Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 66)

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Low Pass Filter Enable Check Box

When this check box is selected it enables a Low Pass Filter to be applied to the output of the velocity command before the

torque compensator.

Low Pass Filter Frequency

This parameter defines the Low Pass Filter cut-off frequency. Signals exceeding this frequency will be filtered at a rate of 40

dB per decade. The default value is 600 Hz.

Tuning Group

Response

The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In general, it affects how quickly the drive

will respond to commands, load disturbances and velocity corrections. A good value to start with (the default) is 50 Hz. The

maximum value recommended is 80 Hz.

Enable Feedforwards Check Box

When feedforwards are enabled, the accuracy of the Inertia and Friction parameters is very important. If the Inertia parameter

is larger than the actual inertia, the result could be a significant overshoot during ramping. If the Inertia parameter is smaller

than the actual inertia, following error during ramping will be reduced but not eliminated. If the Friction parameter is greater

than the actual friction, it may result in velocity error or instability. If the Friction parameter is less than the actual friction,

velocity error will be reduced but not eliminated.

Position Error Integral Group

Time Constant Check Box

When this check box is selected it enables the Time Constant parameter.

Time Constant

Position Error Integral is a control term, which can be used to compensate for the continuous torque required to hold a vertical

load against gravity. It is also useful in low speed applications, which have high friction.

The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines

how quickly the drive will correct for in-position following error. The time constant is in milliseconds and defines how long

it will take to decrease the following error to 37 percent of the original value. In certain circumstances the value actually used

by the drive will be greater than the value specified here.

Min Time Constant = 1000/Response

For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec.

Faults View

The Faults View displays any active faults when online. Figure 49 below shows the Faults view offline.

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 66