The remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feed forward (KACCEL) described below.

In summary, the following rules can be used as a guide:

HKPROP: Increasing KPROP will speed up the response and reduce the effect of disturbances and load variations. The side effect of increasing KPROP is that it also increases the overshoot, and if set too high it will cause the system to become unstable. The aim is to set the Proportional gain as high as possible without getting overshoot, instability or hunting on an encoder edge when stationary (the motor will buzz).

HKVEL: This gain has a damping effect on the whole response, and can be increased to reduce any overshoot. If KVEL becomes too large it will amplify any noise on the velocity measurement and introduce oscillations.

HKINT: This gain has a de-stabilizing effect, but a small amount can be used to reduce any steady state errors. By default, KINTMODE is always on (mode 1).

HKINTLIMIT: The integration limit determines the maximum value of the effect of integral action. This is specified as a percentage of the full scale demand.

HKDERIV: This gain has a damping effect dependent on the rate of change of error, and so is particularly useful for removing overshoot.

HKVELFF: This is a feed forward term and as such has a different effect on the servo system than the previous gains. KVELFF is outside the closed loop and therefore does not have an effect on system stability. This gain allows a faster response to demand speed changes with lower following errors, for example you would increase KVELFF to reduce the following error during the slew section of a trapezoidal move. The trapezoidal test move can be used to fine-tune this gain. This term is especially useful with velocity controlled servos

HKACCEL: This term is designed to reduce velocity overshoots on high acceleration moves.

6-14 Operation

MN1928

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Baldor MN1928 installation manual Summary, the following rules can be used as a guide
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MN1928 specifications

The Baldor MN1928 is a highly regarded motor designed for a variety of industrial applications, known for its durability and efficiency. This motor is part of Baldor’s extensive range of products, which are engineered to meet the demands of heavy-duty operations.

One of the key features of the Baldor MN1928 is its robust construction. Built with high-quality materials, this motor is designed to withstand harsh environmental conditions often found in industrial settings. The steel frame is not only resilient, but it also enhances the motor's cooling capabilities, enabling it to perform effectively over extended periods.

The MN1928 is equipped with advanced technologies that optimize its performance. One notable technology is the use of high-efficiency induction motor design. This reduces energy consumption significantly and contributes to lower operational costs. The motor is also designed with a continuous duty rating, making it capable of running for long hours without compromising its functionality or lifespan.

In terms of characteristics, the Baldor MN1928 features a reliable ball bearing design, which minimizes friction and wear, ensuring smoother operation and increased reliability. With a horsepower rating that suits a range of applications, it provides the necessary torque and speed to power various machinery effectively. The multi-voltage design allows for versatile installation options, accommodating different electrical systems while ensuring efficient performance.

Another important characteristic of this motor is its ease of maintenance. The design allows for straightforward access to components, making it simple for technicians to perform routine checks and maintenance. This is particularly beneficial in industrial settings where downtime can be costly.

Safety is also a priority in the design of the Baldor MN1928. Equipped with thermal overload protection, it prevents overheating, reducing the risk of damage caused by excessive temperatures during operation. Additionally, the motor complies with various industry standards, ensuring safe operation within diverse environments.

In summary, the Baldor MN1928 stands out as a reliable choice for industrial applications, offering a combination of durability, efficiency, and advanced technology. Its robust construction, high-efficiency design, and safety features make it a preferred option for many enterprises seeking dependable motor solutions.
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