Kinco FD425-CA-000, Руководство пользователя, Страница: 141 / 206

Kinco FD5 系列伺服驱动器使用手册 第七章 性能调节
138
2340.07 Uint16
Kvp
[2]
Gain parameter called when PI pointer is 2
Dec, Hz
2340.08 Uint16
Kvi
[2] Dec
2340.09 Int16
Kpp
[2] Dec. Hz
2340.0A Uint16
Kvp
[3]
Gain parameter called when PI pointer is 3
Dec, Hz
2340.0B Uint16
Kvi
[3] Dec
2340.0C Int16
Kpp
[3]
Dec. Hz
60F9.28 Uint8
PI
point Indicates the PI parameter being
called
Dec
60F9.09 Uint8
Auto PI switch
When the target position/target
speed is reached, that is, when
bits.Target_reached=1
， select the PI
parameter, which is suitable for
the occasions where different PI
parameters need to be used
during the motion process and
the static state
：
0:
PI
pointer （
60F9.28)=0;
1
：
PI
pointer (
60F9.28)=1;
Dec
7.4.1
Gain switching method
The drive provide three method for dynamically selecting PI control parameters.
Method 1: Switch PI by digital input:
Configure the function gain switch 0 or/and gain switch 1 at the digital input port,
and the value of the PI pointer is the BCD code composed of the input:
Bit0: Gain switch 0
Bit1: Gain switch 1
Table 7-5 Correspondence between gain switching and PI pointer
Gain switch
0
Effective
input level
Gain switch
1
Effective
input level
Value of PI pointer
1 0 1
0 1 2
1 1 3
Example ：
Figure
5-12
Gain switch definition
Gain switch
0 = 1
， Gain switch
1 = 0
， so
PI
pointer
=1
， Valid PI parameter is Kvp[1], Kvi[1],
Kpp[1]
Method 2 ： Drive auto switch PI