ABB ACS 6000 Commissioning Manual page 58

Chapter 13 - Speed Controller Tuning
58 (of 62)
3 Set datalogger to trig from 120.10 SPEED_STEP – signal. Add
signals 120.10 SPEED_STEP, 122.4 MOTOR SPEED, 122.14
TORQUE_REF_5 and 161.2 TORQUE_NOFILT to datalogger like
shown below.
4 Start datalogger and apply steps. Tuning is done by using AMC
parameters 121.01 KPS which is proportinal gain and 121.05 TIS
which is integration time of speed controller.
After speed controller has been tuned, the speed ramp test with short
acceleration and deceleration time must be done. Ramp can be
shortened until appr. nominal current is reached. This test is done only
from nominal speed. Also normal acceleration and deceleration shoud
be tested from maximum positive to maximum negative speed.
3BHS135824 ZAB E01Rev. D ACS 6000 Commissioning Manual
ABB