Kinco FD425-CA-000, Руководство пользователя, Страница: 57 / 206

Kinco FD5 系列伺服驱动器使用手册 第四章 数字面板操作
54
-2:
Indicates that the calculated inertia coefficient is too large or too small,
and the measurement result is not within the normal range. The integral
needs to be adjusted, the limit parameters need to be re-tuned, and the
result is invalid.
-3:
The inertia ratio exceeds 25:1. The inertia ratio result is valid but does not
automatically set the loop parameters.
-4:
The measured inertia ratio is over 300 times the range. Inertia ratio result
is invalid.
Table
4-6
Stiffness and control loop settings
Stiff
ness
Kpp/[0.0
1Hz] KVP/
[0.1Hz]
Output filter
[Hz] Stiff
ness
Kpp/[0.0
1Hz] 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
∞
4.3.4
Reasons for the failure of tunning
1.
Incorrect wiring of the CD3 servo system
2.
DIN function Pre_Enable is configured but not active
When the setting for the stiffness or inertia ratio results in a Kvp value of greater
than 4000, it isn't useful to increase stiffness anymore 。 For encoders with less
than 80000PPR resolution, the maximum rigidity level is 22.
Attention
⚫
The EASY procedure must be run first and completed, before tunE may be used
⚫
inertia measurement might cause the machine to oscillate, please be prepared
to shut off controller power immediately.
⚫
Provide enough mechanical space for motor oscillation during inertia
measurement in order to avoid machine damage.