📘 Important Parameters for KEBA D3 Drive (Production Setup)

Date: July 14, 2025

작가: Woojin Control Team

Target: Engineers performing on-site setup and commissioning of KEBA D3 drives

🧠 0. Save Parameter Changes to ROM

• Command: PARA_SetCmd.Save (2014[1]h)
• How to Save:
  Set the value to 1 to store current drive parameters in ROM.
  In DriveManager: Click on the IC chip icon.

PARA_SetCmd.Save

2014[1]h

To save, set this to 1

🔌 1. Voltage Supply Parameters

DriveManager Tab: Supply

1-1) DC Supply Voltage Settings

Parameter Name	Address
Actual DC Voltage	225A[1]h
Voltage Supply Select	225A[2]h

Actual DC-voltage	225A[1]h
Voltage supply selection	225A[2]h

1-2) Braking Resistor Settings

Rated resistor	22C8[1]h
Continuous power	22C8[2]h
Peak power for 1 second	22C8[3]h

Parameter Name	Address
Rated Resistor	22C8[1]h
Continuous Power	22C8[2]h
Peak Power (1 sec)	22C8[3]h

💡 Consider increasing brake resistor capacity depending on motor/load type.

🛰 2. Node ID Configuration

DriveManager Tabs:

• PowerLink
• Others → CANOpen

Parameter Name	Address	Note
SWNodeID_U8	1F93[3]h	Set desired node ID
EPL_NodeIDAutoIncrement	25C9[0]h	Default: ON → Turn OFF for manual setting

SWNodeID_U8	1F93[3]h
EPL_NodeIDAutoIncrement	25C9[0]h	*Note : Default ON; To change Node ID manually, please set OFF this parameter

🔄 3. Motor Rotation Direction

DriveManager Tab:

Motion Profile → Standardization/Units

Setting	Bit No.	FALSE (default)	TRUE
Polarity – Position	6	Clockwise	Anti-clockwise
Polarity – Speed	7	Clockwise	Anti-clockwise

🧾 In Woojin systems, extrusion = anti-clockwise, others = clockwise.

Polarity – Position	Bit 6	FALSE : clockwise (Normal) TRUE : anti-clockwise (Reversed)
Polarity – Speed	Bit 7	FALSE : clockwise (Normal) TRUE : anti-clockwise (Reversed)

📐 4. Speed Controller Gains (Kp & Tn)

DriveManager Tab: Control → Basic Settings

→ Auto-calculated after running Automatic Inertia Detection

Parameter Name	Address
Kp (Proportional)	2B87[1]h
Tn (Integration)	2B87[2]h

CON_SCON_Ctrl.Kp	2B87[1]h
CON_SCON_Ctrl.Tn	2B87[2]h

⚙️ 5. Encoder Offset & Inertia Tuning

5-1) Automatic Tuning

Function	Address	Value
Encoder Offset Detect	2BFC[1]h	13
Inertia Detection	2BFC[1]h	10
Axis 2 SDO Address	33FC[1]h

⚠️ Caution

• Must be in “Ready to switch on” state
• Ensure proper wiring, position, and safety before executing
• Motor will oscillate during Inertia Detection

5-2) Control Stiffness

Step-by-step Guide:

1. Modify Stiffness
   2BF3[2]h → Set custom stiffness value
2. Recalculate Gains
   2BFC[1]h = 12 (CALC_SCON)
3. Verify Results
   • 2B87[1]h (Kp)
   • 2B87[2]h (Tn)

📝 Summary

Category	Key Action
Save Config	PARA_SetCmd.Save = 1
Supply Voltage	Confirm 225A settings
Node ID	Manually set if needed
Rotation Direction	Match axis-specific convention
Gain Tuning	Use Auto Inertia detection
Encoder/Stiffness	Ensure mechanical/electrical safety