The symmetrical optimum cs99 optimisation factor is used to set a value for cs01
KP speed and cs05 Tn speed in a defined ratio depending on the set mass mo-
ment of inertia and the desired control dynamics.
Parameters for a dynamic, hard speed controller adjustment are calculated with
cs99 = 2.0.
Disturbance factors - such as torsion or backlash of the load coupling - influence
the entire system. A subsequent manual fine adjustment of the controller may
therefore be necessary.
Parameters for a soft and slow speed controller adjustment are calculated with
cs99 = 10.0.
A possible disturbance at encoderless operation is an oscillation on the estimated
speed. An extension of the filter time ds28 (A)SCL filter speed calc. often allows a
more dynamic speed controller adjustment, i.e. a smaller value for cs99.
The encoder resolution must be considered at operation with encoder. The lower
the resolution, the higher the calculated gain.
The speed controller parameters are changed with writing on cs99.
The automatic precharging of the speed controller parameters can be deactivated
with the adjustment of cs99 = 19 = off.
If cs01 KP speed or cs05 Tn speed is adjusted manually, the value of cs99
changes automatically to 19 "off“ = automatic calculation deactivated.
The adjustment cs01 = 10.0 = 10 %Mn / rpm means:
➢ at speed deviation of 1 rpm, 10% of the motor rated torque is output from
the controller as proportional component
➢ the rated torque is output at a deviation of 10 rpm
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