Danfoss MCO 305 Design Manual page 213

MCO 305 Design Guide
32-72 Size of the Control Window (Deactiv.)
REGWMIN
Range
0 – MLONG [qc]
Function
REGWMIN indicates the size of the window inside of
which the control is to be deactivated until the par.
32-71 Size of the Control Window (Activation) is
reached again.
32-73 Integral limit filter time
KILIMTIME
Range [ms]
-10000 ... 10000
Option
Integral part of PID position
regulation always active.
< 0 = Integral part of PID position
regulation just active at standstill
> 0 = Integral part of PID position
regulation just active during
movement
Function
Time in ms which is used to increase or decrease
the integral limit of the position control loop up to
KILIM.
The integral part of the PID position control loop
can be active all the time or just during a move-
ment or just at standstill. The value of this parame-
ter determines this behavior.
Using value 0 activates the integral part of the PID
position control loop all the time according to the
parameter 32-62 KINT and the limitation parame-
ter 32-63 KILIM.
Using a value > 0 activates the integral part of the
PID position control loop just during a motor move-
ment. If the motor is in standstill, the integral part
is reduced to zero. If the motor starts to move, the
integration limit is increased from zero to the
defined KILIM value within the period of time given
by the KILIMTIME setting. If the motor stops again
the integral part is reduced again by decreasing the
limit to zero within the defined period.
default setting
__ Parameter Reference __
0
[0]
[1]
[2]
[ ] value for use in communication via serial communication port
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
This handling of the integral part can be an advan-
tage for synchronization applications, where low
synchronization errors are requested, but no hard
regulation at standstill is wanted.
Using a value < 0 activates the integral part of the
PID position control loop just at standstill. If the
motor starts to move, the integral part is reduced
to zero by decreasing the integration limit within
the period of time given by the absolute value of
the KILIMTIME setting. If the motor stops again,
the integration limit increased from zero to the
defined KILIM within the defined period of time.
This handling of the integral part can be helpful to
prevent nervous drive behavior during a move-
ment, but still get a very accurate positioning
result at standstill.
See also p. 32-60 KPROP and p. 32-61 KDER.
0
32-74 Position error filter time
POSERRTIME
Range [ms]
0 ... 10000
0 = no time frame active, i.e. error state is
triggered immediately.
Function
Time frame [ms] for triggering position error state.
Too big tracking errors (cp. POSERR) will just
trigger error state, if they exist longer than
POSERRTIME..
This parameter has a default of 0. If this parameter
is not 0, then a position error is only produced if
the position error value (par. 32-67) is exceeded
for a time longer than POSERRTIM. Internally the
position error is checked every 20 ms, that means
a detection of a position error can take up to
NoOfAxes * 20 ms in the worst case. If you have
for example the POSERRTIME set to 300 ms, then
we check if a position error has been detected
more than (300 / 1 * 20) = 15 times.
If this is true then an error is generated.
0
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