18
Figure 2.2: Speed Control Block Diagram
■
C5-01, C5-03, C5-13 / C5-02, C5-04, C5-14: Speed Control Loop Proportional Gain 1,
2, 3 / Speed Control Loop Integral Time 1, 2, 3
These parameters can be used to adjust the responsiveness of the Speed Control Loop.
No.
Parameter Name
Setting Range
Default
C5-01
Speed Control Loop Proportional Gain 1
0 to 255
2
C5-02
Speed Control Loop Integral Time 1
0 to 8191ms
1000ms
C5-03
Speed Control Loop Proportional Gain 2
0 to 255
15
C5-04
Speed Control Loop Integral Time 2
0 to 8191ms
1000ms
C5-13
Speed Control Loop Proportional Gain 3
0 to 255
15
C5-14
Speed Control Loop Integral Time 3
0 to 8191ms
1000ms
It is important to change the coefficients of the speed controllers properly in order to drive the motor
in a soft and smooth way. The accelerating procedure of P and I coefficients for start and stop modes
are shown in Fig. 2-3, (a) and (b) respectively.
(a)
(b)
Figure 2.3 Settings at Low and High Speed during Acceleration
■ C5-06: Speed Control Loop Primary Delay Time Constant
