Lenze 931E/K Small Drives Control User Manual download pdf (Page 35)

Commissioning

Speed control

Optimisation strategies

l 35

SW−HB 13.0002−EN 4.1

( Stop!

Excessive speed jumps may damage or destroy your system / mechanical

components. Please observe the load limits for the mechanical components.

Optimisation strategies

The behaviour of the speed controller can be monitored by recording the response to a

speed jump. For this, select "Speed control" and deactivate the ramp functionality, if any,

in the setpoint selector menu. A speed jump can be reached by entering setpoint jumps via

the RS232 interface. As an alternative, you can use the setpoint selection via an analog

input and short−circuit the analog input to reach a jump.

The speed controller response can be monitored by using the oscilloscope function. See the

chapter "Using the oscilloscope function". (¶ 115)

Set the oscilloscope channels to the actual speed (raw) and the speed setpoint to display

the step response of the speed controller.

) Note!

In general, the gain factor and the time constant must not be changed

abruptly but only gradually.

To start with, select a comparatively long integral−action time between 8 msec

and 10 msec and gradually increase the gain. Only reduce the integral−action

time step−by−step after having found the right setting by increasing the gain.

Changing the values may have the following effects:

ƒ If the setting is too hard, the speed controller will become unstable.

ƒ If the setting is too soft, the drive will not be stiff enough. This would lead to

following errors during operating.

) Note!

The speed controller parameters are not independent of each other. I.e. if a

measuring curve changes from one test to another, this may be due to

different reasons. Therefore, only change one parameter at a time: either only

the gain factor or only the time constant.

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Lenze 931E/K Small Drives Control User Manual Page 35