Non-Plug and Play Feedback Devices

To set up a AKD drive with a non-plug and play feedback deviceA 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 (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"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"Instruction list" This is a low-level language and resembles assembly.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 loopThe use of feedback devices (encoders, resolvers, interferometers, etc.) to allow a motor to position a user payload accurately. 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