GE AF-650 GP Design Manual page 30

In the parameter list below it is assumed that all other parameters and switches remain at their default setting.
The following must be programmed in order shown - see explanation of settings in the Programming Guide.
Function
1) Make sure the motor runs properly. Do the following:
Set the motor parameters using name plate data
Have the frequency converter makes an auto tune
2) Check the motor is running and the encoder is attached properly. Do the following:
Press the "Hand" Keypad key. Check that the motor is running
and note in which direction it is turning (henceforth referred to as
the "positive direction").
Go to par. DR-20 Motor Angle. Turn the motor slowly in the positive
direction. It must be turned so slowly (only a few RPM) that it can
be determined if the value in par. DR-20 Motor Angle is increasing
or decreasing.
If par. DR-20 Motor Angle is decreasing then change the encoder
direction in par. E-81 Term 32/33 Encoder Direction.
3) Make sure the drive limits are set to safe values
Set acceptable limits for the references.
Check that the ramp settings are within drive capabilities and
allowed application operating specifications.
Set acceptable limits for the motor speed and frequency.
4) Configure the Speed Control and select the Motor Control principle
Activation of Speed Control
Selection of Motor Control Principle
5) Configure and scale the reference to the Speed Control
Set up Analog Input 53 as a reference Source
Scale Analog Input 53 0 RPM (0 V) to 1500 RPM (10V)
6) Configure the 24V HTL encoder signal as feedback for the Motor Control and the Speed Control
Set up digital input 32 and 33 as encoder inputs
Choose terminal 32/33 as motor feedback
Choose terminal 32/33 as Speed PID feedback
7) Tune the Speed Control PID parameters
Use the tuning guidelines when relevant or tune manually
8) Finished!
Save the parameter setting to the Keypad for safe keeping
3.4.2 Tuning PID Speed Control
The following tuning guidelines are relevant when using one of the Flux motor control principles in applications where the load is mainly inertial (with a low amount
of friction).
The value of par. PI-02 Speed PID Proportional Gain is dependent on the combined inertia of the motor and load, and the selected bandwidth can be calculated
using the following formula:
Total inertia k gm
Par . PI − 02 =
Par P
. − 07
Note: Par. P-07 Motor Power [kW] is the motor power in [kW] (i.e. enter '4' kW instead of '4000' W in the formula). A practical value for the Bandwith is 20 rad/s.
Check the result of the Par. PI-02 Speed PID Proportional Gain calculation against the following formula (not required if you are using a high resolution feedback
such as a SinCos feedback):
0.01 x
Par . PI − 02 =
MAXIMUM
Par. no.
P-02 to P-07
F-04 & F-05
Par. P-04 Auto Tune
Par. DR-20 Motor An-
gle
Par. E-81 Term 32/33
Encoder Direction
Par. F-52 Minimum
Reference
par. F-53 Maximum
Reference
Par. F-07 Accel Time 1
par. F-08 Decel Time 1
Par. F-18 Motor Speed
Low Limit [RPM]
par. F-17 Motor Speed
High Limit [RPM]
par. F-03 Max Output
Frequency 1
Par. H-40 Configura-
tion Mode
Par. H-41 Motor Con-
trol Principle
Par. F-01 Frequency
Setting 1
AN-1#
Par. E-05 Terminal 32
Digital Input
par. E-06 Terminal 33
Digital Input
Par. H-42 Flux Motor
Feedback Source
Par. PI-00 Speed PID
Feedback Source
PI-0#
Par. K-50 Keypad
Copy
2
x par . P − 06
x Bandwidth rad
x
9550
4 x Encoder Resolution x Par . PI
x
2 π
Setting
As specified by motor name plate
[1] Enable complete auto tune
Set a positive reference.
N.A. (read-only parameter) Note: An increasing value overflows at
65535 and starts again at 0.
[1] Counter clockwise (if par. DR-20 Motor Angle is decreasing)
0 RPM (default)
1500 RPM (default)
default setting
default setting
0 RPM (default)
1500 RPM (default)
60 Hz (default 132 Hz)
[1] Speed closed loop
[3] Flux w motor feedb
Not necessary (default)
Not necessary (default)
[0] No operation (default)
Not necessary (default)
Not necessary (default)
See the guidelines below
[1] All to Keypad
/ s
− 06
x Max torque ripple %
AF-650 GP Design Guide
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