Group 26 Speed Error - ABB ACSM1 Manual

162
Group 26 SPEED ERROR
Speed error is determined by comparing the speed reference and speed feedback.
The error can be filtered using a first-order low-pass filter if the feedback and
reference have disturbances. In addition, a torque boost can be applied to
compensate acceleration; the torque is relative to the rate of change (derivative) in
the speed reference and inertia of the load. The speed error value can be supervised
using the window function.
The signals used as speed reference are (see also parameter group
183):
• 3.04 SPEEDREF RAMPED
• 4.01 SPEED REF POS
• 4.20 SPEED FEED FWD
OPMODE =
POSITION SYNCRON
26.04 SPEED FEED PCTRL
Parameters and firmware blocks
(position, synchron and homing control modes)
26.11 SPEED WIN HI
26.08 ACC COMP DER TIME
26.09 ACC COMP FTIME
20.01 MAXIMUM SPEED
6.12 OP
MODE ACK
SPEED
03.04 SPEED REF NCTRL
POSITION
SYNCHRON
4.01 SPEED REF PCTRL
HOMING
PROF VEL
26.05 SPEED STEP
0
06.02 STATUS WORD 2 bit 14
RAMP OUT 0
06.02 STATUS WORD 2 bit 12
RAMP IN 0
20.02 MINIMUM SPEED
(speed, "min" and "max" control modes)
(profile velocity mode).
d
dt
+ +
1.01 SPEED ACT NCTRL
26.06 SPD ERR FTIME
26.10 SPEED WIN FUNC
26.12 SPEED WIN LO
34
T
3.07 ACC COMP TORQ
AccCom
3.06 SPEED ERROR FILT
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