Programming
Page
D-76
890CS Common Bus Supply - Frames B & D; 890CD Common Bus Drive and 890SD Standalone Drive - Frames B, C & D
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10
A
B
C
D
E
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2
3
4
5
6
7
Parameter Descriptions
GRAVITY
PREF: 141.20
Default: 0.00 Nm
Range: -32768.00 to
32767.00 Nm
Gravity force (in Nm) added to the torque setpoint computed by the speed loop. When there is a ‘vertical’ axis, the gravity is
used so that the position and speed loop works with a static output near 0.
LOAD INERTIA
PREF: 141.21
Default: 0.0000 kgm2
Range: 0.0000 to
32767.0000 kgm2
Used to compute the torque setpoint from a given acceleration setpoint (
kg*m²)
.
HIGH BAND
PREF: 141.22
Default: FALSE
Range: FALSE / TRUE
Must be set to TRUE if the speed loop is tuned with a bandwidth above the main resonance frequency.
If HIGH BAND = FALSE the total inertia (motor + load) is used to generate the static part of the torque setpoint (from the
acceleration feedforward) and the dynamic part (from the speed loop output).
If HIGH BAND = TRUE the total inertia (motor + load) is used to generate the static part of the torque setpoint (from the
acceleration feedforward) and only the motor inertia is used for the dynamic part (from the speed loop output).
REVERSE DIR.
PREF: 141.23
Default: FALSE
Range: FALSE / TRUE
Used to reverse the shaft movement.
If REVERSE DIR. = FALSE : the drive is counting upward when the shaft goes clockwise
If REVERSE DIR. = TRUE : the drive is counting downward when the shaft goes clockwise