Kinco FD5 Series - Other Factors Affecting Performance; Chapter 8 Alarm Investigation

Kinco FD5 系列伺服驱动器使用手册
第七章 性能调节
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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.
Speed curve
Speed_real
Speed_demand_buff
0.5 1.5 2.5 3.5 4.5 5.5 6.5
Speed curve
Speed_real Speed_demand_buff
Speed RPM
0.5 1.5 2.5 3.5 4.5 5.5 6.5
PI switch
PI[0] PI[1]
Speed RPM
0 0
Method 3 ：Set PI pointer value directly through communication
7.5 Other factors affecting performance
Control commands created by a controller (e.g. PLC).
⚫ Control commands should be as smooth as possible and must be correct and reasonable. For
example, the acceleration in the control command cannot exceed the maximum acceleration
that can be produced by the motor torque. By collecting the speed and current step waveforms,
during the acceleration process, when the current is saturated and clipped, the acceleration
and deceleration can be appropriately reduced or the smoothing filter can be increased.
⚫ The control command should obey
the bandwidth limit of the control loop.
⚫ Mechanical design
In applications, performance is often limited by the machine. Various factors can affect the final
control performance.
Control performance will affect the final performance of the machine such as accuracy,
responsiveness and stability.
Chapter 8 Alarm Investigation