Kinco FD5 Series - Page 131

Kinco FD5 系列伺服驱动器使用手册
第七章 性能调节
128
Steps required for adjustment of the velocity loop:
Step 1：Adjustment for Kvp
Increasing Kvp can improve the bandwidth of the velocity loop and make the velocity response
ability faster. To calculate the Kvp, please refer the following formula。
Kt Motor torque constant ，unit N.m/Arms*100
J inertia，unit kg*m^2*10^6 B
B Velocity loop bandwidth unit: Hz
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