Group 26 Speed Error - ABB ACSM1 Firmware Manual

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Group 26 SPEED ERROR
Speed error is determined by comparing the speed reference and speed feedback.
The error can be filtered using a first-order low-pass filter if the feedback and
reference have disturbances. In addition, a torque boost can be applied to
compensate acceleration; the torque is relative to the rate of change (derivative) in
the speed reference and inertia of the load.
OPMODE =
POSITION SYNCRON
26.04 SPEED FEED PCTRL
Parameters and firmware blocks
26.11 SPEED WIN HI
26.08 ACC COMP DER TIME
26.09 ACC COMP FTIME
20.01 MAXIMUM SPEED
6.12 OP
MODE ACK
SPEED
03.04 SPEED REF NCTRL
POSITION
SYNCHRON
4.01 SPEED REF PCTRL
HOMING
PROF VEL
26.05 SPEED STEP
0
06.02 STATUS WORD 2 bit 14
RAMP OUT 0
06.02 STATUS WORD 2 bit 12
RAMP IN 0
20.02 MINIMUM SPEED
d
dt
+ +
-
1.01 SPEED ACT NCTRL
26.06 SPD ERR FTIME
26.10 SPEED WIN FUNC
26.12 SPEED WIN LO
T
3.07 ACC COMP TORQ
AccCom
3.06 SPEED ERROR FILT