Nord Drivesystems SK 200E Series, Manual

Page: 156 / 265

NORDAC SK 200E Manual
156 Subject to technical alterations BU 0200 GB
6.1.4
Control parameters
In combination with an HTL incremental encoder, a closed speed control loop can be set up via digital inputs
2 and 3 of the FI.
Alternatively, the incremental encoder signal can be used for other purposes. For this, the required function
must be selected in parameter 325.
In order for this parameter to be visible, the supervisor parameter P003 = 2/3 must be set.
Parameter
{Factory setting}
Setting value / Description / Note Device Supervisor Parameter set
P300 Servo mode
S P
0 ... 1
{ 0 }
This parameter activates speed control with speed measurement via an incremental encoder.
This leads to a very stable speed behaviour down to motor standstill.
0 = Off
1 = On
NOTE: for correct function, an HTL incremental encoder must be connected to digital
inputs DIN 2 and DIN 3 (See Section 2.8.3 "Colour and contact assignments for
incremental encoders (HTL)") and the correct pulse number must be entered in
parameter (P301).
ATTENTION: the functions of digital inputs DIN 2 and DIN 3 must be deactivated
((P420 [-02], [-03]) to "no function").
P301 Incremental encoder resolution
S
Input of the pulse-count per rotation of the connected incremental encoder.
If the encoder rotation direction is not the same as the motor driven by the FI, (depending on
installation and wiring), this can be compensated for by selecting the corresponding negative
increment numbers 8...16.
0 =
500 pulses
1 = 512 pulses
2 = 1000 pulses
3 = 1024 pulses
4 = 2000 pulses
5 = 2048 pulses
6 = 4096 pulses
7 = 5000 pulses
0 ... 17
{ 6 }
17 = + 8192 pulses
8 =
-500 pulses
9 = -512 pulses
10 = -1000 pulses
11 = -1024 pulses
12 = -2000 pulses
13 = -2048 pulses
14 = -4096 pulses
15 = -5000 pulses
16 = -8192 pulses
NOTE: (P301) is important for the positioning control in SK 200E. If an incremental
encoder is used for positioning (P604=1), the setting of the pulse number is
made here. (see Manual BU 0210)
P310 Speed c on tr o l ler P
S P
0 ... 3200 %
{ 100 }
P-component of the encoder (proportional amplification).
Amplification factor, with which the speed difference is multiplied from the setpoint and actual
frequency. A value of 100% means that a speed difference of 10% produces a setpoint of 10%.
Values that are too high can cause the output speed to oscillate.
P311 Speed c on tr o l ler I
S P
0 ... 800 % / ms
{ 20 }
I-component of the encoder (Integration component).
The integration component of the controller completely eliminates any control deviation. The
value indicates how large the setpoint change is per ms. Values that are too small cause the
controller to slow down (reset time is too long).