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Kinco FD5 系列伺服驱动器使用手册 第七章 性能调节
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Table
7-2
Stiffn
The adjustment of stiffness according to actual needs
If response is too slow
→ increase stiffness. If oscillation or noise increases → reduce stiffness.
If the command from the controller (e.g. PLC) is unreasonable or inappropriate for the machine, some filters
should be modified in order to reduce oscillation (see chapter 7.3 manual tuning)
7.3
Manual tuning
f the auto-tuning function does not support the actual application, or if the application has a gap,
inertia changes or a very soft connection, manual tuning is the right choice.
The manual tuning process makes use of test motion. Match the controller to the actual application
on the basis of experience with the application and a given scope of data by changing loop gain and
filter settings.
Since current loop parameters are calculated internally based on the motor parameters, there is
normally no need to set current loop parameters manually.
。
Manual tunning needs to cooperate with the oscilloscope, please refer Chapter 5.6 for the guide of using
oscilloscope.
7.3.1
Tuning of the velocity loop
Table
7-3
Velocity loop parameter
Panel
address
Internal
address
Name Description
Default
Range
60F901
kvp[0] Setting reaction speed of Velocity loop
/ 1-32767
d2.01 2FF00A
Velocity_BW
Changing this parameter changes kvp[0] by the
inertia ratio
/
1-700
60F902
Kvi[0]
Integral velocity loop gain
/ 0-1023
d2.02 60F907
Kvi/32
It is 1/32 of Kvi ， used for high resolution encoder.
/ 0-32767
2FF019
Kvi_Mix
The value of this parameter is 0x60F902 cross 32
plus 0x60F907.
Writing this parameter sets 0x60F902 to 0 ， and the
value is 0x60F907
/ 0-16384
Attention
When the stiffness setting or the inertia ratio increases Kvp to a value of greater than
4000, it’s not useful to increase stiffness any more, and bandwidth will be decreased
if the inertia ratio is further increased. If changing stiffness via communication,
WriteFUN_CTL(3041.05) must be set to 1 first, and be set back to 0 after stiffness has
been changed.