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Chapter 6
Programming
6-18
Parameter 169 – Kl Velocity Loop (Intg Gain ki)
This parameter controls the integral error gain of the velocity regulator. For
example, if KI = 8, then velocity (1000 rpm) error for 1 second will
produce a (rated motor) current torque reference.
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
0
Maximum Value:
24000
Default Value:
6667
Parameter 170 – Feed Forward Gain (Feed Frwd Gain)
Controls the feedforward gain of the velocity regulator. Setting this to a
value greater than zero reduces the velocity feedback overshoot in response
to a step change in the velocity reference. The velocity loop response to a
load disturbance is unaffected by the Feed Forward Gain.
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
0
Maximum Value:
0.39
Default Value:
0
Parameter 171 – Static Gain/Droop
Specifies the velocity regulation tolerance in rpm.
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
0 rpm
Maximum Value:
15.6 rpm
Default Value:
1 rpm
Parameter 172 – Velocity Loop Integrator Preset (Intg Prest Val)
The velocity loop integrator will be set to the value in this parameter when
the drive transitions into the run state.
Parameter Type:
View/modify in Maintenance level
Minimum Value:
–200% rated motor current
Maximum Value:
+200% rated motor current
Default Value:
0
Parameter 181 – Motor Inertia
Displays the time it will take for the selected motor to reach 1000 rpm at
100% of rated torque. This assumes that the motor has 0.2 times the motor
inertia connected to it, representing typical system inertia (couplings, etc.)
Parameter Type:
View/modify in Maintenance level
Minimum Value:
0 ms
Maximum Value:
500 ms
Default Value:
Set by "Setup drive with motor data" routine
Parameter 182 – Desired Velocity Bandwidth (Desired Vel BW)
This is associated with the Auto Tune Calculate function and allows the
user to enter a desired velocity bandwidth less than or equal to the
Maximum Bandwidth (parameter 68) as calculated by the auto tune cycle.
Parameter Type:
View/modify in Modify level and Maintenance level
Minimum Value:
1 rads/second
Maximum Value:
250 rads/second
Default Value:
200 rads/second – To convert rads/second to Hertz, divide by 6.28.
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