Kinco CD2S Series User Manual

Contents

Kinco CD2S Series User Manual Manual pdf 91 page image

91d2.05 Speed_Fb_N Reduces the noise during motor operationby reducing the feedback bandwidth ofvelocity loops (smoothing feedback signalsof encoders). When the set bandwidthbecomes smaller, the motor respondsslower.The formula is F=Speed_Fb_N*20+100.For example, to set the filter bandwidth to"F = 500 Hz‖, you need to set theparameter to 20.7 0~45Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsivebandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to thespeed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great,system oscillation may occur.Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensityis improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great,system oscillation may occur.Adjustment steps:Step 1: Adjust the gain of velocity loop to calculate the bandwidth of velocity loopConvert the load inertia of the motor into the inertia Jl of the motor shaft, and then add the inertia Jr of themotor itself to obtain Jt = Jr + Jl. Put the result into the formula:* * _Vc_Loop_BW Kvp * *204800000* 2 *2p ttI K Encoder RJTo calculate the bandwidth of the velocity loopVc_Loop_BWaccording to the adjusted the gain of velocity loop Kvp, only adjust Kvi according to actualrequirements.Adjust the impact of Kvp and Kvi, as shown in Fig. 8-2.For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 8-2. Kvp gradually increases fromthe first to the fourth from left. The value of Kvi is 0.For the effect of Kvi adjustment, see the first to the fourth from right of Fig. 8-2. Kvi gradually increases fromthe first to the fourth from right. The value of Kvp remains unchanged.Left 1 Right 1