**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 pulses to regulate 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, parameters may not function properly at first. It is recommended to start by adjusting the position gain to ensure the motor runs smoothly without noise. Try to set it as high as possible without causing oscillation. The moment of inertia ratio is also crucial and can be set using self-learning functions as a reference. After that, adjust the speed gain and speed integral time to ensure smooth low-speed operation and accurate positioning.
1. **Position Proportional Gain**: This parameter 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 optimal value depends on the specific servo system and load conditions.
2. **Position Feed Forward Gain**: This sets the feed forward gain in the position loop. A higher value reduces position lag across all pulse frequencies and improves the system’s high-speed response. However, too high a value may lead to instability. If high-speed response is not required, this parameter is often set to 0 (range: 0–100%).
3. **Speed Proportional Gain**: This adjusts the proportional gain of the speed regulator. Higher values increase stiffness and responsiveness, but should be set carefully to avoid oscillation. The value is typically determined based on the system model and load.
4. **Speed Integral Time Constant**: This controls the integration speed of the speed regulator. A smaller value results in faster integration. The value should be adjusted according to the system’s load and inertia, aiming for the smallest stable value.
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 has high inertia, the value can be reduced slightly. Too high a value may cause sluggishness or oscillation.
6. **Maximum Output Torque Setting**: This sets the internal torque limit of the servo drive as a percentage of rated torque. It helps determine when the positioning is complete in position control mode. When the remaining pulses in the deviation counter fall below this value, the system considers the positioning complete.
7. **Manual Gain Adjustment**: After installation, the system must be fine-tuned. Start by adjusting the speed proportional gain (KVP), gradually increasing it while monitoring for oscillation. Once stable, adjust the integral gain (KVI) and differential gain (KVD) to improve stability and reduce overshoot. Finally, adjust the position proportional gain (KPP) to balance accuracy and performance.
8. **Automatic Gain Adjustment**: Modern servo drives often include automatic tuning features. Use these first, then manually fine-tune if needed. Automatic settings usually allow users to choose between different response levels—high, medium, or low—based on application needs.
**KNDSD100 Basic Performance**
The KNDSD100 uses advanced digital signal processors (DSP), FPGA, and Mitsubishi's new intelligent power modules. 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 do not experience step-out. They have built-in encoders for feedback, creating a semi-closed-loop system with open-loop controllers. The speed ratio is 1:5000, with consistent torque from low to high speeds. It provides fast response, full digital control, and flexible configuration through parameter adjustment. Its cost is only 2,000–3,000 yuan higher than stepping motors.
**KNDSD100 Parameter Adjustment**
The SD100 offers a wide range of user parameters (0–59), alarm parameters (1–32), and 22 monitoring methods (e.g., motor speed, position deviation). Key parameters include:
- **Parameter 0**: Password (factory default: 315; change to 385 when changing models).
- **Parameter 1**: Model code, corresponding to different drive and motor power levels.
- **Parameter 4**: Control mode selection (0: Position control; 1: Speed control; 2: Trial run; 3: Jog; 4: Encoder zero; 5: Open loop; 6: Torque control).
- **Parameter 5**: Speed proportional gain (factory default: 150). Higher values increase stiffness but may cause oscillation.
- **Parameter 6**: Speed integral time constant (factory default: 20). Smaller values speed up integration.
- **Parameter 40/41**: Acceleration/deceleration time constants (factory default: 0).
**KNDSD100 Parameter Setting Skills**
When paired with the Kanedi CNC system, only specific parameters need adjustment. For example, the electronic gear ratio should be set to CMR/CMD = 1:1. For a lathe, the X-axis formula includes a multiplication by 2 due to diameter programming.
Example:
X-axis screw pitch = 4mm, 1:1 transmission → PA12/PA13 = 5/4
Z-axis screw pitch = 6mm, 1:2 reduction → PA12/PA13 = 10/3
**KNDSD100 Parameter Optimization Skills**
After initial setup, optimize the gain parameters. If the motor makes abnormal sounds, check the shaft installation first. Adjust parameters 7 (torque filter) and 8 (speed detection filter) to suppress resonance. Reduce them by 10 each time until the sound disappears.
If machining quality is poor, adjust speed gain (PA5) and position gain (PA9) carefully. Increase PA5 by 5 until vibration occurs, then reduce by 10. Similarly for PA9. If issues persist, re-adjust parameters 7 and 8.
**KNDSD100 Troubleshooting Skills**
When an alarm occurs, the SERVOPACK disables the motor. Users should refer to the manual for troubleshooting. If no alarms appear, the issue may be in the control signal or host computer. Swapping axes or modifying parameters (e.g., model code) can help identify the problem. Ensure correct phase connections (U, V, W) to prevent operational failures. Always follow safety protocols during operation.
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