Kinco FD425-CA-000, Руководство пользователя, Страница: 129 / 206

Kinco FD5 系列伺服驱动器使用手册 第七章 性能调节
126
7.2.3
Problems and adjustments with auto-tuning
If the tuning process has failed, the error result of tn03 tells the fail-reason:
0:
The controller could not be enabled by any reason.
-1: Inertia cannot be measured due to too little motion or too little current.
-2: The measured inertia result is outside the valid range.
-3: The resulting Inertia_Ratio value is greater than 250 (inertia ratio > 25). This is a
possible result, but the control loop will not be tuned.
-4:
The resulting Inertia_Ratio value is larger than 500 (inertia ratio > 50). This is an
uncertain result.
In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in the case -3 Inertia_Ratio is set as measured,
Stiffness is set to 7-10.
In any fail case the control loop parameters are set to Inertia_Ratio of 30 and the set Stiffness values. To
make the measured Inertia_Ratio of case -3 become effective, the value of tn02 must be confirmed by SET.
Reasons for the failure of auto-tuning ：
1.
Incorrect wiring of the servo system ；
2.
DIN function Pre_Enable is configured but not active ；
3.
Too much friction or external force is applied to the axis to be tuned ；
4.
Too big backlash in the mechanical path between the motor and the load ；
5.
The mechanical path contains too soft components (soft belts or couplings) ；
6.
Inertia ratio is too large
Adjustment ：
1. Try to increase the value of the "Safe_dist" parameter to perform auto-tuning again ；
2. If it still fails, manually adjust the performance.
7.2.4
Adjustment after auto-tuning
After auto-tuning the stiffness is set to a certain value. The greater the inertia ratio, the smaller the
stiffness value will be. The range of parameter after auto-tuning is shown below.
Stiffn
ess
Kpp/[0.01HZ]
Kvp/[0.1Hz]
Output filter[Hz] Stiffn
ess
Kpp/[0.01HZ]
Kvp/[0.1Hz]
Output filter[Hz]
0 70 25 18 16 1945 700 464
1 98 35 24 17 2223 800 568
2 139 50 35 18 2500 900 568
3 195 70 49 19 2778 1000 733
4 264 95 66 20 3334 1200 733
5 334 120 83 21 3889 1400 1032
6 389 140 100 22 4723 1700 1032
7 473 170 118 23 5556 2000 1765
8 556 200 146 24 6389 2300 1765
9 639 230 164 25 7500 2700 1765
10 750 270 189 26 8612 3100 1765
11 889 320 222 27 9445 3400
∞
12 1056 380 268 28 10278 3700
∞
13 1250 450 340 29 11112 4000
∞
14 1500 540 360 30 12500 4500
∞
15 1667 600 392 31 13889 5000
∞