
to 8000
μ
s (equals 1F40
h
).
601
6
2B
F9
60
03
40
1F
00
00
6
Defining the maximum
acceleration
The maximum acceleration
(profile_acceleration) is
20000 rev. × 4096 incr./rev. × 1/
min/s (equals 4E20000
h
).
601
8
23
83
60
00
00
00
E2
04
7
Defining the maximum
deceleration
The maximum deceleration
(profile_deceleration) is
20000 rev. × 4096 incr./rev. × 1/
min/s (equals 4E20000
h
).
601
8
23
84
60
00
00
00
E2
04
Tab. 4
Speed controller parameterisation
