Kinco FD5 Series - Gain Switching Method

Kinco FD5 系列伺服驱动器使用手册
第七章 性能调节
138
2340.07
Uint16
Kvp[2]
Gain parameter called when PI pointer is 2
Dec, Hz
2340.08
Uint16
Kvi[2]
Dec
2340.09
Int16
Kpp[2]
Dec. Hz
2340.0A
Uint16
Kvp[3]
Gain parameter called when PI pointer is 3
Dec, Hz
2340.0B
Uint16
Kvi[3]
Dec
2340.0C
Int16
Kpp[3]
Dec. Hz
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 7-5 Correspondence 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
Example：
Figure 5-12 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