Kinco 2S, Руководство пользователя

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V2.0
24
LED
Display
Parameters Description Default
tn02 InertiaRatio
Ratio of load inertia and motor inertia * 0.1. Servo will calculate K_Load
automatically according to inertia ratio, and influence the proportion gain of
velocity loop. Formula: Kvp=VC_LOOP_BW
×
K_Load/4096. VC_LOOP_BW
represent the BW of velocity loop.
Notice: For safety, when setting tn02, the data will be valid immediately, and
the parameters should be set level by level.
belt:30
screw:50
tn03
Inertia
measuring
1) Write 1 to enable the motor and start the inertia measuring.
Set this parameter to 1 will run the inertia measuring function. It contains the
following operation:
1.take over the enable function and the operation mode function of the IO
function
2. switch the operation Mode to 11
3. enable the driver
4. set 0x2FF00C to 11
5. start shaking and get the result
6. give back the enable function and the operation mode function of the IO
function
2) After confirming, the LED will stop flashing, and will show the Tuning result
while 1 means success; -1,-2,-3,-4 means failure for some reasons.
If the tuning is successful, control loop parameters will be set, and the stiffness
will be set to 4-13 according to the inertia ratio, and tn03 will show 1.
If the tuning failed, the stiffness will be 10 while the inertia ratio will be 30(*0.1)
and the tn03 will show the error code.
-
tn04
Measuring
Distance
Distance of inertia measuring*0.01. For example, 0022 represent 0.22 motor
revolutions, the maximum is 0.4 revolutions.
22
tn00
Saving
parameters
Write 1 to save all the parameters.
Write 2 to save all the parameters and restart the servo ,
Write 3 to reboot the servo
Write 10 to initialize the parameters
Notice: Users
MUST reboot the driver if changing the motor type.
Notice: The EASY and tunE menu are designed to set by button originally. If users initialize parameters by PC software,
EASY and tunE will only display EA00,EA01 and tn00 for safety. Users have to confirm motor type by EA01, after
that the parameters become default and the LED will display in a complete way.
3.2 Notice
1. Inertia measurement might cause shaking of the machine, please be ready to shut off the power or
driver immediately.
2. Keep space for inertia measuring.
3. It is strongly recommended that execute the flow of tunE after the flow of EASY, and adjust the
stiffness.
4. The EASY and tunE menus are designed to set by button originally. If users initialize parameters by
PC software, EASY and tunE will only display EA00, EA01 and tn00 for safety. Users have to confirm
motor type by EA01, after that the parameters become default and the LED will display in a complete
way.
3.3 Reason for the failure of tuning
1.
Wrong wire connection ；
2.
configure the wrong motor type
；
3.
Stiffness is too low
；
4.
Mechanical gap exists
；
5.
Accelerated and decelerated torque are smaller than friction torque.