2–Notch
3–Lead Lag
4–Bi-quad . A manually configured Bi-quad filter. This is an advanced tuning function.
5–Autotuned Biquad . When the autotuner sets a filter after the autotune process is complete,
the values are input into the Bi-Quad filter and are shown as a read only values.
l Status. The status tab shows parameters that are relevant to the velocity loop performance.
11.4.3 Velocity Loop Default Settings and Changes
By default, a PI loop with a low-pass filter (AR3) is set in the drive.
The default value for the low-pass filter is 400 Hz. The low-pass filter is important for disturbance rejection, and it
also reduces the audible noise of the system.
11.4.3.1 Velocity Loop Changes Based on Slider Tuning
Slider tuning (see 14.1 Slider Tuning) uses the slider control to adjust the proportional gain and integral gain
values of the velocity loop based on the desired bandwidth. If you adjust the bandwidth using the slider tuner and
then return to the velocity loop screen, you will see different values inside the proportional gain and integral gain
fields. No adjustment is made to the filters automatically by using the slider tuner. Only the proportional and inte-
gral terms are adjusted.
11.4.3.2 Velocity Loop Changes Based on Autotuner
When the Autotuner (see 14.3 Using the Autotuner) is used in Autotune mode, changes are made to the pro-
portional gain, integral gain, filters and other parameters not related to the velocity loop screen directly. The
values adjusted are dependent on the drive, motor, load, and the autotuner settings. The filters that are adjusted
by the autotuner are automatically put into mode 5-Autotuned Bi-quad.
AKD User Guide | 11 Using Command Source and Operating Modes
Kollmorgen | December 2010 115
To Next Page
Loading...
Need help?
General
