31
Dancer control detail
3.7.6
Speed compensation (Pr. 706, Pr. 798)
Perform speed compensation for the result of PID calculation.
• Turn X35 signal ON to perform compensation by main rotation speed command.
For the X35 signal, set "35" in any of
Pr. 178 to Pr. 189 (input terminal function selection)
to assign the function.
(1) When
Pr. 706
= 0% is set (initial value):
Regardless of ON/OFF of X35 signal, speed compensation gain = 100%. The
Pr. 798
setting also becomes disabled.
(2) When other than
Pr. 706
= 0%:
When X35 is ON:
PID manipulated variable is 0% at main speed 0%.
When X35 is OFF:
Parameter
Number
Name
Setting Range
Increments
Initial
Value
Remarks
706
Speed compensation gain
0 to 200%
0.1%
0%
When setting is 0%,
Pr. 798
and
X35 are inactive.
798
Speed compensation bias
0 to 200%
0.1%
60%
Pr. 178 to Pr. 189
setting
Signal
Function
Description
35
X35
Speed
compensation
gain
selection
OFF: Speed compensation gain is independent of main speed and does not change with it.
ON: Speed compensation gain changes with main speed.
Speed compensation gain changes with main speed when X35 signal is not assigned.
Speed command value = PID calculation result [%]
speed compensation gain [%] + main speed
= PID calculation main speed
Speed command value = PID calculation result [%]
speed compensation gain [%] + main speed
= PID calculation result [%]
{ (
Pr. 706
[%] -
Pr. 798
[%])
main speed [%] +
Pr. 798
[%]} + main speed
Speed command value = PID calculation result [%]
speed compensation gain [%] + main speed
= PID calculation result [%]
Pr. 706
[%] + main speed
Main speed
(winding diameter compensated)[%]
Pr.706
(Speed compensation
gain)
Pr.798
(Speed compensation
bias)
PID manipulated amount
Pr. 902
Bias f
Pr. 903
Gain f
Pr. 902
Bias f
Pr. 903
Gain f
0%
100%
Main speed setting
(winding diameter compensated)
Main speed setting
(winding diameter compensated)
Main speed setting
When X35 is ON (fixed compensation rate)
(when X35 is not assigned)
PID manipulated amount
0%
100%
Main speed setting
(Note) When
Pr. 73
setting is polarity reversible, manipulated amount is also output to the reverse rotation.
When X35 is OFF (fixed compensation value)
(
Pr. 706
0)
Determine the manipulated amount by multiplying
the PID calculation result by the following ratio.
PID
Pr. 706
/100 speed command [%]/100
The manipulated amount changes with the main speed.
For the calculation, use a value reversely converted into
a percentage by
Pr. 902
and
Pr. 903
.
Determine the manipulated amount by multiplying
the PID calculation result by the following ratio.
PID
Pr. 706
/100
The manipulated amount does not change with the main speed.
