Velocity Loop page

Description

Enter a value to determine the proportional gain, Kvp, of the velocity loop that multiplies the Velocity Error signal. This value represents the unity gain bandwidth of the velocity loop.

Enter a value (Hz) that represents the bandwidth of the velocity integrator beyond which the integrator is ineffective. A value of 0 for this attribute disables the integrator.

Enable or disable the velocity integrator status.

Enter a percentage for the Acceleration Feedforward. This parameter multiplies the signal to form the

Acceleration Feedforward

Command that is applied to the acceleration loop summing junction. When 100%, Acceleration Feedforward applies the full

Acceleration Fine

Command

signal to the output of the velocity loop.

Enter a value for the velocity error tolerance in user defined velocity units. The value determines the absolute maximum Velocity Error value that is tolerated without causing an Excessive Velocity Error exception.

Enter a value for the velocity lock tolerance in user defined velocity units.

If the signal entering the velocity limiter exceeds this velocity limit value, the device responds by clamping the velocity reference to this limit and setting the Velocity Limit status bit.

Enter a value for the positive velocity limit in user defined position units.

If the signal entering the velocity limiter exceeds this value, the device responds by clamping the velocity reference to this limit and setting the Velocity Limit status bit.

Enter a value for the negative velocity limit in user defined position units.

This value reduces or eliminates velocity overshoot by subtracting a portion of the velocity reference signal from the velocity error.

Enter a value for the velocity standstill window in user defined position units/s.

The configured value establishes a window around zero speed. When the Velocity Feedback signal is within this window, the Velocity Standstill status bit is set. When Velocity Feedback signal falls outside this window, the Velocity Standstill status bit clears.

Enter a value for the velocity threshold in position units/s.

This parameter defines a minimum absolute velocity. If the magnitude of the Velocity Feedback signal is less than this value, the Velocity Threshold status bit is set. If the axis is set for Frequency Control, the Velocity Feedback signal derives from the Velocity Reference signal.