VL.KP

Description

VL.KP sets the proportional gain of the velocity loop.

The idealized velocity loop bandwidth in Hz is:

Rotary motor:

Bandwidth (Hz) = VL.KP *Kt/ (2π *Jm)

Where:

Kt= motor torque constant, in units of Nm/Arms

Jm = motor inertia, in units of kg*m²

Linear motor:

Bandwidth (Hz) = VL.KP * Kt / (Motor Pitch (mm) * Jm)

Where:

Kt= motor torque constant, in units of Nm/Arms

Jm = motor inertia, in units of kg

 

The drive uses the same control loop for both linear and rotary motors. VL.KP units are in Arms /(rad/s). If you want to tune in units of Arms/(mm/s), then you must manually convert the units.

The diagram below shows how linear motors are implemented at the control loop level.

The red blocks are automatically handled at the drive level.

2π radians is the linear equivalent of one full mechanical revolution of a rotary motor - and is equal to the MOTOR.PITCH of a linear motor.

Example

To convert VL.KP = 0.320 Arms/(rad/s) to Arms/(mm/s), where MOTOR.PITCH is 32 mm:

VL.KP = 0.320 Arm /rad/s * (2π rad / 32mm MOTOR.PITCH)

VL.KP = 0.32 * 2π / 32 = 0.063 Arms / (mm/s)

General Information

Type

NV Parameter

Units

A/(rad/sec)

Range

0.001 to 2,147,483.008

Default Value

1

Data Type

Float

See Also

VL.KI

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

3548h/0

 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2436

 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
437 4 Byte Float
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

872

 No 32 bit No M_01-03-00-000