ABB NextMove e100 motion controller troubleshooting guide

Current (torque) control mode: First, set the initial value of KDERIV to 1, and gradually increase the manual shaft until there is resistance to the hand feel; KPROP is taken as about 1/4 of KDERIV, and vibration reduces KPROP or increases KDERIV; Set the step distance to one revolution and observe the response for 0.15 seconds - increase KDERIV for under damping and decrease KDERIV for over damping, until the ideal response approaches the critical damping (quickly reached with only minor overshoot).

Speed control mode: KDERIV and KVEL can be set to zero, with a focus on KVELFF - KVELFF=2048 ÷ orthogonal counting per servo loop. Example: 3000 rpm motor+1000 line encoder+1 kHz control rate → 50 revolutions per second x 0.001 s x 4000 counts=200 counts/loop → KVELF=2048/200=10.24. The measured speed curve in trapezoidal movement decreases if it is higher than the demand and increases if it is lower. The correct value is when the two curves coincide; Subsequently, KPROP gradually increased from 0.1 to eliminate tracking errors.

Eliminating steady-state errors: The typical value of KINT is 0.1, and KINTLIMIT is set to the minimum value that can overcome friction (such as 5%). KINTMODE can choose from four modes: Never/Always/Smart/Steady State. Smart mode only applies integration when the required speed is zero or constant, balancing accuracy and stability.