Kinco FD425-CA-000, Руководство пользователя, Страница: 134 / 206

Kinco FD5 系列伺服驱动器使用手册 第七章 性能调节
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Step 3 ： Adjustment of Kvi_Sum_Limit
The Kvi_sum_Limit is the maximum current limit when performing adjustment 。 Usually the default
value can satisfy most applications. However, if the application system has a large resistance or the
acceleration is too large, so that the actual current has reached the Kvi_sum_limit current, and at the
same time, the actual speed is far less than the target speed. The value of this parameter should be
increased. If the output current is prone to saturation, but the saturated output current will cause low
frequency oscillations, this parameter should be reduced.
The Kvi_sum_limit should be as small as possible on the basis of satisfying the applicaition. The smaller
the Kvi_sum_limit value, the shorter the adjustment time.
Step 4 ： Adjustment for Speed_fb_N
Feedback filter can reduce noise from the feedback path, eg, encoder resolution noise.
For different applications, the speed feedback filter can be converted to 1
st
and 2
nd
order by
Speed_Mode
1
st
order can reduce more noise, but produce less phase shift, allowing the higher Kvi or Kvp.
2
nd
order filter reduces more noise, but also provide more phase shift, which can limit the Kvi
or Kvp.
Usually, if the machine and the load use soft connection, it is recommended to use a 1
st
order
low-pass feedback filter or turn off the feedback filter. If the rigid connection is used or the
load is too heavy, the 2
nd
order low-pass feedback filter could be used. Factory default is a 2
nd
order low-pass feedback filter, which is suitable for most applications
If the motor noise is too loud when adjusting the Kvi or Kvp
， you can appropriately reduce the speed
feedback filter parameter
(60F9.05)
. However, the velocity loop feedback filter bandwidth F must be
greater than 2 times of the velocity loop bandwidth. Otherwise, oscillation may result. Speed
feedback filter bandwidth F = speed feedback filter*20+100 [HZ]
Step 5 ： Adjustment of output filter
The output filter is a first order low pass torque filter. It can reduce the high-frequency torque
order output by the speed control loop, so as to achieve the purpose of suppressing the resonance
of the entire system.
When the output filter is set to 2546Hz (1DEC), it means to close the output filter control. When the
system has resonance, the user can try to adjust the DEC value of the output filter setting from small
to large to reduce noise.
The filter bandwidth can be calculated by the following formula
：
B _ Output _ F ilt er
=
1

2
In (1
−
1
)
Output _ Filter _ N
62.5
π
Output_Filter_N
Output filter setting
(60F9.15), Unit Hz
B_Output_Filter
Filter bandwidth