The speed controller of a S120 has a P-gain and reset time that is by default variable in relation to motor speed. You can parametrize a start- and endspeed for the variable gain and reset time. By default this is from zero speed to maximum speed. After I did autotuning of the speed controller this variable region moved towards the upper speed region of my motor.
However I did my autotune without the motor connected to the machine, so I suppose for optimum performance on the machine I need some manual adjustment of the speed controller.
I wanted to hear some advice or experiences on dealing with the speed dependend gain and reset time. I was thinking of neglecting the autotune settings and do my usual tuning : taking some representative speeds (f.i. 10, 40, 60, 80% of the speed) and perform step responses and manualy adjust the P and I values until fast response and no vibration is achieved. However in this case I would search P and I values in relation to the speed.
Or do someones of you prefer a non speed related speed control parameters.
I suppose that when performing the step responses, besides fast response and no vibration, also the output of the speed controller may never reach the torque limit?
Thanks.