# Menu 2 − Speed Ramps

Mode: RFC‑A

Parameter | 02.001 Post Ramp Reference
--- | ---
Short description | Displays the output of the ramp system
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, ND, NC, PT

The Post Ramp Reference (02.001) can be combined with the Hard Speed Reference (03.022) to give the final speed reference at the input to the speed controller (see Menu 3). If the Hard Speed Reference (03.022) is used alone to give the final speed reference, and the ramp output is not required, then the ramp output can be disconnected by setting Disable Ramp Output (02.005) = 1. This ensures that the reference and ramp systems do not affect the final speed reference.

It should be noted that the ramps are applied during starting and stopping (i.e. when Reference On (01.011) changes from 0 to 1 and vice versa) even when the hard speed reference is being used. This is achieved on starting by making the ramp output equal to Speed Feedback (03.002) - Hard Speed Reference (03.022). (See Catch A Spinning Motor (06.009) for more details.) For example, if the motor is stationary then the initial value of the ramp output is equal to -Hard Speed Reference (03.022). On stopping the ramp output is made equal to Final Speed Reference (03.001) and the setting of Disable Ramp Output (02.005) is ignored and so the ramp is always used, but just while the drive is in the deceleration state. If the hard speed reference is being used alone and ramps are not required on starting the ramps should be disabled. If ramps are not required on stopping then stopping without ramps should be used (i.e. Stop Mode (06.001) should be set for no ramp stop). The same feature is applied when stopping when the supply is lost, so that if Supply Loss Mode (06.003) is set to select a ramped stop, the speed will be ramped to standstill even if the hard speed reference is being used.

If the Advanced Motion Controller is being used, ramped stopping is selected and the run is deactivated (i.e. Reference On (01.011) changes from 1 to 0), but the drive enable ramains active, the AMC will be disabled and the speed will be ramped to zero using the ramp rate selected with Menu 2. If ramped stop on supply loss is selected then on supply loss the AMC is disabled and the ramp selected via Menu 2 will be used to stop the motor. It should be noted that orientation stop cannot be used when the run is deactivated if the AMC is selected (i.e. AMC Select (31.001) = 1).

Parameter | 02.002 Ramp Enable
--- | ---
Short description | Set to 1 to enable the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

If Ramp Enable (02.002) = 1 then the ramp system is present between the Pre-ramp Reference (01.003) and the Post Ramp Reference (02.001). If Ramp Enable (02.002) = 0 then any changes in the Pre-ramp Reference (01.003) are reflected immediately in the Post Ramp Reference (02.001).

Parameter | 02.003 Ramp Hold
--- | ---
Short description | Set to 1 to hold the ramp system at its present value
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW

If Ramp Hold (02.003) = 0 the ramp system functions normally. If Ramp Hold (02.003) is set to 1 and S Ramp Enable (02.006) = 0 the ramp system output is held at its current level. If Ramp Hold (02.003) is subsequently set to 0 the ramp system output is released and continues to operate normally. If S Ramp Enable (02.006) = 1 when Ramp Hold (02.003) is set to 1 the acceleration will ramp towards zero and the frequency or speed will change in an S curve towards a constant speed. If a drive stop is requested (i.e. Reference On (01.011) = 0) the ramp hold function is disabled.

Parameter | 02.004 Ramp Mode
--- | ---
Short description | Defines the mode used by the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Fast
1 | Standard

Acceleration is defined as a positive (forward) or negative (reverse) frequency or speed change away from zero, and deceleration is defined as a change towards zero. Ramp Mode (02.004) defines the ramp mode used for deceleration. During acceleration the frequency or speed changes are based on the final acceleration rate only.

0: Fast ramp
During deceleration the frequency or speed changes are based on the final deceleration rate.

1: Standard ramp
If the d.c. bus voltage rises to the level defined by Standard Ramp Voltage (02.008) the regenerative current limit is modified to prevent the voltage from rising any higher. This form of control applies to speed or torque control and during supply loss. If the Standard Ramp Voltage (02.008) is set to a level that is below the nominal d.c. bus voltage level the motor is likely to accelerate with a low level of torque. The waveforms below show the behaviour of the system when the speed reference is set to zero and standard ramp control becomes active. In the first example the speed reference (ramp output) reaches zero before the actual speed reaches zero because the deceleration is being controlled to limit the d.c. link voltage. Then when standard ramp control becomes inactive the ramp output is set to the actual speed, so that the required ramp rate is used to decelerate to stop. In the second example the reference is reapplied before the speed reaches zero. Because the speed reference has fallen faster than the actual speed, there is a recovery time before the speed reference rises to meet the actual speed.

Parameter | 02.005 Disable Ramp Output
--- | ---
Short description | Set to 1 to disable the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Post Ramp Reference (02.001).

Parameter | 02.006 S Ramp Enable
--- | ---
Short description | Set to 1 to enable the use of S ramps
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

If S Ramp Enable (02.006) = 0 linear ramps are used, but if S Ramp Enable (02.006) = 1 an acceleration limit is applied to give S ramps. See Maximum Rate Of Change Of Acceleration (02.007) for more details of S ramps.

Parameter | 02.007 Maximum Rate Of Change Of Acceleration
--- | ---
Short description | Defines the maximum rate of change of acceleration used by the ramp system
Mode | RFC‑A
Minimum | 0.000 | Maximum | 100.000
Default | 1.500 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

A rate of change of acceleration ramp (S ramp) can be applied by different methods depending on the value of S Ramp Set-up Mode (02.041). If S Ramp Set-up Mode (02.041) = 0 then the maximum rate of change of acceleration in both directions, accelerating away from or towards zero, is defined by Maximum Rate Of Change Of Acceleration (02.007).

The general equations are given below for a linear ramp and S ramp where
Δw is the required change of frequency or speed
aMax is the maximum allowed acceleration in units of frequency/s or speed/s
JMax is the maximum rate of change of acceleration (i.e. jerk) in units of frequency/s2 or speed/s2
The time for a linear ramp to give a change of frequency or speed Δw is

TLinear = Δw / aMax

If an S ramp is used wB is the change of frequency or speed as the acceleration changes from zero to aMax, i.e. the S shaped part of the frequency or speed change.

wB = aMax2 / 2JMax

If the required frequency or speed change is less than 2wB, i.e. Δw < 2wB, then the acceleration never reaches its limit and the ramp does not contain a linear ramp section and the time for the ramp is given by

TSRamp1 = 2 √(Δw / JMax)

Otherwise

TSRamp2 = (Δw / aMax) + (aMax / JMax)

The following is an example based on the default parameter values for Open-loop mode. The diagram below shows a change of frequency from 0Hz to 50Hz with the ramp rate set to 5.0s/100Hz and Maximum Rate Of Change Of Acceleration (02.007) set to its default value of 3.1s2/100Hz.

The required change of frequency Δw = 50Hz. The acceleration and jerk are converted from the parameter values as follows:

aMax = 100 / ramp rate = 20.0Hz/s

JMax = 100 / Maximum Rate Of Change Of Acceleration (02.007) = 32.3Hz/s2

The linear ramp time TLinear = Δw x aMax = 50.0 / 20.0 = 2.5s

The frequency change for the acceleration to reach its limit wB = aMax2 / 2JMax = 20.02 / (2 x 32.3) = 6.19Hz

The required frequency change for Δw = 50Hz and this is greater than 2wB, i.e. Δw > 2 x 6.19Hz. Therefore the time for the ramp

TSRamp2 = (Δw / aMax) + (aMax / JMax) = (50.0 / 20.0) + (20.0 / 32.3) = 2.5 + 0.62 = 3.12s

Note that the default value of Maximum Rate Of Change Of Acceleration (02.007) has been chosen so that when it is combined with the default acceleration rate, each of the S sections of the ramp is 20% of the overall time for the frequency change, i.e. 0.62/3.12 x 100% = 20%. This is the same as if S Ramp Set-up Mode (02.041) = 2 and S Ramp Percentage (02.040) = 20%.

If the required change of frequency had been 5.0Hz, i.e. less than 2 x wB, then the alternative equation should be used:

TSRamp1 = 2 √(Δw / JMax) = 2 √(5.0 / 32.3) = 0.78s

For RFC-A and RFC-S modes the general equations are used in the same way as for Open-loop mode. The required values are calculated as follows:
Δw = 1000 / ramp rate
aMax = 1000 / ramp rate
JMax = 1000 / Maximum Rate Of Change Of Acceleration (02.007)

Parameter | 02.008 Standard Ramp Voltage
--- | ---
Short description | Defines the standard ramp voltage used by the ramp system
Mode | RFC‑A
Minimum | −VM_DC_VOLTAGE_SET | Maximum | VM_DC_VOLTAGE_SET
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Region | Default Value
200V | All | 375
400V | 50Hz | 750
400V | 60Hz | 775
575V | All | 895
690V | All | 1075

See Ramp Mode (02.004).

Parameter | 02.009 Deceleration Fail Detection Disable
--- | ---
Short description | Set to 1 to disable the deceleration fal detection function
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

In the following circumstances it is possible that the motor may not decelerated or even accelerate.

1. When standard ramp is selected with a high inductance supply it is possible for the d.c. bus voltage to rise as the motor speed approaches zero, and so the motor will continue to rotate slowly and not stop.
2. An overhauling load can cause the motor to accelerate.

It can be a problem if the drive state is changed to the "Decelerating" state and the motor does not stop. If Deceleration Fail Detection Disable (02.009) is at its default value of 0, the motor frequency or speed is monitored in the "Decelerating" state, and if this does not fall over a period of 10s the ramp output is forced to zero and the drive state is changed to "Stop" or "Inhibit" as appropriate.

If Deceleration Fail Detection Disable (02.009) = 1 this feature is disabled. This can be used in the following circumstances to prevent the system state from changing from the "Decelerating" state before the motor has stopped:

1. If S ramps are being used with long ramp rates, and the motor is still accelerating when the drive is changed to the "Decelerating" state because the run command is removed, then the ramp output may increase further before falling again towards zero.
2. In RFC-A or RFC-S modes the speed may appear not to reduce when very long ramp rates are used.

Parameter | 02.010 Acceleration Rate Selector
--- | ---
Short description | Defines which acceleration rate is used by the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 9
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

The Acceleration Rate Selector (02.010) is used to either select an acceleration rate directly or to define the method used to select an acceleration rate. If 1 ≤ Acceleration Rate Selector (02.010) ≤ 8 the acceleration rate is selected directly, i.e. 1 selects Acceleration Rate 1 (02.011), 2 selects Acceleration Rate 2 (02.012), etc. If Acceleration Rate Selector (02.010) = 0 the acceleration rate is selected with the acceleration rate select bits as shown in the table below.

Acceleration Rate Select Bit 2 (02.034) | Acceleration Rate Select Bit 1 (02.033) | Acceleration Rate Select Bit 0 (02.032) | Acceleration rate selected
0 | 0 | 0 | Acceleration Rate 1 (02.011)
0 | 0 | 1 | Acceleration Rate 2 (02.012)
0 | 1 | 0 | Acceleration Rate 3 (02.013)
0 | 1 | 1 | Acceleration Rate 4 (02.014)
1 | 0 | 0 | Acceleration Rate 5 (02.015)
1 | 0 | 1 | Acceleration Rate 6 (02.016)
1 | 1 | 0 | Acceleration Rate 7 (02.017)
1 | 1 | 1 | Acceleration Rate 8 (02.018)

If Acceleration Rate Selector (02.010) = 9 the acceleration rate is selected based on the value of Preset Selected Indicator (01.050), i.e. 1 selects Acceleration Rate 1 (02.011), 2 selects Acceleration Rate 2 (02.012), etc.

Parameter | 02.011 Acceleration Rate 1
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 1
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

Acceleration Rate 1 (02.011) to Acceleration Rate 8 (02.018) can be selected to define the linear ramp rate. The acceleration rate applies when the frequency/speed is changing away from zero.

Selecting a ramp rate that has been set to zero in Open-loop mode disables the ramp system so that the Post Ramp Reference (02.001) follows thePre-ramp Reference (01.003) without any delay for acceleration or deceleration. It should be noted that this also disables the standard ramp d.c. link voltage controller and the frequency based current limits.

The units of Acceleration Rate 1 (02.011) to Acceleration Rate 8 (02.018) are s / Ramp rate frequency or s / Ramp rate speed. See Ramp Rate Units (02.039) for the definition of Ramp rate frequency and Ramp rate speed.

Parameter | 02.012 Acceleration Rate 2
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 2
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.013 Acceleration Rate 3
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 3
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.014 Acceleration Rate 4
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 4
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.015 Acceleration Rate 5
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 5
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.016 Acceleration Rate 6
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 6
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.017 Acceleration Rate 7
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 7
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.018 Acceleration Rate 8
--- | ---
Short description | Defines the acceleration rate present in acceleration rate 8
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Acceleration Rate 1 (02.011).

Parameter | 02.019 Jog Acceleration Rate
--- | ---
Short description | Defines the acceleration rate present when the jog function is selected
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 0.000 | Units | s
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

The Jog Acceleration Rate (02.019) is selected when Jog Select (01.013) is active and when the frequency/speed is changing away from zero in either direction. The units of Jog Acceleration Rate (02.019) are s / Ramp rate frequency or s / Ramp rate speed. See Ramp Rate Units (02.039) for the definition of Ramp rate frequency and Ramp rate speed.

Parameter | 02.020 Deceleration Rate Selector
--- | ---
Short description | Defines which deceleration rate is used by the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 9
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

The Deceleration Rate Selector (02.020) operates in the same way as the Acceleration Rate Selector (02.010). If Deceleration Rate Selector (02.020) = 0 the deceleration rate is selected with the deceleration rate select bits as shown in the table below.

Deceleration Rate Select Bit 2 (02.037) | Deceleration Rate Select Bit 1 (02.036) | Deceleration Rate Select Bit 0 (02.035) | Deceleration rate selected
0 | 0 | 0 | Deceleration Rate 1 (02.021)
0 | 0 | 1 | Deceleration Rate 2 (02.022)
0 | 1 | 0 | Deceleration Rate 3 (02.023)
0 | 1 | 1 | Deceleration Rate 4 (02.024)
1 | 0 | 0 | Deceleration Rate 5 (02.025)
1 | 0 | 1 | Deceleration Rate 6 (02.026)
1 | 1 | 0 | Deceleration Rate 7 (02.027)
1 | 1 | 1 | Deceleration Rate 8 (02.028)

Parameter | 02.021 Deceleration Rate 1
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 1
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

Deceleration Rate 1 (02.021) to Deceleration Rate 8 (02.028) can be selected to define the linear ramp rate. The deceleration rate applies when the frequency/speed is changing towards zero.

Selecting a ramp rate that has been set to zero in Open-loop mode disables the ramp system so that the Post Ramp Reference (02.001) follows thePre-ramp Reference (01.003) without any delay for acceleration or deceleration. It should be noted that this also disables the standard ramp d.c. link voltage controller and the frequency based current limits.

The units of Deceleration Rate 1 (02.021) to Deceleration Rate 8 (02.028) are s / Ramp rate frequency or s / Ramp rate speed. See Ramp Rate Units (02.039) for the definition of Ramp rate frequency and Ramp rate speed.

Parameter | 02.022 Deceleration Rate 2
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 2
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.023 Deceleration Rate 3
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 3
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.024 Deceleration Rate 4
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 4
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.025 Deceleration Rate 5
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 5
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.026 Deceleration Rate 6
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 6
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.027 Deceleration Rate 7
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 7
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.028 Deceleration Rate 8
--- | ---
Short description | Defines the deceleration rate present in deceleration rate 8
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 2.000 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

See Deceleration Rate 1 (02.021).

Parameter | 02.029 Jog Deceleration Rate
--- | ---
Short description | Defines the deceleration rate present when the jog function is selected
Mode | RFC‑A
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 0.000 | Units | s
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

The Jog Deceleration Rate (02.029) is selected when Jog Select (01.013) is active and when the frequency/speed is changing towards zero in either direction. It should be noted that when jog is selected and the drive run is de-activated Jog Deceleration Rate (02.029) is used to decelerate the motor to stop. The units of Jog Deceleration Rate (02.029) are s / Ramp rate frequency or s / Ramp rate speed. See Ramp Rate Units (02.039) for the definition of Ramp rate frequency and Ramp rate speed.

Parameter | 02.030 Acceleration Rate Selected
--- | ---
Short description | Indicates which acceleration rate is selected
Mode | RFC‑A
Minimum | 0 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Acceleration Rate Selected (02.030) shows a value between 1 and 8 that corresponds to parameters 02.011 to 02.018 indicating which of these acceleration rates is actually being used.

Parameter | 02.031 Deceleration Rate Selected
--- | ---
Short description | Indicates which deceleration rate is selected
Mode | RFC‑A
Minimum | 0 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Deceleration Rate Selected (02.031) shows a value between 1 and 8 that corresponds to parameters 02.021 to 02.028 indicating which of these deceleration rates is actually being used.

Parameter | 02.032 Acceleration Rate Select Bit 0
--- | ---
Short description | Defines which acceleration rate is used if acceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Acceleration Rate Selector (02.010).

Parameter | 02.033 Acceleration Rate Select Bit 1
--- | ---
Short description | Defines which acceleration rate is used if acceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Acceleration Rate Selector (02.010).

Parameter | 02.034 Acceleration Rate Select Bit 2
--- | ---
Short description | Defines which acceleration rate is used if acceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Acceleration Rate Selector (02.010).

Parameter | 02.035 Deceleration Rate Select Bit 0
--- | ---
Short description | Defines which deceleration rate is used if deceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Deceleration Rate Selector (02.020).

Parameter | 02.036 Deceleration Rate Select Bit 1
--- | ---
Short description | Defines which deceleration rate is used if deceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Deceleration Rate Selector (02.020).

Parameter | 02.037 Deceleration Rate Select Bit 2
--- | ---
Short description | Defines which deceleration rate is used if deceleration rate selector = 0
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Deceleration Rate Selector (02.020).

Parameter | 02.038 Inertia Compensation Torque
--- | ---
Short description | Displays the torque as a percentage of rated torque
Mode | RFC‑A
Minimum | -1000.0 | Maximum | 1000.0
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, ND, NC, PT

The Motor And Load Inertia (03.018), Torque Per Amp (05.032) and the rate of change of the Post Ramp Reference (02.001) are used to produce a torque feed-forwards value that should accelerate and decelerate the load at the required rate. This value can be used as a feed-forwards term that is added to the speed controller output if Inertia Compensation Enable (04.022) = 1. Inertia Compensation Torque (02.038) gives the torque as a percentage of rated torque.

Parameter | 02.039 Ramp Rate Units
--- | ---
Short description | Defines the units used by the ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

The ramp rate parameters (Acceleration Rate 1 (02.011) to Acceleration Rate 8 (02.018), Jog Acceleration Rate (02.019), Deceleration Rate 1 (02.021) to Deceleration Rate 8 (02.028) and Jog Deceleration Rate (02.029)) are specified in s / Ramp rate frequency for Open-loop mode and s / Ramp rate speed for RFC-A and RFC-S modes. Ramp rate frequency and Ramp rate speed are selected with Ramp Rate Units (02.039) as defined in the table below.

Ramp Rate Units (02.039) | Open-loop Ramp rate frequency | RFC-A and RFC-S mode Ramp rate speed
0 | 100Hz | 1000rpm ot 1000mm/s
1 | Maximum frequency | Maximum speed

Maximum frequency and Maximum speed are defined by Maximum Reference Clamp (01.006) if Select Motor 2 Parameters (11.045) = 0, or M2 Maximum Reference Clamp (21.001) if Select Motor 2 Parameters (11.045) = 1.

Parameter | 02.040 S Ramp Percentage
--- | ---
Short description | Defines the profile of the S ramp system as a percentage
Mode | RFC‑A
Minimum | 0.0 | Maximum | 50.0
Default | 0.0 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

If S Ramp Set-up Mode (02.041) = 1 the percentage of the ramp to Maximum frequency or Maximum speed that includes half the S ramp profile can be specified with S Ramp Percentage (02.040) as shown in the diagram below. If motor map one is active (i.e. Select Motor 2 Parameters (11.045) = 0), the acceleration or deceleration times are defined by Acceleration Rate 1 (02.011) and Deceleration Rate 1 (02.021) respectively irrespective of which ramps rates are selected. The maximum frequency/speed is defined by Maximum Reference Clamp (01.006). The time for the frequency/speed change remains constant at the time defined by the acceleration or deceleration rate, and so as the percentage S ramp is changed the maximum acceleration is modified automatically. If motor map 2 is selected then M2 Maximum Reference Clamp (21.001), M2 Acceleration Rate 1 (21.004) and M2 Deceleration Rate 1 (21.005) are used to define the ramp profile.

Parameter | 02.041 S Ramp Set-up Mode
--- | ---
Short description | Defines the mode used by the S ramp system
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Single
1 | Percentage
2 | Independent

S Ramp Set-up Mode (02.041) defines the method used to set up the S ramp function.

0: Single maximum rate of change of acceleration
The maximum rate of change of acceleration in either direction, when the frequency/speed is changing away from or towards zero, is defined by Maximum Rate Of Change Of Acceleration (02.007).

1: Percentage
A single maximum rate of change of acceleration is used in either direction, when the frequency/speed is changing away from or towards zero, but this is specified as the percentage of the ramp from zero to Maximum frequency or Maximum speed which is covered by the S shaped profile. See S Ramp Percentage (02.040).

2: Independent maximum rate of change of acceleration values
The maximum rate of change of acceleration can be specified as four independent values. See Maximum Rate Of Change Of Acceleration 1 (02.042).

Parameter | 02.042 Maximum Rate Of Change Of Acceleration 1
--- | ---
Short description | Defines the 1st maximum rate of change of acceleration used by the S ramp system
Mode | RFC‑A
Minimum | 0.000 | Maximum | 100.000
Default | 0.000 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

If S Ramp Set-up Mode (02.041) = 2 it is possible to set up four independent maximum rate of change of acceleration values as shown in the diagram below. The values from 1 to 4 correspond to Maximum Rate Of Change Of Acceleration 1 (02.042) to Maximum Rate Of Change Of Acceleration 4 (02.045) respectively.

Parameter | 02.043 Maximum Rate Of Change Of Acceleration 2
--- | ---
Short description | Defines the 2nd maximum rate of change of acceleration used by the S ramp system
Mode | RFC‑A
Minimum | 0.000 | Maximum | 100.000
Default | 0.000 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).

Parameter | 02.044 Maximum Rate Of Change Of Acceleration 3
--- | ---
Short description | Defines the 3rd maximum rate of change of acceleration used by the S ramp system
Mode | RFC‑A
Minimum | 0.000 | Maximum | 100.000
Default | 0.000 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).

Parameter | 02.045 Maximum Rate Of Change Of Acceleration 4
--- | ---
Short description | Defines the 4th maximum rate of change of acceleration used by the S ramp system
Mode | RFC‑A
Minimum | 0.000 | Maximum | 100.000
Default | 0.000 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).