Kinco FD5 Series - 7.2.4 Adjustment after auto-tuning; 7.3 Manual tuning

Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation
97
Reasons for the failure of auto-tuning
：
1.Incorrect wiring of the servo system
；
2.DIN function Pre_Enable is configured but not active
；
3.Too much friction or external force is applied to the axis to be tuned
；
4.Too big backlash in the mechanical path between the motor and the load
；
5.The mechanical path contains too soft components (soft belts or couplings)；
6.Inertia ratio is too large
Adjustment
：
1.Try to increase the value of the "Safe_dist" parameter to perform auto-tuning again；
2.If it still fails, manually adjust the performance.
7.2.4Adjustment after auto-tuning
After auto-tuning the stiffness is set to a certain value. The greater the inertia ratio, the smaller the stiffness value will be. The
range of parameter after auto-tuning is shown below.
Table 7-2 Stiffness table
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
∞
Note
When the rigidity or inertia ratio is modified so that the Kvp is greater than 4000, then increasing
the rigidity has no effect on the performance adjustment, and increasing the inertia ratio will
reduce the bandwidth. For encoders with resolutions below 8000ppr, rigidity class is set to a
maximum of 22. If the rigidity is changed through communication, set the write function
permission control to 1 before changing the rigidity. After the rigidity is changed, set the write
function permission control back to 0.
The adjustment of stiffness according to actual needs
If response is too slow
→
increase stiffness. If oscillation or noise increases
→
reduce stiffness.
If the command from the controller (e.g. PLC) is unreasonable or inappropriate for the machine, some filters
should be modified in order to reduce oscillation (see chapter 7.3 manual tuning)
7.3 Manual tuning
The final setting parameters obtained through the self-tuning process cannot meet the user's field requirements or when there is
mechanical clearance, inertia change or flexible connection, the requirements can be achieved by manual adjustment. The
parameters of speed ring and position ring should be adjusted during debugging. The speed ring parameter is related to the load
inertia of the whole mechanical system converted to the motor shaft. The position ring is the outermost control ring of the servo
system and is related to the motor action mode, that is, the field application. The current ring is the innermost control ring in the
servo system, and the current ring parameters are related to the motor parameters. After the motor is correctly configured, the
system defaults the current ring parameters to the best parameters of the configured motor, so there is no need to adjust again.
Manual adjustment is required to work with the oscilloscope to capture the data waveform. Please refer to Section 5.6 when using
the oscilloscope.