Kinco FD5P Series User Manual

Kinco FD5P AC series servo driver
册
Chapter7:Tuning of the servo system control
99
12
1056
380
268
28
10278
3700
∞
13
1250
450
340
29
11112
4000
∞
14
1500
540
360
30
12500
4500
∞
15
1667
600
392
31
13889
5000
∞
Note
When the rigidity or inertia ratio is modified so that the Kvp is greater than 4000, then
increasing the rigidity has no effect on the performance adjustment, and increasing
the inertia ratio will reduce the bandwidth. For encoders with resolutions below
8000ppr, rigidity class is set to a maximum of 22. If the rigidity is changed through
communication, set the write function permission control to 1 before changing the
rigidity. After the rigidity is changed, set the write function permission control back to
0.
The adjustment of stiffness according to actual needs
If response is too slow → increase stiffness. If oscillation or noise increases → reduce stiffness.
If the command from the controller (e.g. PLC) is unreasonable or inappropriate for the machine, some filters
should be modified in order to reduce oscillation (see chapter 7.3 manual tuning )
7.3 Online self-tuning
The on-line self-tuning function of the servo drive does not need to be separated from the controller
program, and it is turned on by a key during the movement of the device, which automatically
calculates the load inertia and automatically adjusts the gain to the load state.
Table 7-3 Parameters related to the online self-tuning function
Panel
address
Object index
Name
Description
Default
Range
R: read
W: write
S: save
/
0x234010
Online self-
tuning
control
The BCD code consists of the
following bits to determine the self-
tuning mode:
Bit0: Enables online self-tuning
Bit1: Automatically adjusts kvp after
online self-tuning
Bit2: The acceleration feedforward is
automatically adjusted after the online
self-tuning
Bit4: No self-tuning when running
forward
Bit5: No self-tuning when running in
reverse
Bit7: Use friction to calculate the load
12
0-31
RWS
7.4 Manual tuning
The final setting parameters obtained through the self-tuning process cannot meet the user's field
requirements or when there is mechanical clearance, inertia change or flexible connection, the requirements
can be achieved by manual adjustment. The parameters of speed ring and position ring should be adjusted
during debugging. The speed ring parameter is related to the load inertia of the whole mechanical system

Kinco FD5P Series Specifications

General

Brand	Kinco
Model	FD5P Series
Category	Controller
Language	English