LSIS XDL-L7NH Series, User Manual, Page: 156 / 348

7. Tuning
7-2
 Related Objects
Index
Sub
Index
Name
Variable
type
Accessibility
PDO
assignment
Unit
0x250E System Rigidity for Gain Tuning UINT RW No -
0x2510 - Off-line Gain Tuning Direction UINT RW No -
0x2511 Off-line Gain Tuning Distance UINT RW No -
7.2 On-line Auto Gain Tuning
Does not use the off-line auto gain tuning command generated by itself(
XDL-
L7NH Drive) and While
operating under the command form host device, it sets parameters related gain automatically base on
general rule and the rigidity set by user.

inertia, position loop gain, speed loop gain, speed integral time, torque command filter time
constant
During online tuning, it refers 20 steps of value of gain table by rigidity. The result of tuning is reflected
regulary and changed gain is stored in EEPROM every two minutes.
When intertia estimating, estimated result reflected quickly or slowly by set adaption speed value. The
setting rigidity parameters can determine the overall responsiveness of system.