Vl.kp - Kollmorgen AKD Series Benutzerhandbuch

AKD Benutzerhandbuch | 25.41.19 VL.KP

25.41.19 VL.KP

General Information
Type
Description
Units
Range
Default
Value
Data Type
See Also
Start Ver-
sion
Variants Supported
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 872
Description
VL.KP sets the proportional gain of the velocity loop.
The idealized velocity loop bandwidth in Hz is:
Rotary motor:
Bandwidth (Hz) = VL.KP *K
Where:
K = motor torque constant, in units of Nm/Arms
t
J = motor inertia, in units of kg*m²
m
Linear motor:
Bandwidth (Hz) = VL.KP * K
Where:
K = motor torque constant, in units of Nm/Arms
t
J = motor inertia, in units of kg
m
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.
975 KOLLMORGEN | Mai 2013
NV Parameter
Sets velocity loop proportional gain for the PI controller; active in opmodes 1
(velocity) and 2 (position) only.
A/(rad/sec)
0.001 to 2,147,483.008
1
Float
VL.KI (s: 972)
M_01-00-00-000
Variant Supported
Index/Subindex Object Start Version
3548h/0
No 32 bit
/ (2π *J )
t m
/ (Motor Pitch (mm) * J
t
√
√
√
M_01-00-00-000
No M_01-03-00-000
)
m