Current Int Gain Parameter; Speed Prop Gain Parameter; Speed Int Gain Parameter - Baldor 29M Installation And Operating Manual

Servo control

Table of Contents

Section 1

General Information

Current Int Gain Parameter

6-6 Manually Tuning the Series 29M Control

The Current Int Gain parameter located in the Level 1 Brushless Control Block is factory

preset at 150 Hz. This setting is suitable for essentially all systems. DO NOT CHANGE

WITHOUT FACTORY APPROVAL.

The Speed Prop Gain parameter located in the Level 1 Brushless Control Block is factory

set to 10. This gain may be increased or decreased to suit the application. Increasing

the Speed Prop Gain parameter will result in faster response, excessive proportional gain

will cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause

slower response and decrease overshoot and ringing caused by excessive proportional

gain.

The Speed Int Gain parameter located in the Level 1 Brushless Control Block is set to 3

Hz and may be set at any value from zero to 9.99 Hz.

Setting the Speed Int Gain parameter to 0Hz removes integral compensation. This

results in a proportional loop only. This selection is ideal for systems where overshoot

must be avoided and substantial stiffness (ability of the control to maintain commanded

speed despite varying torque loads) isn't required.

Increasing values of the Speed Int Gain parameter increases the low frequency gain and

stiffness of the control. An excessive integral gain setting will cause overshoot for

transient speed commands and may lead to oscillation. If the Speed Prop Gain

parameter and the Speed Int Gain parameter are set too high, an overshoot condition

can also occur.

To manually tune the control, the following procedure is used:

Set the speed Int Gain parameter = 0 (remove integral gain).

Increase the Speed Prop Gain parameter setting until adequate response to

step speed commands is attained.

Increase the Speed Int Gain parameter setting to increase the stiffness of the

drive, or ability to maintain speed with dynamic load changes.

Note: It is convenient to monitor speed step response with a strip chart recorder or

storage oscilloscope connected to J1–6 or –7 with Level 1, Output Block

Analog Out #1 or #2 set to ABS SPEED, 0 VDC = zero speed. See Section 3

for a discussion of analog outputs.

MN1230

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