Menu
3
Parameter
Parameter description
protocol
Performance
The
motor
and
load
inertia
represents
the
total
inertia
driven
by
the
motor.
This
is
used
to
set
the
speed
controller
gains
(see
Pr
3.13)
and
to
provide
The
bandwidth
is
defined
as
the
theoretical
3dB
point
on
the
closed-loop
gain
characteristic
of
the
speed
controller
as
a
second
order
system.
At
this
This
is
the
damping
factor
related
to
the
response
of
the
system
to
a
torque
transient,
and
so
if
the
damping
factor
is
unity
the
response
to
a
load
structure
Keypad
and
format
Advanced
parameter
descriptions
Serial
comms
0:
user
setup
With
the
default
value
the
user
should
enter
the
required
speed
controller
gains.
1:
Bandwidth
setup
If
bandwidth
based
setup
is
required
the
following
parameters
must
be
set
correctly:
Pr
3.20
=
required
bandwidth,
Pr
3.21
=
required
damping
factor,
Pr
3.18
=
motor
+
load
inertia
(it
is
possible
to
measure
the
load
inertia
as
part
of
the
auto-tuning
process,
see
Pr
5.12
on
page
75),
Pr
5.32
=
motor
torque
per
amp.
Ki
=
J
/
(Kc
x
Kt)
x
(2
x
Bandwidth
/
Kbw)
2
=
Pr
3.18
/
(rated
drive
current
x
Pr
5.32)
x
(2
x
Pr
3.20
/
Kbw)
2
Where:
Kbw
=
[
(2
2
+
1)
+ ((2
2
+
1)
2
+
1)
]
Kp
=
2
[(Ki
x
J)
/
(Kc
x
Kt)]
=
2
[(Pr
3.11
{SP02,
0.62}
x
Pr
3.18)
/
(rated
drive
current
x
Pr
5.32)]
2:
Kp
gain
times
16
If
this
parameter
is
set
to
2
the
Kp
gain
(from
whichever
source)
is
multiplied
by
16.
This
is
intended
to
boost
the
range
of
Kp
for
applications
with
very
high
inertia.
It
should
be
noted
that
if
high
values
of
Kp
are
used
it
is
likely
that
the
speed
controller
output
will
need
to
be
filtered
(see
Pr
4.12)
or
the
speed
feedback
will
need
to
be
filtered
(see
Pr
3.42).
If
the
feedback
is
not
filtered
it
is
possible
the
output
of
the
speed
controller
will
be
a
square
wave
that
changes
between
the
current
limits
causing
the
integral
term
saturation
system
to
malfunction.
torque
feed-forward
terms
during
acceleration
when
required
(see
Pr
4.11).
It
is
possible
to
measure
the
inertia
as
part
of
the
autotune
process,
see
Pr
5.12
{SE13,
0.34}.
point
the
phase
shift
is
approximately
60°.
This
parameter
is
used
to
define
the
bandwidth
used
for
setting
up
the
speed
loop
gain
parameters
automatically
when
Pr
3.17
=
1.
torque
transient
is
critically
damped.
The
step
response
of
the
speed
controller
gives
approximately
10
%
overshoot
with
unity
damping
factor.
48
Mentor
MP
Advanced
User
Guide
www.onxcontrol.com
Issue
Number:
4
3.18
Motor
and
load
inertia
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
5
1
1
1
Range
0.00000
to
90.00000
kg
m
2
Default
0.00000
Update
rate
Background
(1s)
read
3.20
Bandwidth
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
Range
0
to
50
Hz
Default
1
Hz
Update
rate
Background
(1s)
read
3.21
Damping
factor
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
1
Range
0.0
to
10.0
Default
1.0
Update
rate
Background
(1s)
read
3.22
Hard
speed
reference
Coding
Bit
SP
FI
DE
Txt
VM
DP
ND
RA
NC
NV
PT
US
RW
BU
PS
1
1
1
1
Range
±MAX_SPEED_REF
rpm
Default
0.0
Update
rate
4
ms
read
Содержание Mentor MP
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