Parameters and firmware blocks147Group 28 SPEED CONTROLSpeed controller settings such as• selection of source for speed error• adjustment of PID-type speed controller variables• limitation of speed controller output torque• selection of source for acceleration compensation torque• forcing an external value to the output of the speed controller (with the balancingfunction).• adjustment of the load sharing in a Master/Follower application run by severaldrives (the drooping function).The speed controller includes an anti-windup function (i.e. I-term is frozen duringtorque reference limitation).In torque control mode, the speed controller output is frozen.For manual speed controller tuning, see section Manual speed controller tuning onpage 25.3.07 ACC COMP TORQK pT iT dKp28.04 DERIVATION TIME28.05 DERIV FILT TIME28.02 PROPORT GAIN28.07 DROOPING RATE28.08 BAL REFERENCE28.03 INTEGRATION TIME3.08 TORQ REF SP CTRL28.11 MAX TORQ SP CTRL28.10 MIN TORQ SP CTRL28.09 SPEEDCTRL BAL EN+ ++ddt³ dtx28.14 P GAIN ADPT COEF28.15 I TIME ADPT COEF28.12 PI ADAPT MAX SPD28.13 PI ADAPT MIN SPD1.01 SPEED ACT F(x)06.05 LIMIT WORD 1bit 1 SPD CTL TLIM MIN06.05 LIMIT WORD 1bit 2 SPD CTL TLIM MAX06.05 SPEED CTRL STATbit 4 BAL ACTIVE3.06 SPEED ERROR FILT
