ABB +N5600 Firmware Instructions page 276

276 Parameters
No. Name/Value
25.25 Torque adapt max
limit
25.27 Kp adapt coef at min torque
0.0 ... 1600.0%
25.26 Torque adapt filt
time
0.000 ... 100.000 s
25.27 Kp adapt coef at
min torque
0.000 ... 10.000
Description
Maximum torque reference for speed controller adaptation.
Speed controller gain can be adapted according to the final
unlimited torque reference
This can be used to smooth out disturbances caused by a
small load and backlashes.
The functionality involves multiplying the gain
proportional gain) by a coefficient within a certain torque
range.
When the torque reference is 0%, the gain is multiplied by the
value of parameter
When the torque reference is equal to or above
adapt max limit, no adaptation takes place (the coefficient is
1).
Between 0% and 25.25 Torque adapt max
coefficient for the gain is calculated linearly on the basis of
the breakpoints.
Filtering can be applied on the torque reference using
parameter 25.26 Torque adapt filt
See also the block diagram on page 650.
Coefficient for K (proportional gain)
p
1.000
0
Maximum torque reference for speed controller adaptation.
Defines a filter time constant for the adaptation, in effect
adjusting the rate of change of the gain.
See parameter 25.25 Torque adapt max
Filter time for adaptation.
Proportional gain coefficient at 0% torque reference.
See parameter 25.25 Torque adapt max
Proportional gain coefficient at 0% torque reference.
(26.01 Torque reference to
25.27 Kp adapt coef at min
limit, the
time.
25.25 Torque
adapt max limit
limit.
limit.
Def/FbEq16
0.0%
TC).
(25.02 Speed
torque.
25.25 Torque
Final torque reference
(26.01) (rpm)
See par.
46.03
0.000 s
100 = 1 s
1.000
1000 = 1