Kinco CD2S Series, User Manual

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Table 7-3 Parameters for pulse filtering coefficient
Numeric
Display
Variable
Name
Meaning Default
Value
Range
d3.37 PD_Filter Used to smooth the input pulses.
Filter frequency: f = 1000/(2π* PD_Filter)
Time constant: T = PD_Filter/1000
Unit: S
Note: If you adjust this parameter during the operation,
some pulses may be lost.
3 1~3276
7
When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, it is required
to adjust this parameter to reduce motor oscillation; however, if the parameter adjustment is too great, motor
running instructions will become slower.
4. Parameters for pulse frequency control
Table 7-4 Parameters for pulse frequency control
Numeric Display Variable Name Meaning Default
Value
Range
d3.38 Frequency_Check Indicates the limitation on pulse input
frequency (kHz)
600 0~600
5. Parameters for gain control on position loops and velocity loops
Current loops are related to motor parameters (optimal parameters of the selected motor are default for
the driver and no adjusting is required).
Parameters for velocity loops and position loops should be adjusted properly according to loading
conditions.
During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of
that of the position loop; otherwise oscillation may occur.
Table 7-5 Parameters for gain control on position loops
Numeric
Display
Variable Name Meaning Default
Value
Range
d2.07 Kpp Indicates the proportional gain Kpp 0 of the
position loop
1000 0~10000
d2.08 K_Velocity_FF 0 indicates no feedforward, and 256 indicates
100% feedforward
255 0~255
d2.09 K_Acc_FF The value is inversely proportional to the
feedforward
32767 32767~10
d0.05 Pc_Loop_BW Sets the bandwidth of the position loop in Hz. 10 0~100
d2.26
Pos_Filter_N Average filter parameter 1 1~255
Proportional gains of the position loop Kpp: If the proportional gain of the position loops increases, the
bandwidth of the position loop is improved, thus reducing both the positioning time and following errors.
However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set
properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW,Pc_Loop_BW indicates the
bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity loop.
It is recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of
a velocity loop).