Kinco FD5P Series - Problems and Adjustments with Auto-Tuning; Adjustment after Auto-Tuning

Kinco FD5P AC series servo driver
册
Chapter7:Tuning of the servo system control
98
object parameter of "inertia measurement operating range", so as to obtain more accurate setting
result parameters. If the mechanical dither is large during the self-tuning process, the setting value
of this object parameter can be appropriately reduced.
7.2.3 Problems and adjustments with auto-tuning
If the tuning process has failed, the error result of tn03 tells the fail-reason:
0: The controller could not be enabled by any reason.
-1: Inertia cannot be measured due to too little motion or too little current.
-2: The measured inertia result is outside the valid range.
-3: The resulting Inertia_Ratio value is greater than 250 (inertia ratio > 25). This is a
possible result, but the control loop will not be tuned.
-4: The resulting Inertia_Ratio value is larger than 500 (inertia ratio > 50). This is an
uncertain result.
In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in the case -3 Inertia_Ratio is set as measured,
Stiffness is set to 7-10.
In any fail case the control loop parameters are set to Inertia_Ratio of 30 and the set Stiffness values. To
make the measured Inertia_Ratio of case -3 become effective, the value of tn02 must be confirmed by SET.
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.
7.2.4 Adjustment 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
∞