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LC08 KI Speed Acceleration
Integral speed control gain during acceleration and high speed.
LC09 KI Speed Deceleration
Integral speed control gain during deceleration and low speed.
LC10 KI Speed Pre-torque
Integral speed control gain for pre-torque.
The pre-torque gain setting controls the rate of the buildup of torque and the stiffness of
the motor as the brake releases. This gain can be adjusted to control the strength of the
pre-torque. In general, lower spring tension and lower brake pick voltages result in a
smoother transition of the load from brake to motor. This gain should be adjusted as high
as necessary to prevent the sheave from moving during brake release. Typical values are
between 5,000 and 20,000. If the value gets too high, vibration or audible noise in the
motor may occur during the pre-torque phase.
8.9.3 Integral Offset Gain
The integral offset gain value is effective only at low speeds. This value is added
to the integral term gain in LC08 for acceleration and LC09 for deceleration, to
provide greater control and more stability.
During acceleration, the offset gain value is tapered off beginning at the defined Max.
corner speed and reaches zero at the defined Min. corner speed where only the integral
itself is active. The corner speeds can be defined through parameters LC13 and LC14 for
acceleration.
During deceleration, the offset gain begins to increase at the defined Min. corner speed
and is fully added to the integral at the defined Max. corner speed. The corner speeds
can be defined through parameters LC15 and LC16 for deceleration.
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