**Servo Drive Parameter Setting Procedure**
In automation systems, servo motors are commonly used, especially for position control. Most servo motor brands offer position control capabilities. The controller sends pulse signals to manage the motor's operation, where the number of pulses corresponds to the rotation angle, and the pulse frequency relates to the speed (related to the electronic gear setting). When setting up a new system, the parameters may not work properly at first. It is recommended to start by adjusting the position gain to ensure the motor runs smoothly without noise. Try setting it higher if possible, as the moment of inertia ratio is also crucial. This can be set via self-learning or reference values. Next, adjust the speed gain and speed integral time to ensure stable low-speed operation and accurate positioning.
1. **Position Proportional Gain**: This sets the proportional gain of the position loop regulator. A higher value increases the gain and stiffness, reducing position lag under the same pulse frequency. However, too high a value may cause oscillation or overshoot. The parameter depends on the specific servo system and load conditions.
2. **Position Feed Forward Gain**: This adjusts the feed forward gain of the position loop. A higher value reduces position lag at any pulse frequency and improves high-speed response. However, it may lead to instability. If high response is not needed, this parameter is often set to 0 (range: 0–100%).
3. **Speed Proportional Gain**: This controls the proportional gain of the speed regulator. A higher value increases the gain and stiffness. The value is determined based on the system model and load. Larger loads typically require higher settings, but avoid causing oscillations.
4. **Speed Integral Time Constant**: This sets the integral time constant of the speed regulator. A smaller value increases the integration speed. The parameter is based on the system and load. Larger inertia usually requires a larger value, but avoid causing oscillations.
5. **Speed Feedback Filter Factor**: This sets the low-pass filter for speed feedback. A higher value reduces noise but may slow down the response. If the load inertia is large, reduce the value slightly. Too high a value can cause instability. A lower value increases the cutoff frequency and improves response speed.
6. **Maximum Output Torque Setting**: This defines the internal torque limit of the servo drive. The value is a percentage of the rated torque and is always active. In position control mode, it determines when the positioning is complete. When the remaining pulses in the position deviation counter fall below this value, the drive considers the positioning done.
7. **Manual Gain Adjustment**: After installation, the system must be tuned for stability. Start with the speed proportional gain (KVP), set the integral (KVI) and derivative (KVD) gains to zero, then gradually increase KVP while monitoring for oscillations. Once oscillations occur, reduce KVP slightly. Then adjust KVI and KVD for better performance.
8. **Automatic Gain Adjustment**: Modern servo drives often include automatic tuning features. Use this function first, then fine-tune manually if necessary. Some systems allow different response levels (e.g., high, medium, low), which users can select based on their needs.
**KNDSD100 Basic Performance**
The KNDSD100 uses advanced digital signal processors (DSP), programmable gate arrays (FPGA), and Mitsubishi’s new generation intelligent power modules (IPM). It offers high integration, compact size, and protection against overcurrent, overload, overvoltage, undervoltage, encoder faults, and position tolerance.
Compared to stepping motors, AC servo motors have no step-out issues. They use encoders to provide position feedback, forming a semi-closed-loop system. With a speed ratio of 1:5000, they maintain constant torque across speeds, offering fast response and stable performance. Full digital control makes configuration simple and flexible.
**KNDSD100 Parameter Adjustment Skills**
The KNDSD100 provides 0–59 user parameters, 1–32 alarm parameters, and 22 monitoring methods. Users can adjust these based on site conditions. Key parameters include:
- **Parameter 0**: Password (factory default: 315; change to 385 when changing models).
- **Parameter 1**: Model code (corresponds to different drive and motor power levels).
- **Parameter 4**: Control mode (0 = position, 1 = speed, 2 = trial run, 3 = JOG, 4 = encoder zero, 5 = open loop, 6 = torque).
- **Parameter 5**: Speed proportional gain (factory default: 150).
- **Parameter 6**: Speed integral time (factory default: 20).
- **Parameter 40/41**: Acceleration/deceleration time constants (factory default: 0).
**KNDSD100 Parameter Optimization Skills**
After initial setup, optimize the drive gain. If the motor makes abnormal noises, check the shaft installation first. Adjust parameters 7 (torque filter) and 8 (speed detection low-pass filter) to suppress vibration. Reduce them by 10 each time until the noise stops. Typically, parameters 7 and 8 should be between 20 and 80 for optimal performance.
If machining results are unsatisfactory, adjust speed proportional gain (PA5) and position proportional gain (PA9). Increase PA5 to improve rigidity and accuracy, but avoid causing vibration. Similarly, increase PA9 for better tracking. If still not sufficient, revisit parameters 7 and 8.
**KNDSD100 Troubleshooting Skills**
When an alarm occurs, the SERVOPACK disables the motor. Check the alarm number and refer to the manual for solutions. If no alarms are present, the issue might be with the control signal or host computer. Swap axes or temporarily lock one to identify the problem. Ensure correct phase connections (U, V, W) to avoid motor failure. Always follow operational guidelines to prevent damage.
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