Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.19 VL.KP
General Information
Description
Scales the observer velocity signal; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
Units Internal
Range 0 to 65,535
Default
Value
0
Data Type Float
See Also VL.MODEL (pg 467)
Start Ver-
sion
M_01-00-01-000
Description
VL.KO is used to scale the observer model to match the load. When VL.KO is tuned properly,
Reads the observer velocity signal; active in opmodes 1 (velocity) and 2 (position) only. (pg
467) will match VL.FB (pg 457), except when there is an unspecified offset between the two.
Related Topics
1 Velocity Loop
48.19 VL.KP
General Information
Type NV Parameter
Description
Sets velocity loop proportional gain for the PI controller; active in opmodes 1
(velocity) and 2 (position) only.
Units A/(rad/sec)
Range 0.001 to 2,147,483.008
Default
Value
1
Data Type Float
See Also VL.KI (pg 461)
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3548h/0 M_01-00-00-000
Description
VL.KP sets the proportional gain of the velocity loop.
The idealized velocity loop bandwidth in Hz is:
Rotary motor:
Bandwidth (Hz) = VL.KP *K
t
/ (2π *J
m
)
Where:
K
t
= motor torque constant, in units of Nm/Arms
J
m
= motor inertia, in units of kg*m²
Linear motor:
Bandwidth (Hz) = VL.KP * K
t
/ (Motor Pitch (mm) * J
m
)
462 Kollmorgen™ | December 2012