Kinco CD3 Series - Page 45

Kinco FD3&CD3 User Manual
41
The auto-tuning algorithm uses the following table of control loop bandwidth settings in relation to the stiffness
value:
Table 4-5: Stiffness and control loop settings
Stiffness
Kpp/[0.01Hz]
Kvp/[0.1Hz]
Output filter
[Hz]
Stiffness
Kpp/[0.01Hz]
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
∞
Information
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 any more
Note
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.
Information
Reasons for the failure of tuning:
 Incorrect wiring of the CD3 servo system

DIN function Pre_Enable is configured but not active

Too much friction or external force is applied to the axis to be tuned
 Too big backlash in the mechanical path between the motor and the load

Inertia ratio is too large

The mechanical path contains too soft components (very soft belts or couplings)