Corrected from:i700 servo inverter, series devices (V02.x): from V02.10.12.11906
existing devices (V01.x): from V01.10.12.11905
Response of the new version:
The D component of the speed controller behaves like a DT1 element with a time constant of 1ms. In this way, it is slightly filtered to minimise the effects of undesirable noise components.
What happens?
The D component of the speed controller is generated from an unfiltered actual value.
The filtering initially provided for via a connected first order delay element (PT1 element, VZ1 element) with a filter time constant of 1ms is not effective. The increased noise component due to the required differentiation for the D component may have unfavourable effects. As a result, the D component can only be used to a limited extent.
When does this behaviour occur?
The behaviour occurs if the D component of the speed controller is used - setting 0x2900:3 other than zero.
Which products are affected?
i700 servo inverter
Short-term measures:
If the D component is required for process-related reasons (dynamic performance), use an appropriate torque feedforward control to support the speed controller, if necessary.
Evaluation/recommendations:
In practical operation, the D component of speed controllers designed as PID controllers is actually only used in very few cases.
