3.5.1 3-0* Reference Limits
3.5.3 Ramps 3-4* Ramp 1
For each of four ramps (parameter groups 3-4*, 3-5*, 3-6*
and 3-7*) configure the ramp parameters: ramp type, ramping times (duration of acceleration and deceleration) and level of jerk compensation for S ramps.
Start by setting the linear ramping times corresponding to the figures.
P 3-*2 Ramp (X) Down Time (Dec)
If S-ramps are selected then set the level of non-linear jerk compensation required. Set jerk compensation by defining the proportion of ramp-up and ramp-down times where acceleration and deceleration are variable (i.e. increasing or decreasing). The S-ramp acceleration and deceleration settings are defined as a percentage of the actual ramp time.
130BA168.10
Ramp (X) S-Ramp Ratio at Accel.End
Jerk compensated Ramp (X) S-Ramp Ratio at Dec.End
Illustration 3.26
3
3
3-40 Ramp 1 Type Option: Function:
Select the ramp type, depending on requirements for acceleration/deceleration.
A linear ramp will give constant acceleration during ramping. An S-ramp will give non-linear acceleration, compensating for jerk in the application.
[0] * Linear [1] S-ramp
Const Jerk
Acceleration with lowest possible jerk.
[2] S-ramp Const Time
S-ramp based on the values set in 3-41 Ramp 1 Ramp up Time and 3-42 Ramp 1 Ramp Down Time.
NOTE
If [1] S-ramp Const Jerk is selected and the reference during ramping is changed the ramp time may be prolonged in order to realize a jerk free movement which may result in a longer start or stop time.
Additional adjustment of the S-ramp ratios or switching initiators may be necessary.
3-41 Ramp 1 Ramp up Time
Enter the ramp-up time, i.e. the acceleration time from 0 RPM to the synchronous motor speed nS. Choose a ramp-up time such that the output current does not exceed the current limit in 4-18 Current Limit during ramping. The value 0.00 corresponds to 0.01 s in speed mode. See ramp-down time in 3-42 Ramp 1 Ramp Down Time.
Par. 3 − 41 = tacc s x ns RPM
Enter the ramp-down time, that is, the deceleration time from the synchronous motor speed ns to 0 RPM. Choose a ramp-down time such that no over-voltage arises in the inverter due to regenerative operation of the motor, and such that the generated current does not exceed the current limit set in 4-18 Current Limit. The value 0.00 corresponds to 0.01 s in speed mode. See ramp-up time in 3-41 Ramp 1 Ramp up Time.
Par. 3 − 42 = tdec s x ns RPM ref RPM
3-45 Ramp 1 S-ramp Ratio at Accel. Start
Range: Function:
50 %* [1 - 99.
%]
Enter the proportion of the total ramp-up time (3-41 Ramp 1 Ramp up Time) in which
3-45 Ramp 1 S-ramp Ratio at Accel. Start
Range: Function:
the acceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks occurring in the application.
3-46 Ramp 1 S-ramp Ratio at Accel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-41 Ramp 1 Ramp up Time) in which the acceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-47 Ramp 1 S-ramp Ratio at Decel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-42 Ramp 1 Ramp Down Time) where the deceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-48 Ramp 1 S-ramp Ratio at Decel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-42 Ramp 1 Ramp Down Time) where the deceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3.5.4 3-5* Ramp 2
Choosing ramp parameters, see parameter group 3-4*.
3-50 Ramp 2 Type Option: Function:
Select the ramp type, depending on requirements for acceleration/deceleration. A linear ramp will give constant acceleration during ramping. An S-ramp will give non-linear acceleration, compensating for jerk in the application.
[0] * Linear [1] S-ramp
Const Jerk
Acceleration with lowest possible jerk
[2] S-ramp Const Time
S-ramp based on the values set in 3-51 Ramp 2 Ramp up Time and 3-52 Ramp 2 Ramp down Time
3 3
NOTE
If [1] S-ramp Const Jerk is selected and the reference during ramping is changed the ramp time may be prolonged in order to realize a jerk free movement which may result in a longer start or stop time.
Additional adjustment of the S-ramp ratios or switching initiators may be necessary.
3-51 Ramp 2 Ramp up Time
Enter the ramp-up time, i.e. the acceleration time from 0 RPM to the rated motor speed ns. Choose a ramp-up time such that the output current does not exceed the current limit in 4-18 Current Limit during ramping. The value 0.00 corresponds to 0.01 s in speed mode.
See ramp-down time in 3-52 Ramp 2 Ramp down Time.
Enter the ramp-down time, i.e. the
deceleration time from the rated motor speed ns to 0 RPM. Choose a ramp-down time such that no over-voltage arises in the inverter due to regenerative operation of the motor, and such that the generated current does not exceed the current limit set in 4-18 Current Limit. The value 0.00 corresponds to 0.01 s in speed mode. See ramp-up time in 3-51 Ramp 2 Ramp up Time.
Par. 3 − 52 = tdec s x ns RPM ref RPM
3-55 Ramp 2 S-ramp Ratio at Accel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-51 Ramp 2 Ramp up Time) in which the acceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-56 Ramp 2 S-ramp Ratio at Accel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-51 Ramp 2 Ramp up Time) in which the acceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-57 Ramp 2 S-ramp Ratio at Decel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-52 Ramp 2 Ramp down Time) where the deceleration torque increases The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-58 Ramp 2 S-ramp Ratio at Decel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-52 Ramp 2 Ramp down Time) where the deceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3.5.5 3-6* Ramp 3
Configure ramp parameters, see 3-4*.
3-60 Ramp 3 Type Option: Function:
Select the ramp type, depending on requirements for acceleration and
deceleration. A linear ramp will give constant acceleration during ramping. An S-ramp will give non-linear acceleration, compensating for jerk in the application.
[0] * Linear [1] S-ramp
Const Jerk
Accelerates with lowest possible jerk.
[2] S-ramp Const Time
S-ramp based on the values set in 3-61 Ramp 3 Ramp up Time and 3-62 Ramp 3 Ramp down Time
NOTE
If [1] S-ramp Const Jerk is selected and the reference during ramping is changed the ramp time may be prolonged in order to realize a jerk free movement which may result in a longer start or stop time.
Additional adjustment of the S-ramp ratios or switching initiators may be necessary.
3-61 Ramp 3 Ramp up Time
Range: Function:
3.00 s* [0.01 -3600.00 s]
Enter the ramp-up time, i.e. the
acceleration time from 0 RPM to the rated motor speed ns. Choose a ramp-up time such that the output current does not exceed the current limit in 4-18 Current Limit during ramping. The value 0.00 corresponds to 0.01 s in speed mode. See
3
3
3-61 Ramp 3 Ramp up Time
Range: Function:
ramp-down time in 3-62 Ramp 3 Ramp down Time.
Enter the ramp-down time, i.e. the
deceleration time from the rated motor speed ns to 0 RPM. Choose a ramp-down time such that no over-voltage arises in the inverter due to regenerative operation of the motor, and such that the generated current does not exceed the current limit set in 4-18 Current Limit. The value 0.00 corresponds to 0.01 s in speed mode. See ramp-up time in 3-61 Ramp 3 Ramp up Time.
Par. 3 − 62 = tdec s x ns RPM ref RPM
3-65 Ramp 3 S-ramp Ratio at Accel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-61 Ramp 3 Ramp up Time) in which the acceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-66 Ramp 3 S-ramp Ratio at Accel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-61 Ramp 3 Ramp up Time) in which the acceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-67 Ramp 3 S-ramp Ratio at Decel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-62 Ramp 3 Ramp down Time) where the deceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-68 Ramp 3 S-ramp Ratio at Decel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-downdecel time (3-62 Ramp 3 Ramp down Time) where the deceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3.5.6 3-7* Ramp 4
Configure ramp parameters, see parameter group 3-4*.
3-70 Ramp 4 Type Option: Function:
Select the ramp type, depending on requirements for acceleration and
deceleration. A linear ramp will give constant acceleration during ramping. An S-ramp will give non-linear acceleration, compensating for jerk in the application
[0] * Linear [1] S-ramp
Const Jerk
Accelerates with lowest possible jerk.
[2] S-ramp Const Time
S-ramp based on the values set in 3-71 Ramp 4 Ramp up Time and 3-72 Ramp 4 Ramp Down Time.
NOTE
If [1] S-ramp Const Jerk is selected and the reference during ramping is changed the ramp time may be prolonged in order to realize a jerk free movement which may result in a longer start or stop time.
Additional adjustment of the S-ramp ratios or switching initiators may be necessary.
3-71 Ramp 4 Ramp up Time
Enter the ramp-up time, i.e. the acceleration time from 0 RPM to the rated motor speed ns. Choose a ramp-up time such that the output current does not exceed the current limit in 4-18 Current Limit during ramping. The value 0.00 corresponds to 0.01 s in speed mode.
See ramp-down time in 3-72 Ramp 4 Ramp Down Time.
Enter the ramp-down time, i.e. the
deceleration time from the rated motor speed n to 0 RPM. Choose a ramp-down time such
3 3
3-72 Ramp 4 Ramp Down Time
Range: Function:
that no over-voltage arises in the inverter due to regenerative operation of the motor, and such that the generated current does not exceed the current limit set in 4-18 Current Limit. The value 0.00 corresponds to 0.01 s in speed mode. See ramp-up time in 3-71 Ramp 4 Ramp up Time.
Par. 3 − 72 = tdec s x ns RPM ref RPM
3-75 Ramp 4 S-ramp Ratio at Accel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-71 Ramp 4 Ramp up Time) in which the acceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-76 Ramp 4 S-ramp Ratio at Accel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-up time (3-71 Ramp 4 Ramp up Time) in which the acceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-77 Ramp 4 S-ramp Ratio at Decel. Start
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-72 Ramp 4 Ramp Down Time) where the deceleration torque increases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.
3-78 Ramp 4 S-ramp Ratio at Decel. End
Range: Function:
50 %* [1 - 99. %] Enter the proportion of the total ramp-down time (3-72 Ramp 4 Ramp Down Time) where the deceleration torque decreases. The larger the percentage value, the greater the jerk compensation achieved, and thus the lower the torque jerks in the application.