Kinco FD5 Series - 7.3.1 Tuning of the velocity loop

Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation
98
7.3.1Tuning of the velocity loop
Table 7-3 Velocity loop parameter
Panel
address
Internal
address
Name
Description
Default
Range
60F901
kvp[0]
Setting reaction speed of Velocity loop
/
1-32767
d2.01
2FF00A
Velocity_BW
Changing this parameter changes kvp[0]
by the inertia ratio
/
1-700
60F902
Kvi[0]
Integral velocity loop gain
/
0-1023
d2.02
60F907
Kvi/32
It is 1/32 of Kvi ， used for high
resolution encoder.
/
0-32767
2FF019
Kvi_Mix
The value of this parameter is 0x60F902
cross 32 plus 0x60F907.
Writing this parameter sets 0x60F902 to
0
，
and the value is 0x60F907
/
0-16384
d2.05
60F905
Speed_Fb_N
Used to set Velocity feedback filter
bandwidth.
Filter bandwidth=100+Speed_Fb_N*20
7
0-45
d2.06
60F906
Speed_mode
Used to set the velocity feedback mode
0: 2nd order FB LPF
1: Directly feedback the original
velocity
2: Velocity feedback after velocity
observer
4: Velocity feedback after 1st order LPF
10: Velocity feedback after 2nd order
LPF and the velocity command is
filtered by a 1st order LPF. Both filters
have the same bandwidth. 11: The
velocity command is filtered by a 1st
order LPF
12: Velocity feedback after velocity
observer, the velocity command is
filtered by a 1st order LPF
14: Velocity feedback after 1st order
LPF and the velocity command is
filtered by a 1st order LPF. Both filters
have the same bandwidth
Bit7：
1 ： Use 8K Velocity loop sampling
frequency and 2K position loop
sampling frequency (for 23-bit
encoders)
0 ： Use 4K Velocity loop sampling
frequency and 1K position loop
sampling frequency
0
/
60F915
Output_Filter_N
A 1st order lowpass filter in the forward
path of the velocity loop
1
100-1370
60F908
Kvi_Sum_Limit
Integral output limit of the velocity loop
/
0-2^15