Transition mode Q1 – Q2

The transition between the quadrants cannot be abrupt. For this reason, a linear transition is used with the slope of the P-component of the speed controller.

The width of the transition area is calculated according to the following formula regardless of the parameter setting:

ΔM	Difference of the torque limits [ΔM] = Nm referred to the torque at the motor shaft
Δn	Width of the transition area [Δn] = s-1 referred to the speed at the motor shaft
Jtot	Total moment of inertia of the drive (sum of the mass moments of inertia of the motor, brake, gear unit, and load). The mass moments of inertia can be determined from the parameters in the parameter group Drive trains > Optimization DT. > Set load moment of inertia. [Jtot] = kgm2 referred to the speed at the motor shaft
KP	P gain of the speed controller. The P gain is displayed under the advanced settings in the parameter group Drive trains > Optimization DT. > Set controller dynamics. [KP] = s-1

In general, the transition between the quadrants occurs at speed 0. The transition speed is in the middle of the transition range. The torque that is effective at the transition speed is the mean value between the specified torque limits of the adjacent quadrants.

If the transition between the quadrants is not to take place at speed 0, the transition speed and the transition mode can be changed. Depending on the transition mode, the transition speed can be in the middle, at the motor or at the regenerative transition point of the transition range. Accordingly, the torque that is effective at the transition speed depends on the selected transition mode:

• In the transition mode Center, it is the mean value between the specified torque limits of the adjacent quadrants
• In the transition mode Motor mode, it is the maximum torque from the quadrant with motorischem Betrieb
• In the transition mode Generator mode, it is the maximum torque from the quadrant with generatorischem Betrieb

The following settings are possible: