Estun ProNet Plus Series, User Manual, Page: 118 / 216

ProNet Plus Series AC Servo User's Manual
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Pn100
Online auto-tuning setting
selection
[0] Load inertia setting
[1]Online auto-tuning setting
[2] Reserved
[3] Reserved
—
0~0x0036
ProNet-
□□□
MG: 0x0010
ProNet-
□□□
EG-EC: 0x0000
After restart
Pn101
Machine rigidity setting
—
0~36 6 Immediately
4.12.4 LoadRigidity Setting for Online Autotuning
There are 37load rigidity settings for online auto-tuning, When the load rigidity setting is selected, the servo gains (speed
loop gain, speed loop integral time constant, position loop gain) are determined automatically. The factory setting of the
load rigidity is set to 5.
Machine
Rigidity
Setting
Position
Loop
Gain
【
s
-1
】
Speed
Loop
Gain
【
rad/s
】
Speed
Loop
Integral
Time
Constant
【
0.1ms
】
Position
Loop
Gain
【
s
-1
】
Speed
Loop
Gain
【
rad/s
】
Speed
Loop
Integral
Time
Constant
【
0.1ms
】
Position
Loop
Gain
【
s
-1
】
Speed
Loop
Gain
【
rad/s
】
Speed
Loop
Integral
Time
Constant
【
0.1ms
】
Pn100.1=1 Standard Pn100.1=2 Steadily Pn100.1=3 High precision
Pn104 Pn102 Pn103 Pn104 Pn102 Pn103 Pn104 Pn102 Pn103
0 16 63 637 10 63 796 27 63 318
1 24 94 424 16 94 531 41 94 212
2 31 126 318 21 126 398 55 126 159
3 39 157 255 26 157 318 69 157 127
4 47 188 212 31 188 265 82 188 106
5 55 220 182 37 220 227 96 220 91
6 63 251 159 42 251 199 110 251 80
7 71 283 141 47 283 177 124 283 71
8 79 314 127 52 314 159 137 314 64
9 86 345 116 58 345 145 151 345 58
10 94 377 106 63 377 133 165 377 53
11 102 408 98 68 408 122 179 408 49
12 110 440 91 73 440 114 192 440 45
13 118 471 85 79 471 106 206 471 42
14 126 502 80 84 502 99 220 502 40
15 134 534 75 89 534 94 234 534 37
16 141 565 71 94 565 88 247 565 35
17 149 597 67 99 597 84 261 597 34
18 157 628 64 105 628 80 275 628 32
19 165 659 61 110 659 76 289 659 30
20 173 691 58 115 691 72 302 691 29
21 181 722 55 120 722 69 316 722 28