Kinco FD425-CA-000, Руководство пользователя, Страница: 131 / 206

Kinco FD5 系列伺服驱动器使用手册 第七章 性能调节
128
Steps required for adjustment of the velocity loop
:
Step 1 ： Adjustment for Kvp
Increasing Kvp can improve the bandwidth of the velocity loop and make the velocity response
ability faster. To calculate the Kvp, please refer the following formula
。
Kt Motor torque constant ， unit N.m/Arms*100
J inertia ， unit kg*m^2*10^6 B
B Velocity loop bandwidth unit: Hz
d2.05 60F905
Speed_Fb_N
Used to set Velocity feedback filter bandwidth.
Filter bandwidth=100+Speed_Fb_N*20
7 0-45
d2.06 60F906 Speed_mode
Used to set the velocity feedback mode
0: 2nd order FB LPF
1: Directly feedback the original velocity
2: Velocity feedback after velocity observer
4: Velocity feedback after 1st order LPF
10: Velocity feedback after 2nd order LPF and the
velocity command is filtered by a 1st order LPF.
Both filters have the same bandwidth. 11: The
velocity command is filtered by a 1st order LPF
12: Velocity feedback after velocity observer, the
velocity command is filtered by a 1st order LPF
14: Velocity feedback after 1st order LPF and the
velocity command is filtered by a 1st order LPF.
Both filters have the same bandwidth
Bit7 ：
1 ： Use 8K Velocity loop sampling frequency and 2K
position loop sampling frequency (for 23-bit
encoders)
0 ： Use 4K Velocity loop sampling frequency and 1K
position loop sampling frequency
0 /
60F915
Output_Filter_N
A 1st order lowpass filter in the forward path of the
velocity loop
1 100-1370
60F908
Kvi_Sum_Limit Integral output limit of the velocity loop
/ 0-2^15