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ECODRIVE03-FL*-04VRS
Start Settings
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
The controller settings must be selected for the start of parameterization
as follows:
CR02, Velocity loop proportional gain = default value of the connected
motor.
CR03, Velocity loop integral action time = 6500 ms (no integral gain)
CR04, Smoothing time constant = minimum value (= 500 µs)
CR06, Rejection bandwidth velocity loop = 0 Hz (deactivated)
Definition of the Critical Proportional Gain and
Smoothing Time Constant
• Allow the drive to move at low velocity after activating the controller
enable signal. (Rotary motors: 10...20 rpm, linear motors: 1...2 m/min)
• Increase the CR02, Velocity loop-proportional gain until unstable
behavior (sustained oscillation) begins.
• Determine the frequency of the oscillation using an oscilloscope to
view the actual velocity signal (see also section entitled. "Analog
Output"). If the frequency of the oscillation is much higher than 500 Hz,
raise the CR04, Smoothing time constant until the oscillation ends.
Then increase the CR02, Velocity loop proportional gain until it
becomes unstable again.
• Reduce the CR02, Velocity loop proportional gain until the
oscillation ends by itself.
The value found using this process is called the "critical velocity loop
proportional gain."
Determining the Critical Integral Action Time
• Set the CR02, Velocity loop proportional gain = 0.5 times the critical
proportional gain
• Reduce the CR03, Velocity loop integral action time until unstable
behavior results.
• Increase the CR03, Velocity loop integral action time until sustained
oscillation ends.
The value found using this process is called the "Critical Integral Action
Time."
Determining the Velocity Loop Setting
The critical values found can be used to derive a control setting that is:
• independent of changes to the axis, since there is a sufficient safety
margin with respect to the stability limits
• able to reliably reproduce the characteristics in series-produced
machines
The following table shows some of the most frequently used application
types and the corresponding control loop settings.
8-43
Functions
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