Kinco FD5 Series - 6.7 Homing mode(6)

Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation
105
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 7-8Correspondence 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
For example
：
Figure 7-8 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
Set auto switch PI
（
6069.09
）
= 1: When the motor is running, the PI pointer is 0; when the motor is in the position to or the
motor zero speed state, the PI pointer is 1.
Some equipment with large inertia may be affected by inertia or elastic force and vibrate when it decelerates to stop. At this time,
switching flexible PI parameters helps to achieve efficient shutdown. Automatic PI switching is suitable for applications where
different PI parameters are required for these motors in running and stopped states. If the gain switching function is defined on the
digital input port, the automatic gain switching will be invalid.
Method 3
：
Set PI pointer value directly through communication