Non-Plug and Play Feedback Devices

To set up a AKD drive with a non-plug and play feedback device (for example a resolver or an encoder), you must select a motor from the list of standard or custom motors or enter the motor parameters manually. Once the motor data is entered into KAS-IDE, an initial set of parameters can be calculated and downloaded to the drive.

Parameters

The following parameters can be initialized to their default values or calculated from user-supplied motor data:

IL.KP

IL.LIMITN

VL.KP

PL.KI = 0 (Default Value)

IL.KFFACC

IL.LIMITP

VL.KI

PL.INTINMAX = 0.419 (Default Value)

IL.KBUSFF

IL.PWMFREQ

VL.LIMITN

PL.INTOUTMAX = 0.419 (Default Value)

IL.FRICTION

IL.KVFF

VL.LIMITP

MOTOR.IPEAK

IL.OFFSET

IL.FOLDFTHRESHU

VL.THRESH

MOTOR.ICONT

IL.INTEN

IL.FOLDWTHRESH

VL.KVFF

MOTOR.PITCH

IL.IVFB

IL.MFOLDD

PL.KP

MOTOR.POLES

IL.KPDRATIO

IL.MFOLDT

PL.KD = 0 (Default Value)

MOTOR.TYPE

Calculations

KAS-IDE uses the following equations to calculate parameter values.

Current Loop

The current loop proportional gain (IL.KP) must be such that the current loop closed loop crossover frequency/bandwidth (BW) nominal is the lesser of 2000 Hz or (PWM Frequency/4).

Then, with this frequency:

IL.KP = 2*π*(desired bandwidth in Hz)*(motor L line-line in H)

Setting the D and Q components

Velocity Loop

VL.KP = (2*π*75)*(2*Jm/Kt) = 300*PI*Jm/Kt

VL.KI = 5

Input - Motor Data

The values for inertia, Jm (Kg / cm2), and torque constant, Kt (Nm/A), are obtained from either the SFD or the motor model number that you select.

Constants

Velocity Loop Bandwidth – BW = The default value is 75Hz.

Input - Inertia Ratio – Q =  The default is 1.

Output - Control Loop Gains

VL.KP = 2 * π * BW * Jm * (1+Q) * 0.0001/Kt

VL.KPI = BW*0.08 -1   (minimum of 1)

PL.KP = BW/5