To set up a AKD drive with a non-plug and play feedback device
A process whereby some proportion of the output signal of a system is passed (fed back) to the input.
In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position"Integrated development environment"
An integrated development environment is a type of computer software that assists computer programmers in developing software.
IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger, 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 |
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/bandwidthIn computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz (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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist constant, Kt (Nm/A), are obtained from either the SFD or the motor model number that you select.
Constants
Velocity Loop BandwidthIn computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz – 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
