ABB ACS800 Series Firmware Manual page 99

No. Name/Value
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 INTEG INIT VALUE
-300.00...300.00%
23.08 DERIV FILT TIME
0.0...100000.00 ms
23.09 ACC COMP FILT
0.0...999999.0 ms
23.10 DAMPENING COEF
0...10
Description
Defines the derivation time for acceleration 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
Note: As a general rule, set this parameter to the value between 50
and 100% of the sum of the mechanical time constants of the motor
and the driven machine. (The speed controller autotuning does this
automatically, see 23.06 AUTOTUNE RUN).
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 autotuning 23.06 AUTOTUNE RUN to YES.
Note: The motor load must be connected to the motor.
No autotuning.
Activates the speed controller autotuning. Automatically reverts to NO. 65535
Initial value of the integrator.
Setting range.
Derivation time for the speed controller.
Setting range.
Acceleration compensation term filter coefficient.
Setting range.
Coefficient of dampening for AUTOTUNE RUN. A lower value yields
an increased dynamic response.
Note: Visible only after entering proper code in
Setting range.
23.03 DERIVATION TIME.
Acceleration Compensation
%
Speed reference
Actual speed
t
16.03 PASS CODE.
Actual signals and parameters
87
FbEq
t
10 = 1 s
1 = 1%
0
100 = 1%
1 = 1 ms
1 = 1 ms
1 = 1