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Parameter
Menu 21
structure
21.17
Speed controller Kp gain
Bit
SP
Coding
Range
0.00 to 6.5535(1 / (rad/s))
Default
0.0300
Normal motor
Pr 3.10 = {SP01, 0.61}
parameter
Update rate
Background read
21.18
Speed controller Ki gain
Bit
SP
Coding
Range
0.00 to 655.35 s/rad s
Default
0.10
Normal motor
Pr 3.11 = {SP02, 0.62}
parameter
Update rate
Background read
21.19
Speed controller Kd gain
Bit
SP
Coding
Range
0.00000 to 0.65535(1/s / (rad/s))
Default
0.00000
Normal motor
Pr 3.12 = {SP03, 0.63}
parameter
Update rate
Background read
When the second motor is selected the gains defined in Pr 21.17 to Pr 21.19 are used directly by the speed controller. The speed controller setup
method defined by Pr 3.13 is ignored.
21.21
Speed feedback selector
Bit
SP
Coding
Range
0 to 5
Default
5
Normal motor
Pr 3.26 = {Fb01, 0.71}
parameter
Update rate
Background read
0, drv: Drive encoder
The position feedback from the encoder connected to the drive itself is used to derive the speed feedback for the speed controller and to calculate the
motor rotor flux position.
1, Slot1: Solutions Module in slot 1
The position feedback from the Solutions Module in Solutions Module slot 1 is used to derive the speed feedback for the speed controller and to
calculate the motor rotor flux position. If a position feedback category Solutions Module is not installed in slot 1 the drive produces an EnC9 trip.
2, Slot2: Solutions Module in slot 2
3, Slot3: Solutions Module in slot 3
4, tacho
5, Est speed
194
Keypad and
FI
DE
Txt VM DP
ND
4
FI
DE
Txt VM DP
ND
2
-1
FI
DE
Txt VM DP
ND
5
FI
DE
Txt VM DP
ND
1
www.onxcontrol.com
Advanced parameter
format
Parameter description
RA
NC
NV
PT
US RW BU
1
1
RA
NC
NV
PT
US RW BU
1
1
RA
NC
NV
PT
US RW BU
1
1
RA
NC
NV
PT
US RW BU
1
1
Serial comms
protocol
descriptions
PS
1
PS
1
PS
1
PS
1
Mentor MP Advanced User Guide
Performance
Issue Number: 4
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