9300 Servo PLC
System blocks
2.12
MCTRL_MotorControl
2-45
L
ServoPLC EN 2.0
2.12.7
Speed controller
The speed controller is designed as an ideal PID - controller.
Parameter setting
By selecting a motor under C0086 the parameters are preset. Adaptations to your applications are
not always necessary.
•
Use C0070 to set the proportional gain V
p
:
– Enter approx. 50% setpoint speed (100% = 16384 = n
max
).
– Increase C0070, until the drive becomes instable (observe motor noises).
– Reduce C0070 until the drives becomes stable again.
– Reduce C0070 to approx. half.
Code
LCD
Possible settings
Info
o
Lenze
Selection
o
C0070 Vp speed CTRL
à
V
pn
Speed controller
à
depending on C0086
•
Change of C0086 resets value to
the assigned default setting
0.0
{0.5}
255.0
•
Use C0071 to adjust the readjustment time T
n
:
– Reduce C0071 until the drive becomes unstable (motor noise!).
– Increase C0071 until the drive becomes stable again.
– Increase C0071 to approx. twice the value.
Code
LCD
Possible settings
Info
o
Lenze
Selection
o
C0071 Tn speed CTRL
à
T
nn
Speed controller
à
depending on C0086
•
Change of C0086 resets value to
the assigned default setting
1.0
{0.5 ms}
600.0
>512 ms
switched off
•
Use C0072 to set the difference gain
d
:
– Increase C0072 during operation until the drive reaches an optimum control behaviour.
Code
LCD
Possible settings
Info
o
Lenze
Selection
o
C0072 Td speed CTRL
0.0
T
dn
Speed controller
0.0
{0.1 ms}
32.0
•
Via
MCTRL_nNAdapt_a
V
p
can be changed using the PLC program.
V
p
=
MCTRL_nNAdapt_a
[% ]
C0070
Default:
MCTRL_nNAdapt_a
= 100 %
ð
V
p
= 100 %
C0070 = C0070
Signal limit
The speed controller is operating within its limits as long as the drive outputs the max. torque.
•
The drive cannot follow the speed setpoint.
•
MCTRL_bMMax_b
is set to TRUE.
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