Screen page "Speed" 

Use the default values for the motor as a starting point for optimization.
Cycle time of the speed controller: 250 µs
 

SpeedLimit 

Limits the motor speed. The maximum value also depends on the used motor and encoder.
 

Rotary Direction 

Fixes the direction of rotation of the motor shaft, referred to the polarity of the setpoint.
Make changes only while the amplifier is disabled + reset. This parameter is not available, if a SERCOS interface is built-in.
After changing the rotary direction the hardware limit switches have to be exchanged.
Standard setting: right-hand (cw) rotation of the motor shaft (looking at the shaft end), with:
—    positive voltage on terminal X3/4 (+ ) against terminal X3/5 ( - ) or
—    positive voltage on terminal X3/6 (+ ) against terminal X3/7 ( - )
 

Setp. Ramp+ 

Limits the rate of increase of the internal setpoint processing during acceleration to the speed limit (valid for both directions). A jump or step in the setpoint that is provided will be turned into a smoother, more favorable transition. As long as the ramp time is less than the mechanically limited rise time of the system, the response time of the system will not be negatively affected.
The ramp time settings are still effective if the limit-switches are activated.
Depending on the setting of the parameter ACCUNIT, acceleration time or ramp gradient will be set.
 

Setp. Ramp– 

Limits the rate of decrease of the internal setpoint processing during braking to the zero speed (valid for both directions). A jump or step in the setpoint that is provided will be turned into a smoother, more favorable transition.
As long as the ramp time is less than the mechanically limited fall time of the system, the response time of the system will not be negatively affected. In most cases the Setp.ramp+ and Setp.ramp– can be set to the same value.
The ramp time settings are still effective if the limit-switches are activated.
Depending on the setting of the parameter ACCUNIT, acceleration time or ramp gradient will be set.
 

Overspeed 

Determines the upper limit for the motor speed. If this limit is exceeded, the servo amplifier switches into the overspeed fault condition (error message F08).
 

Emergency ramp 

The braking ramp for emergency braking. This braking ramp is used if the message n03, following error or n04, response monitoring occurs, as well as on the activation of a hardware or software limit-switch.
 

Dis Ramp 

If the output stage is disabled (by removal of the hardware or software enable), the internal speed setpoint is run down to 0 along this ramp. When the speed has fallen below 5 rpm the output stage is disabled.
This ramp is only effective for motors that have a brake configured.
 

KP 

Determines the proportional gain (also known as AC-gain). Increase the value up to the level where the motor starts to oscillate, and then back it off until the oscillations have clearly stopped. Typical values for this setting are between 10 and 20.
Normalization: at KP = 1 and a control deviation of v_cmd -v_act = 3000 rev/min the instrument delivers the peak current.
 

Tn 

Determines the integration time constant. Smaller motors permit shorter integration times; larger motors or high moments of inertia in the load usually require integration times of 20 ms or more. With Tn = 0 ms the I-component is switched off.
 

PID-T2 

Affects the proportional gain (P-gain) at medium frequencies. It is often possible to improve the damping of the speed control loop by increasing PID-T2 to about Tn/3. The setting is made, if required, after the basic setting of KP and Tn.
 

Feedback 

If necessary, the time constant for the PT1-filter in the actual speed feedback (tachometer smoothing) can be altered. This may improve the step response and smoothness of running, particularly for very small, highly dynamic motors.
 

PI-PLUS 

This parameter only effects when the I-component is switched on (GVTN ¹ 0). 

With the default setting, the speed controller functions as a standard PI-controller with slight overshoot in the step response. If PI-PLUS is reduced to 0.65, the overshoot is avoided and the actual value approaches the setpoint slowly.
Optionally, you can reduce Tn. This makes the drive stiffer for the same step response.