Tuning Group; Position Error Integral Group - Emerson Control Techniques Epsilon Eb Series Reference Manual

Epsilon Eb and EN Drives Reference Manual

Tuning Group

Response
The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In general, it
affects how quickly the drive will respond to commands, load disturbances and velocity
corrections. A good value to start with (the default) is 50 Hz. The affect of response is greatly
affected by High Performance Gains. With High Performance Gains the maximum value
recommended is 100 Hz.

Position Error Integral Group

Position Error Integral Check Box
The Position Error Integral is a control term, which can be used to compensate for the
continuous torque required to hold a vertical load against gravity. It is also useful in Pulse
mode applications to minimize following error.
Time Constant
The user configures this control term using the "Position Error Integral Time Constant"
parameter. This parameter determines how quickly the drive will correct for in-position
following error. The time constant is in milliseconds and defines how long it will take to
decrease the following error to 37 percent of the original value. In certain circumstances the
value actually used by the drive will be greater than the value specified here.
Min Time Constant = 1000/Response
For example, with "Response" set to 50, the minimum time constant value is 1000/50 = 20
msec.
Enable High Performance Gains Check Box
Enabling the High Performance Gains increases closed loop stiffness which can be beneficial
in open loop velocity applications and Pulse mode. When enabled, they make the system less
forgiving in applications where the actual inertia varies or the coupling between the motor and
the load has excessive windup or backlash.
Note
When using an external position controller in Velocity mode, High Performance Gains
should not be enabled.
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