KEB COMBIVERT F5 Reference Manual page 188

LC - Control Setting Parameters
188
Integral Offset Gain
The integral offset gain value is effective only at low speeds. This value
i
is added to the integral term gain in LC08 for acceleration and LC09 for
deceleration, to provide greater control and more stability.
During acceleration the offset gain value is tapered off beginning at the defined
Max. corner speed and reaches zero at the defined Min. corner speed where
only the integral itself is active. The corner speeds can be defined through
parameters LC13 and LC14 for acceleration.
During deceleration the offset gain begins to increase at the defined Min.
corner speed and is fully added to the integral at the defined Max. corner
speed. The corner speeds can be defined through parameters LC15 and LC16
for deceleration.
Integral + Offset
Integral
i The LC15-16 corner speeds can be used to tailor the KI Offset gain to
a specific speed range at low speed. Worm gear applications require
a smaller KI Offset value but over a broader speed range, whereas a
gearless motor will require a much higher KI Offset value but at only
the very lowest speed. With these two parameters the Offset can be
tailored to the application. The default values are applicable to worm
gear applications.
Offset
Speed for
Max. Integral
Offest
Speed for
Min. Integral
Offset