Torque Ctrl - ABB ACS800 Firmware Manual

184
Index Name/Selection
23.04 ACC
COMPENSATION
0.00 ... 999.98 s
23.05 SLIP GAIN
0.0 ... 400.0%
23.06 AUTOTUNE RUN
NO
YES
23.07 SP ACT FILT TIME
0...1000000 ms

24 TORQUE CTRL

24.01 TORQ RAMP UP
0.00 ... 120.00 s
24.02 TORQ RAMP DOWN
0.00 ... 120.00 s
Actual signals and parameters
Description
Defines the derivation time for acceleration/(deceleration) compensation. In
order to compensate inertia during acceleration a derivative of the reference is
added to the output of the speed controller. The principle of a derivative action
is described for parameter 23.03.
Note: As a general rule, set this parameter to the value between 50 ... 100% of
the sum of the mechanical time constants of the motor and the driven machine.
(The speed controller Autotune Run does this automatically, see parameter
23.06.)
The figure below shows the speed responses when a high inertia load is
accelerated along a ramp.
No Acceleration Compensation
%
Derivation time
Defines the slip gain for the motor slip compensation control. 100% means full
slip compensation; 0% means no slip compensation. The default value is
100%. Other values can be used if a static speed error is detected despite of
the full slip compensation.
Example: 1000 rpm constant speed reference is given to the drive. Despite of
the full slip compensation (SLIP GAIN = 100%), a manual tachometer
measurement from the motor axis gives a speed value of 998 rpm. The static
speed error is 1000 rpm - 998 rpm = 2 rpm. To compensate the error, the slip
gain should be increased. At the 106% gain value, no static speed error exists.
Slip gain value.
Start automatic tuning of the speed controller. Instructions:
- Run the motor at a constant speed of 20 to 40% of the rated speed.
- Change the auto tuning parameter
Note: The motor load must be connected to the motor.
No auto tuning.
Activates the speed controller auto tuning. Automatically reverts to NO.
Defines the time constant of the actual speed filter, that is time within the actual
speed has reached 63% of the nominal speed.
Time constant
Torque control variables.
Visible only if Master/Follower is Active (parameter
= DTC.
Defines the torque reference ramp up time.
Time for the reference to increase from zero to the nominal motor torque.
Defines the torque reference ramp down time.
Time for the reference to decrease from the nominal motor torque to zero.
Acceleration Compensation
%
Speed reference
Actual speed
t
23.06 to YES.
60.01 and parameter
FbEq
t
0 ... 9999
0 ... 400
0
65535
1 = 1 ms
99.04
0 ... 12000
0 ... 12000