Kinco FD5P Series - Tuning of the Position Loop

Kinco FD5P AC series servo driver
册
Chapter7:Tuning of the servo system control
105
Note
 In order to prevent machine damage caused by large resonance amplitude
during debugging, the value of target current limit can be reduced and then
the notch filter can be adjusted.
 During the automatic setting of notch filter, the oscilloscope function cannot
be used. After the setting is successful, the oscilloscope automatically switches
the acquisition object, and click the reread data to display the FFT result
amplitude.
(2) FFT
Multi-point Notch Filter
Adopt high-order multi-point notch filter technology, automatically measure the mechanical
resonance frequency of the load, and write the tuning result into the filter 0 and filter 1。The FD5P
drive can be set with 4 notch filters, and the FFT will be adjusted according to the setting
value of the notch filter control. Filter 2 and Filter 3 are manually adjusted notch filters, and
the corresponding filters can be turned on/off through the notch filter control. 。
When the notch filter control (60F9.04) is set to 128DEC, it indicates that the actual current is
used for FFT analysis.
When the FFT is successfully tuned, the notch filter control bit7 to reset, and the BCD code
combined with bit0 and bit1 determines the filter to be turned on.
7.4.2 Tuning of the position loop
After adding a notch filter, collect the
actual current waveform again, and
adjust it until the current waveform is
smooth and free of resonance.