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2) Speed loop compensation function is illustrated in the following block diagram:
Speed
reference
* Compensation gain (K) is in proportion to the compensation constant
(parameter Cn-28). Cn-28 = 0 shows no compensation status.
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Current loop gain (Cn-04)
Speed loop integration time
constant (Cn-05)
Compensation gain K*
Speed calculation
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2.6Minimizing Positioning Time
Current
Motor
loop
2
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