Baldor MN1274 06/2001 installation manual Speed Loop tab, 740 × L × A∕V

5.3.2Speed Loop tab

The Speed Loop tab provides a further opportunity to tune the motor.

Click in the appropriate boxes and type the required values.

Click Start Move to perform the move.

The motor will now rotate, WorkBench will upload the recorded (captured) data from the MintDrive and the Capture tab will be shown.

Note: If an error occurs, the Error: button on the Motion toolbar will show the error number. Click the button to see details of the error. Depending on the type of error that occurred, you might need to click the Clear Motion Errors button before further moves can be performed.

Speed Step performs a step speed change to the percentage of maximum motor velocity entered in the Speed (% max motor) box.

Current Proportional Gain (KIPROP)

The gain is set by MCT during the tuning process. If you need to recalculate this value, use the formula:

740 × L × A∕V

KIPROP = VAC

where:

L = Line to neutral inductance of the motor in mH. A/V = Amps / volt scaling of the current feedback. VAC = Nominal line voltage

Current Integral Gain (KIINT)

This gain is preset to 50Hz and should not need to be adjusted.

Speed Proportional Gain (KVPROP)

This gain will speed up the response and but excessive values will cause overshoot, and possible instability.

Speed Integral Gain (KVINT)

Increasing the value of KVINT increases the low frequency gain and stiffness of the control, but excessive values will cause overshoot for transient speed commands and may lead to oscillation. If KVPROP and KVINT are set too high, an overshoot condition can also occur.

Speed differential gain (KVDIFF)

Theoretically this gain has a damping effect, although it is not implemented in the MintDrive.

For a full description of the tuning parameters, see Appendix A.

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