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Elevator Core Reference Guide

Travel Profile Details - Speed Loop Gains Transition Points

The Drive has 5 different sets of Speed Loop Gains available so the Travel Profile can be fully tuned.

From default only 3 sets of Speed Loop Gains are active. These are:

  • P9-16 - Rollback Control P-Gain at Start

  • P9-27 - Speed Loop Proportional Gain during Run & P9-28 - Speed Loop Integral Gain during Run

  • P9-34 - Speed Loop Proportional Gain during Stop & P9-35 - Speed Loop Integral Gain during Stop

Speed Loop Gains - State at Default

The table below shows which speed loop gains are active at default parameter settings.

Speed Loop Gain Set

Parameters

Active when Parameters are Default

Rollback Gain during Start

P9-16 - Rollback Control P-Gain at Start

Yes

Speed Loop Gains during Start

P9-23 - Speed Loop Proportional Gain at Start

P9-24 - Speed Loop Integral Gain at Start

No

Speed Loop Gains during Run

P9-27 - Speed Loop Proportional Gain during Run

P9-28 - Speed Loop Integral Gain during Run

Yes

Speed Loop Gains during Deceleration

P9-30 - Speed Loop Proportional Gain during Deceleration

P9-31 - Speed Loop Integral Gain during Deceleration

No

Speed Loop Gains during Stop

P9-34 - Speed Loop Proportional Gain during Stop

P9-35 - Speed Loop Integral Gain during Stop

Yes

How to Activate the Speed Loop Gains

To activate the inactive speed loop gains you need to set a value in the speed transition point parameters > 0. These are used to switch between multiple sets of gains during travel. The table below shows the transition point parameters:

Parameter

Part of Travel Curve

Speed Loop Gains Activated

P9-25 - Speed Loop Gain Transition Speed During Acceleration

Acceleration Ramp

P9-23 - Speed Loop Proportional Gain at Start

P9-24 - Speed Loop Integral Gain at Start

P9-32 - Speed Loop Gain Transition Speed Durign Deceleration

Deceleration Ramp

P9-30 - Speed Loop Proportional Gain during Deceleration

P9-31 - Speed Loop Integral Gain during Deceleration

The transition point should be set if the default set of gains are not sufficient for the whole travel curve.

For example the Run Gains may be suitable to reduce High Speed overshoot but may cause undershoot when transitioning to levelling speed.

In this case you would need to split the gains and set a transition speed higher than your levelling speed. This will allow time for the gains to activate and take effect when reaching the levelling speed. Using this method you can tune the whole travel curve by splitting it into individual sections making it easier to target problems areas.

The images below shows how the transition points can be used to separate the speed loop gains.

Default Gains Active

Travel_Curve_-_Speed_Loop_Tranistion_Points_-_Optitools_Default.svg

  • The travel curve on the left is not split and only has one section, this indicates that only one set of gains are active during running which is:

    • Green - Rollback Gain, Speed Loop Gains during Run and Speed Loop Gains during Stop

  • In this example as both transition point speed values in P9-25 and P9-32 are 0, only the default gains are active.

  • So only the gains set in P9-27 and P9-28 are used for the whole travel curve during run.

  • During start the Rollback Gain in P9-16 is used and during stop the gains in P9-34 and P9-25 are used.

Start and Run Gains Active

Travel_Curve_-_Speed_Loop_Tranistion_Points_-_Optitools_Start_and_Run.svg

  • The travel curve on the left is split into two sections, this indicates that two sets of gains are active during running which are:

    • Blue - Speed Loop Gains at Start

    • Green - Rollback Gain, Speed Loop Gains during Run and Speed Loop Gains during Stop

  • In this example as the value for transition speed during acceleration in P9-25 is set to 25Hz the Start Gain is active as well as the Run Gain, as there is now a point where the gains transition.

  • This means that at speeds before 25Hz while accelerating the drive will use the Start Gains in P9-23 and P9-24.

  • Then for speeds above 25Hz and for the rest of the travel curve while running the drive will use the Run Gains in P9-27 and P9-28.

  • Due to the transition speed during deceleration in P9-32 having a value of 0 the Deceleration gains are not used and the Run gains are used for the rest of the travel profile while running.

  • During start the Rollback Gain in P9-16 is used and during stop the gains in P9-34 and P9-25 are used.

Run and Deceleration Gains Active

Travel_Curve_-_Speed_Loop_Tranistion_Points_-_Optitools_Run_and_Decel.svg

  • The travel curve on the left is split into two sections, this indicates that two sets of gains are active during running which are:

    • Green - Rollback Gain, Speed Loop Gains during Run and Speed Loop Gains during Stop

    • Orange - Speed Loop Gains during Deceleration

  • In this example as there is no value in P9-25 the Run Gains are active from start all the way until the transition speed point during deceleration value is reached in P9-32.

  • Once P9-32 is reached during deceleration the Speed Loop Gains P9-30 and P9-31 during Deceleration become active until a stop command is given.

  • During start the Rollback Gain in P9-16 is used and during stop the gains in P9-34 and P9-25 are used.

All Speed Loop Gains Active

Travel_Curve_-_Speed_Loop_Tranistion_Points_-_Optitools_All_Active.svg

  • The travel curve on the left is split into three sections as all three gains are active during running which are:

    • Blue - Speed Loop Gains at Start

    • Green - Rollback Gain, Speed Loop Gains during Run and Speed Loop Gains during Stop

    • Orange - Speed Loop Gains during Deceleration

  • The gains are active by setting a value > 0 in the two transition speed parameters P9-25 and P9-32.

  • In this example the transition speed from Start Gains to Run Gains is 25Hz. So as soon as the drive reaches 25Hz then P9-23 and P9-24 become in active while P9-27 and P9-28 become active.

  • Then during deceleration at 15Hz the Run Gains in P9-27 and P9-28 turn off and the Deceleration Gains in P9-30 and P9-31 turn on.

  • During start the Rollback Gain in P9-16 is used and during stop the gains in P9-34 and P9-25 are used.

Each Speed Loop Gain Transition Speed has it's own associated bandwidth parameter. These are used to provide a specific bandwidth for when the gains transition. This allows for the user to set a broader transition seep rather than being precise.

Speed Loop Gains - Transition Point Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P9-25

Speed Loop Gain Transition Speed During Acceleration

Hz / rpm / Linear

0.00Hz

0.0 ... P8-01

RW

Y

1 = 0.01Hz

2

239Dh

0

925

P9-26

Speed Loop Gain Transition Bandwidth During Acceleration

Hz / rpm / Linear

0.00Hz

0.0 ... P8-01

RW

Y

1 = 0.01Hz

2

239Eh

0

926

P9-32

Speed Loop Gain Transition Speed During Deceleration

Hz / rpm / Linear

0.00Hz

0.0 ... P8-01

RW

Y

1 = 0.01Hz

2

23A4h

0

932

P9-33

Speed Loop Gain Transition Bandwidth During Deceleration

Hz / rpm / Linear

0.00Hz

0.0 ... P8-01

RW

Y

1 = 0.01Hz

2

23A5h

0

933

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