VL.KP

Description

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

The idealized velocity loop bandwidthClosed In 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 in Hz is:

Rotary motor:

BandwidthClosed In 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 (Hz) = VL.KP *Kt/ (2π *Jm)

Where:

Kt= motor torqueClosed Torque 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, 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

FieldbusClosed A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design

Index/Subindex

Object Start Version

EtherCATClosed ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen

3548h/0

M_01-00-00-000