TPD32 DC Drive presentation - ctae.co.th SIEI Product/Presentation... · 25 Overview of the Main Software functions • Speed-Torque-Field regulation • Speed adaptive • Speed

1

TPD32 DC Drive presentation

2

DC Line DC Line

FamilyFamily

TYPACTTYPACT

3

It is a family of digitalIt is a family of digital

DC drivesDC drives

The product name is The product name is

TPD32TPD32

4

What is TPD32 ?– AC/DC converters family

– Regen / Non Regen

– Power range 20…4800 A

– AC Mains 230-400-460-500-690V

– 50/60 Hz

– Designed for System applications

• High performance

• High flexibility

• Open Architecture

The product…...

5

Non-Regen version

TPD32…2B

Output Current sizes:

from 20A to 3300A

(17A to 2350A NA)

Mains supply:

230Vac…690Vac

6

Regen version

TPD32…4B

Output Current sizes:

from 20A to 2700A

(17A to 2000A NA)

Mains supply:

230Vac…690Vac

7

AC Supply range

TPD32…2B

TPD32…4B

There are 2 supply ranges:

500Vac - 690Vac

50/60Hz - Voltage Tollerance +/-10%:

8

Output data

TPD32…2BTPD32-400Vac….…470Vdc

TPD32-500Vac….…600Vdc


TPD32…4BTPD32-400Vac….…420Vdc



9

TPD32…2B

Mains supply:

400Vac

500Vac

Compact case

from 20A to 1000A

(17A to 800A - NorthAmerican version)

10

TPD32…2BMains supply:

400Vac

500Vac

690Vac

Regulator + External bridge

from 1200A to 3300A

(1000A to 2350A NA)

263

36

0

a

b

d

e

c

d1

d2

d2

d1

a1 a2 a1

f

11

TPD32…4B

Mains supply:

400Vac

500Vac

Compact case

from 20A to 1050A

(17A to 850A -NorthAmerican version)

12

TPD32…4B

Mains supply:

400Vac

500Vac

690Vac

Regulator + External bridge

from 1500A to 2700A

(1300A to 2000A - NA version)

263

36

0

a

b

d

e

c

d1

d2

d2

d1

a1 a2 a1

d

d1

d2

d2

d1

f

13

Ordering codes

TPD32TPD32--nnn/nnnnnn/nnn--nnnnnnnn--nBnB--NA NA

For Standard Version,

Rated current value

For NA version,

nominal current with 150% ovrld set

2 = Not Regen

4 = Regen

No. of quadrantsRated voltage

400/420400/470500/520500/600690/720690/810

Product family

North American version

14

Hardware Description Basic Diagram

1

2

3

4

Input supplyInput supply

Field converterField converter

Armature ConverterArmature Converter

Regulation sectionRegulation section

15

Drive configuration

Power cardPower card

Regulation cardRegulation card

Supply cardSupply cardField converter cardField converter card

16

Regulation cardRegulation card

RR--TPD32TPD32

Standard I/O configurationStandard I/O configuration

– 3 differential programmable analog inputs

– 4 fixed opto-coupled digital inputs

- 4 programmable analog outputs

– 8 programmable digital inputs

– 8 programmable digital outputs

– Tacho input

– Digital Incremental encoder input

– Sinusoidal encoder input

17

In every drive is set In every drive is set

as standard the as standard the

““Field controllerField controller””(Constant current & Voltage control)(Constant current & Voltage control)

with rated currentwith rated current

in accordance to the drive sizein accordance to the drive size

Standard configurationStandard configuration

18

Optional cardsI/O expansion card TBO

• 4 Digital inputs

• 4 Digital outputs

• 2 Analog outputsOptionals cards

Field bus interface

• DeviceNet

• CANOpen

• Profibus-DP

19

External devices

Fuses

M

U V W

C D

2U 2V

2C 2D

A

B

D

20 ... 650 A

M

U V W

C D

2U 2V

2C 2D

C

770 ... 4800 A

D

20

Feedback devicestechnical data

• Sinusoidal encoder

– channels two-channels

1Vpp

– supply +5 V

– load capacity >8.3mA

– std. pulses/rev. 1024

• Converter input

– max frequency 150 kHz

– pulses/revolution min 200 - max 9999

21

• Digital encoder

– channels two-channels, with

compl. outputs

– supply +5 V / 15...30 V

– load capacity >4.5mA/6.8..10.9mA each channel

– std. pulses/rev. 1000/1024

• Converter input

– max frequency 150 kHz

– pulses/rev. min 200 - max 9999


22

• Converter analog tachogenerator input

– max voltage at max speed 90 / 180 / 300 V

– load capacity 1.8 / 3.6 / 6 mA


23

Software description…

DRIVE STATUS

MONITOR

INPUT VARIABLES

LIMITS

RAMP

SPEED REGULAT

REG PARAMETERS

I/O CONFIG

ADD SPEED FUNCT

FUNCTIONS

SPEC FUNCTIONS

CONFIGURATION

OPTIONS

DRIVECOM

SERVICE

CURRENT REGULAT

24

The “FW”

The structure of the

SW is the same

as the one of

ARTDrive V.1 series

The FUNCTIONS are basically the same

and so for the programming philosofy

25

Overview of the Main Software functions

• Speed-Torque-Field regulation

• Speed adaptive

• Speed up function

• Anti Drift function

• Droop function

• Speed draw function

• Self tuning

• Mathematical functions (Links)

• Motorpotentiometer

• Jog function

• 8 Multi speed

• 5 internal ramps

• Servodiameter function

• PID function

• Tach follower

• Predictive current regulator

• Static friction calculation

• Overload control

• Adaptive speed regulator

26

Self tuning Drive & Motor

• Automatic reading of the motor data and

automatic setting of the current regulator

• Speed loop self tuning

– Load inertia identification and Proportional -

Integral gains setting

27

Speed controlRamp reference

A

D

Analo

g input ...

Analo

g input ...

Analog output ...

Enab multi spd [153] Enable motor pot [246]

Disabled

Enabled

speed min ...

Disabled

Enabled

Ramp ref 2 [48]

Ramp ref 2 (%) [49]

Ramp ref 1 [44]

Ramp ref 1 (%) [47]

Speed input var [44]

Speed input perc [46]

TBO

Ramp ref (rpm) [110]

Ramp ref (d) [109]

Ramp ref (%) [111]

A

D

A

D

Motopot. Multispeed

Enable

Jog [244]

Jog reference [266]

28

Speed controlRamp shape

S shape t const

Time [s]Speed

1

2

3

4

1

2

3

4

1234

Acc delta speed [21]Acc delta time [22]Dec delta speed [29]Dec delta time [30]

LinearLinear S shapedS shaped

29

Speed controlRamp circuit

En

ab

mu

lti sp

d [1

53

]

En

ab

le m

oto

r p

ot [2

46

]

Disabled

Enabled

Ra

mp

ou

t =

0 [3

44

]

Ra

mp

in

= 0

[34

5]

Sta

rt [

25

5]

Qu

ick s

top

[3

25

]

Qstp

de

lta t

ime

[3

8]

Qstp

de

lta s

pe

ed [

37]

De

c d

elta t

ime

[3

0]

De

c d

elta s

pe

ed [

29]

Acc d

elta

tim

e [2

2]

Acc d

elta

sp

eed

[21

]

Ramp shape [18]

S

linear

En

ab

le r

am

p [2

45]

S shape t const [19]

Disabled

Enabled

Ramp ref 1 [44]

Ramp ref 1 (%) [47]

Speed input var [44]

Speed input perc [46]

Ra

mp

re

f 2

[4

8]

Ra

mp

re

f 2

(%

) [4

9]

Ra

mp

re

f (r

pm

) [1

10

]

Ra

mp

re

f (d

) [1

09

]

Ra

mp

re

f (%

) [1

11

]

Ra

mp

ou

tp (

rpm

) [1

13

]

Ra

mp

ou

tpu

t (d

) [1

12

]

Ra

mp

ou

tpu

t (%

) [1

14

]

Fre

eze

ram

p [3

73]

30

Speed controlSpeed reference

A

D

A

D

A

D

Analog output ...

TBO

An

alo

g in

pu

t ..

.

An

alo

g in

pu

t ..

.

DisabledEnabled

Speed RegulatorSpeed max ...

Speed ref (rpm) [118]

Speed ref (d) [115]Speed ref (%) [117]

Speed ref 2 [43]

Speed ref 2 (%) [379]

Jog + [398]Jog - [399]

ON

OFF

Speed ref 1 [42]

Speed ref 1 (%) [378]

Speed ref var [115]Percent ref var [116]

Ra

mp

ou

tpu

t (d

) [1

12

]R

am

p o

utp

(rp

m)

[113

]R

am

p o

utp

ut

(%)

[114

]

Enable ramp [245]

Sp

ee

d lim

ite

d [3

72

]

31

Speed regulator Characteristics

• PI Regulation

• Adaptive regulation

• Zero speed logic for the regulator behaviour at motor stand still

• Speed up function for avoiding oscillations with high inertia moment loads

• Droop function (current balancing)

• Speed fbk by-pass in case di fbk loss

32

Speed controlSpeed limits

• Min speed

• Max speed

• Min positive speed

• Min negative speed

• Max positive speed

• Max negative speed

33

Speed controlAdaptive speed regulator

Speed P in use [99]

Speed I in use [100]

Adap P gain 1 [188]Adap P gain 3 [192]

Adap P gain 2 [190]

Adap I gain 1 [189]

Adap I gain 3 [193]

Adap I gain 2 [191]

Adap joint 1 [186] Adap joint 2 [187]

Adap speed 1 [184] Adap speed 2 [185]

Speed basevalue [45]

Adap. typeAdap. type

� Speed

� External reference

The speed regulator gains, change in according to the motor speed or to an external signal

34

Speed up function

Actual speed Actual speed

Current Current

Speed up not activeSpeed up not active Speed up activeSpeed up active

With loads having a high moment of inertia it is possible to check the jumps during the speed changes.

35

Speed controlPerformance

• With tachometer

– Resolution better than 1:1000

– Accuracy typical 0.1%

– Range of regulation better than 1:1000

– Bandwidth 30 Hz

36

• With sinusoidal encoder– Resolution better than 1:10000

– Accuracy Typical 0.01%



37

• With digital encoder– Resolution better than 1:1000




38

Special functionsI / n curve

I/n speed Motor max speed

In use Tcur lim

39

Current controlCurrent reference

A

D

A

D

A

D

TBO

An

alo

g in

pu

t ..

.

An

alo

g in

pu

t ..

.

Current RegulatorCurrent Limit

T current Ref [41]

T current ref 1 [39]

Speed reg output [236]

Enable spd reg [242]

T current ref 2 [40]

Analog output ...

Enabled Disabled

40

Current controlLimits

• Positive & Negative Current limits

• Current limits state

• In use Current limits

• Current limits reduction

• Torque reduction

41

– Resolution Typical 1:2000



Current regulatorPerformance

42

Current controlPredictive regulator

Current feedback

Torquedemand

Peak Voltage

Frequency50/60Hz

Motor model

Trigger

The R & L value of the

motor, are calculated

through a Self tuning

function

43

o The response time of the current loop is theorically equal zero

o The difference between the estimated value & the rejquired value is compensated by the speed loop

Current loop

Speed loop

Required current value

Estimated current value


44

Step answer of a PI regulator current

Step answer of apredictive regulator current

I I


45

Field control

MAX out voltage

+-

Flux regulator

Flu

xFlux ref

Voltage regulator

Flux curr max

Flux

curr min-

+

MODULATOR

U1

V1

C1

D1

FIELD

CD

Output Voltage

46

Field control

• Constant current

• Voltage control

• External control

47

Field control

48

Special functionsAutocapture

• Catching of a rotating motor at the drive start up

� Connection to a motor already in movement due to the load

(eg. pumps)

� Reinserction after an alarm intervention

Mains usesMains uses

49

Special functionsProgrammable alarms

– Failure supply

– Undervoltage

– Overvoltage

– Heatsink

– Overtemp. motor

– External fault

– Overcurrent

– Field loss

– Speed fbk loss

– Opt2 failure

– Bus loss

– Hw opt1 failure

AlarmsAlarms

� Activity

� Latch

� Open ok relay

� Hold off time

� Restart time

� Ignore

� Warning

� Disable drive

� Quick stop

� Normal stop

� Curr. lim stop

50

Speed min

EnableJog [244]

Jog reference [266]

15

1819

11 12 13 14

+ 2

4 V

0 V

24

Moto

r p

ot

up [

39

6]

Moto

r p

ot

do

wn [

397]

Moto

r p

ot

sig

n +

Moto

r p

ot

Reset

[249]

Disabled

Enabled

Ramp in = 0 [345]

Ram

p r

ef (

rpm

) [1

10]

Ram

p r

ef

(d)

[109]

Ram

p r

ef

(%)

[111]

Ramp

Motorpotentiometer-Function

Enable motor pot [246]

TBO

Dig

ital in

put

1

Dig

ital in

put

2

Dig

ital in

put

3

Dig

ital in

put

4

CO

M I

D

15 12 13 14

TBO

11

Dig

ital in

put

1R

eset

Moto

r p

ot

sig

n -

Up

Dow

n

Sig

n +

Sig

n -

Special functions Motorpotentiometer

51

Special functions Jog

OFF

ON

Speed r

ef

(rp

m)

[118

]

Speed r

ef

(d)

[115

]

Speed r

ef

(%)

[11

7]

Speed Regulator

Jog reference [266]

Speed r

ef

2 [

43

]

Speed r

ef

2 (

%)

[33

8]

+

- + -

Speed ref 1 [42]

Speed ref 1 (%) [337]

Speed ref var [115]

Percent ref var [116]

Enable jog [244]

Start/Stop [315]

Speed limits

Jog selection [375]

Ramp

ref [110]

OFF

ON

A

B

C

A

B

C

A

B

CRamp

15

1819

11 12 13 14

+ 2

4 V

0 V

24

TBO

Dig

ital in

put

1

Dig

ital in

put

2

Dig

ital in

put

3

Dig

ital in

put

4

CO

M ID

Jog + [398] Jog - [399]

Jog +

Jog -

52

Special functionsMultispeed

0

7

Speed min

Enable Jog [244]

Jog reference [266]

Disabled

Enabled

Ramp in = 0 [345]

Ram

p r

ef

(rp

m)

[11

0]

Ram

p r

ef

(d)

[109

]

Ram

p r

ef

(%)

[111

]

Ramp

Enable motor pot [246]

Enab multi spd [153]

Multi speed 1 [154]

Multi speed 2 [155]

Multi speed 3 [156]Multi speed 4 [157]

Multi speed 5 [158]

Multi speed 6 [159]

Multi speed 7 [160]

Disabled

Enabled

15

1819

11 12 13 14

+ 2

4 V

0 V

24

TBO

Dig

ital in

put

5

Dig

ital in

put

6

Dig

ital in

put

7

Dig

ital in

put

8

CO

M ID

Speed s

el 0

[40

0]

Speed s

el 1

[40

1]

Speed s

el 2

[40

2]

2220 1 2

7

6

5

4

3

2

1

0

Multi speed 1

Multi speed 2

Multi speed 3

Multi speed 4

Multi speed 5

Multi speed 0

Multi speed 6

Multi speed 7

Speed sel 0

Speed sel 2

Speed sel 1

53

Special functions Multiramp

0

3

15

1819

11 12 13 14

+ 2

4 V

0 V

24

TBO

Dig

ital in

put 1

Dig

ital in

put 2

Dig

ital in

put 3

Dig

ital in

put 4

CO

M ID

Ramp

Ramp 0Ramp 1Ramp 2

Ramp 3

Enab multi rmp [243]

Enabled

DisabledStandard ramp

Ramps

Ram

p s

el 0

[403]

Ram

p s

el 1

[404]

2 20 1

Ramp 0 Ramp 1 Ramp 2 Ramp 3

Start

Ramp sel 0

Ramp sel 1

54

Special functionsOverload control

Time

Overloadcurrent [312]

Basecurrent [313]

Overloadtime [310]

Overloadtime [310]

Overloadtime [310]

Pausetime [311]

Pausetime [311]

Waitingtime

Overldavailable [406]

Overloadstate [407]

T current

Limits

Time

Overloadcurrent [312]

Basecurrent [313]

Overloadtime [310]

Overloadtime [310]

Overloadtime [310]

Pausetime [311]

Pausetime [311]

Waitingtime

Overldavailable [406]

Overloadstate [407]

T current

Limits

Current limitedCurrent limited Current not limitedCurrent not limited

55

Base current = 00 % I2,00

1,75

1,50

1,25

1,00

Overl

oad c

urren

t / I

dAN

dAN

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0

Overload time / (Pause time + Overload time)

Overload time


1,75

1,50

1,25

1,00

Overl

oad c

urren

t / I

dAN

dAN

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0


Overload time


1,75

1,50

1,25

1,00

Overl

oad c

urren

t / I

dAN

dAN

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0


Overload time


1,75

1,50

1,25

1,00

Overl

oad c

urren

t / I

dAN

dAN

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0


Overload time

I = 110 ... 185 AdAN

1s

30 s

60 s

1 s

30 s

60 s

1 s

30 s

60 s

1 s

30 s

60 s

Overload Overload

characteristicscharacteristics


56

Motor: Pn=30 kW, Vn=420 V, In=82 A

Cycle: 180% In for 1 s

In for 5 s

Converter: TPD32-400/420-110-4B

Base current = In/Idn = 82/110 = 0.75

BASE CURRENT = 75%

Overload current = 82 A x 1.8 = 147.6 A

Factor for ovld. = Ovld curr. / Idn = 147.6/110 = 1.34

Time ovld./Tcycle = 1 s / (5 s + 1 s) = 0.16

Full load curr 82 A

Enable overload Enabled

Base current 100%

Overload time 1s

Pause time 5 s

ExampleExample

1 s

Corrente base = 75 % IdAN

2,00

1,75

1,50

1,25

1,00

Corr

en

te s

ovra

cca

rico /

IdA

N

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0

Tempo sovraccarico / (Tempo pausa + tempo sovraccarico)

Tempo sovraccarico


57

Motor: Pn=30 kW, Vn=420 V, In=82 A

Cycle: 180% In for 1 s

In for 5 s

Converter: TPD32-400/420-110-4B

Base current = In/Idn = 82/110 = 0.75

BASE CURRENT = 75%

Ovl current = 82 A x 1.8 = 147.6 A

Ovl factor = Ovl curr / Idn = 147.6/110 = 1.34

Ovl time/Tcycle = 1 s / (5 s + 1 s) = 0.16

Full load curr 82 A

Enable overload Enabled

Base current 100%

Overload time 1s

Pause time 5 s

ExampleExample…………..

1 s

Base current = 75 % I

2,00

1,75

1,50

1,25

1,00

Ove

rload

curr

ent

/ I

dA

N

dAN

0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0


Overload time


58

Special functionsStop control

Start

Speed 0

Enable

Contactor

Spd 0 trip delay

Trip cont delay

�Stop mode

�Spd0 trip delay

�Trip cont delay

�Jog stop delay

�OFF

�Stop&Speed0

�Fast stp&Speed0

�Fst/Stp&Speed0

59

Special functions Test generator

Generator

output

1 / Gen frequency [59]

Gen a

mplit

ude

[60]

Gen a

mplit

ude

[60]

Time

Genera

tor

offse

t [6

1]

Test GeneratorTest Generator

• Gen access

• Gen frequency

• Gen amplitude

• Gen offset

� Not connected

� F current ref

� T current ref

� Flux ref

� Ramp ref

60

Special functions Links

A

Mul gain link X

A x

Mul gain link X

B

Div gain link X

B /

Div gain link X

+

+

Destination lk XSource lk X

Inp absoulte lk X Input offset lk X

Input min lk X

Input max lk X

Output offset lk X

+

+

Execution time: every 20 msExecution time: every 20 ms

Simple mathematical functions: the parameters can be rectified, limited,

multiplied by a factor, divided by a factor.

61

Special functions Pads

Pad 0, Pad 1

Analoginput

Analogoutput

Pad 2, Pad 3

Analoginput

Pad 4, Pad 5

Analogoutput

Pad 6...15Bitword Pad A

Bit 0...15Bitword Pad B

Bit 0...15

Digitaloutput

(Bit 0...15)

Digitalinput

(Bit 0...7)

Digitaloutput

(Bit 0...15)

INTERBUS S, PROFIBUS DP

Options (Bus Interface ....)KeypadRS 485

62

• Nip-roll

• Winders

• Unwinders

• Pressure control for

pumps & fans

General usesGeneral uses……

Special functions: PID

Load cell or Dancer can be used as

position/tension transducer

63

M M E-10V

+10V

Feed-forward

Feed-back

5Kohm

+10V

-10V

E

R

(Internal rampmaster drive)

Line speed reference

Forward

Reverse

DRIVE

Winder/unwinder

Dancer Forward

ReverseNip-roll

DRIVE

Dancer control

64

LEGE ND:

thr

Feed-for ward sign: positive g ain = -1negative gain = +1

G ainEnable PI PIDinternal PIintegral freeze

PI Steadystate

th r

PI steady delay

PI P g ain PIDP init gain PID

Enable

PI PID

PI I gain P IDI init gain PIDPI integral fre eze

Intern al PI

integra l freeze

PI top lim PIDPI bo ttom lim PID

PI output PIDReal FF P IDCV

Feed -fwd PID

Feed-fwd PID

CentralValue PI central v 1 PIDPI central v 2 PIDPI output PID0123PID error

M ME E-10V

+10V

+10V

-10V

Feed-forward

Feed-back

5Kohm

Dancer Forward

Reverse

Line speed reference

Forward

Reverse

(Internal rampmaster drive)

DRIVE DRIVE

Master Nip-roll

Dancer control

65

Dancer

Winder/unwinder

M

Feed-forward

Feed-back

-10V

+10V

5Kohm

E

R

Diameter sensor

0 -

10V

Nip_roll

M E

DRIVEAV / DV300

DRIVEAV / DV300

Dancer control

The diameter sensor can be favourably used in case of unwinder system with automatic gear.

66

Load cell control

M ME E

0....+10V

+10V

-10V

Feed-forward

Feed-back

-10V

Set

Load cell

Indietro

Avanti

Set di tiro

Avanti

Indietro

Riferimento velocitàdi linea

(Rampa internadrive master)

DRIVE DRIVE

TrainoMaster Traino

67

Open loop control(Torque winder)

68

Pressure control

M

Estrusore

Riferimento di velocità

E

DRIVE

-10V

+10V

Feed-back

Impostazionedi pressione

Trasduttoredi pressione

Set

Feed-fwd

0... +10V

69

Pump controlwith pressure regulation

PRESSURETRASDUCER

PRESSURE SET

MAX MOTOR SPEED

PI RAMP

START/STOP

EN

AB

LE

SPEED REF.

DRIVE

U V W

U2 V2 W2

0 - 10V

70

Screw feeder control

CURRENT SET MAX MOTOR SPEED

PI RAMP

START/STOP

EN

AB

LE

SPEED REF.

DRIVE

U V W

U2 V2 W2

U V W

71

Jigger (textile machinery)

Textile loading

Speed

ref.

LOADCELL

DRIVE DRIVE

DGFC DGFC

EE EM M

Te

nsio

n

72

Drawing warpingmachine

ME

DRIVE

DGFC

ME

DRIVE

DGFC

-

+

ME

DRIVE

DGFC

ME

DRIVE

DRAFT ...%

RS485

73

• Extrusors can be realized with DC motor or AC

motor (power up to 630KW).

Due to a reduced space requirements in the machine, squared type motor are usually choosen.

• On the Extrusor it is possible to control:- The speed of the screw

or

- the locking pressure

TPD32 series (DC Drive),can fully manage the set and the control of the pressure measured by

an external transducer without external options.

EXTRUSION

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• Extruder pressure controlled by

using the standard PID function integrated

in the drive

EXTRUSION

75

• Innovative software for the Drive configuration and parametrization

– Full parameters setting for Drive and motor by means of:

• Menu structure

• Blocks diagram

• Wizards

– Monitoring of all the variables

– “Help screen”

– “Trend recorder” function

PC Configurator Tool

76

Questions & Answers Questions & Answers

77

Thanks !!!Thanks !!!

Documents

TPD32 DC Drive presentation - ctae.co.th SIEI Product/Presentation... · 25 Overview of the Main Software functions • Speed-Torque-Field regulation • Speed adaptive • Speed