Travel Profile Details - Speed Loop Gains Tuning
This section covers how to use the gains to improve travel comfort.
For information on when each gain is active and how to make them active see the Speed Loop Gain Transition Points section.
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P9-23 | Speed Loop Proportional Gain at Start | % | 50.0% | 0.0 ... 400.0% | RW | Y | 1 = 0.1% | 2 | 239Bh | 0 | 923 |
P9-24 | Speed Loop Integral Gain at Start | ms | 50ms | 0 ... 1000ms | RW | Y | 1 = 1ms | 2 | 239Ch | 0 | 924 |
P9-27 | Speed Loop Proportional Gain During Run | % | 50.0% | 0 ... 400.0% | RW | Y | 1 = 0.1% | 2 | 239Fh | 0 | 927 |
P9-28 | Speed Loop Integral Gain During Run | ms | 50ms | 0 ... 1000ms | RW | Y | 1 = 1ms | 2 | 23A0h | 0 | 928 |
P9-29 | Speed Loop Differential Gain During Run | % | 0.0% | 0.0 ... 400.0% | RW | Y | 1 = 0.1% | 2 | 23A1h | 0 | 929 |
P9-30 | Speed Loop Proportional Gain During Deceleration | % | 50.0% | 0 ... 400.0% | RW | Y | 1 = 0.1% | 2 | 23A2h | 0 | 930 |
P9-31 | Speed Loop Integral Gain During Deceleration | ms | 50ms | 0 ... 1000ms | RW | Y | 1 = 1ms | 2 | 23A3h | 0 | 931 |
P9-34 | Speed Loop Proportional Gain at Zero Speed | % | 50.0% | 0 ... 400.0% | RW | Y | 1 = 0.1% | 2 | 23A6h | 0 | 934 |
P9-35 | Speed Loop Integral Gain at Zero Speed | ms | 50ms | 0 ... 1000ms | RW | Y | 1 = 1ms | 2 | 23A7h | 0 | 935 |