Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.19 VL.KP
Where:
K
t
= motor torque constant, in units of Nm/Arms
J
m
= motor inertia, in units of kg
The drive uses the same control loop for both linear and rotary motors. VL.KP units are in Arms
/(rad/s). If you want to tune in units of Arms/(mm/s), then you must manually convert the units.
The diagram below shows how linear motors are implemented at the control loop level.
The red blocks are automatically handled at the drive level.
2π radians is the linear equivalent of one full mechanical revolution of a rotary motor - and is
equal to the MOTOR.PITCH of a linear motor.
Example
To convert VL.KP = 0.320 Arms/(rad/s) to Arms/(mm/s), where MOTOR.PITCH is 32 mm:
VL.KP = 0.320 Arm /rad/s * (2
π
rad / 32mm MOTOR.PITCH)
VL.KP = 0.32 * 2
π
/ 32 = 0.063 Arms / (mm/s)
Related Topics
Velocity Controller Environment Block Diagram
Kollmorgen™ | December 2012 463