Kinco FD5P Series - Tuning of the Velocity Loop

Kinco FD5P AC series servo driver
册
Chapter7:Tuning of the servo system control
100
converted to the motor shaft. The position ring is the outermost control ring of the servo system and is
related to the motor action mode, that is, the field application. The current ring is the innermost control ring
in the servo system, and the current ring parameters are related to the motor parameters. After the motor is
correctly configured, the system defaults the current ring parameters to the best parameters of the
configured motor, so there is no need to adjust again.
Manual adjustment is required to work with the oscilloscope to capture the data waveform. Please refer to
Section 5.6 when using the oscilloscope.
7.4.1 Tuning of the velocity loop
Table 7-4 Velocity loop parameter
Panel
address
Internal
address
Name
Description
Default
Range
60F901
kvp[0]
Setting reaction speed of Velocity loop
/
1-32767
d2.01
2FF00A
Velocity_BW
Changing this parameter changes kvp[0] by the
inertia ratio
/
1-700
60F902
Kvi[0]
Integral velocity loop gain
/
0-1023
d2.02
60F907
Kvi/32
It is 1/32 of Kvi ， used for high resolution encoder.
/
0-32767
2FF019
Kvi_Mix
The value of this parameter is 0x60F902 cross 32
plus 0x60F907.
Writing this parameter sets 0x60F902 to 0
，
and the
value is 0x60F907
/
0-16384
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