Kinco CD3 Series - Page 104

Kinco FD3&CD3 User Manual
100
d2.03
60F90308
Notch_N
Notch filter frequency
BW=Notch_N*10+100[Hz]
45
0-127
RWS
d2.04
60F90408
Notch_On
Notch filter enable
0
0-1
RWS
d2.05
60F90508
Speed_Fb_N
Bandwidth of velocity feedback filter
BW=Speed_Fb_N*20+100[Hz]
25
0-45
RWS
d2.06
60F90608
Speed_Mode
Default: 0, means using 2
nd
order low
pass filter
0: 2
nd
order FB LPF
1: No FB LPF
2: Observer FB
4: 1st order FB LPF
10: 2nd LPF+SPD_CMD FT
11: SPD_CMD FT
12: SPD_CMD FT+Observer
14: 1st LPF+Observer
1
0-255
RWS
d2.07
60FB0110
Kpp
Kp of position loop.unit:0.01Hz
1000
0-32767
RWS
d2.08
2FF01A10
K_Velocity_FF‰
Feedforward of position loop,
unit: 0.1%
0
0-1500
RWS
d2.09
2FF01B10
K_Acc_FF‰
Acceleration forward of position loop,
unit: 0.1%
0
0-1500
RWS
d2.10
60F60110
Kcp
Kp of current loop
/
1-32767
RWS
d2.11
60F60210
Kci
Ki of current loop
/
0-1000
RWS
d2.12
2FF01C10
CMD_q_Max_Arms
Maximuml current command in q axis
unit: 0.1Arms
/
0-32767
RWS
d2.13
60F60310
Speed_Limit_Factor
A factor for limiting max velocity in
the torque mode
10
0-1000
RWS
d2.14
607E0008
Invert_Dir
Invert motion
0: CCW is positive direction
1: CW is positive direction
0
0 - 1
RWS
d2.15
60800010
Max_Speed_RPM
Motor’s max speed unit: rpm
5000
0 - 15000
RWS
d2.16
2FF00E10
Max_Following_Error_16
Max_Following_Error=
100*Max_Following_Error_16
5242
1 - 32767
RWS
d2.17
60FB0510
Pos_Filter_N
Average filter parameter
1
1 - 255
RWS
d2.18
20101810
Zero_Speed_Window
Dout function Zero_Speed is active eif
the actual speed is equal or less than
this value
unit: inc/ms
0
0 - 65535
RWS