90
Taking DS5 series servo auto-tuning mode and using 750W servo 5 times load inertia as an example:
Model loop function turns off (soft mode)
Low Rigidity and Low Response
High Rigidity and Medium Response
Speed
instruction
Speed feedback
Load inertia ratio P0-07: 500%
speed loop gain P1-00: 200
speed loop gain P1-00: 800
speed loop integral P1-01: 3300
speed loop integral P1-01: 825
position loop gain P1-02: 200
position loop gain P1-02: 700
Phenomenon: Running jitter, slow response
Phenomenon: smooth operation and fast response
Model loop function turns on (fast positioning or fast position(control overshoot))
Low Rigidity and Low
Response
High Rigidity and Low Response
High Rigidity and High
Response
Speed
instruction
Speed feedback
Load inertia ratio P0-07: 500%
speed loop gain P1-00: 200
speed loop gain P1-00: 800
speed loop gain P1-00: 800
speed loop integral P1-01: 3300
speed loop integral P1-01: 825
speed loop integral P1-01: 825
position loop gain P1-02: 200
position loop gain P1-02: 700
position loop gain P1-02: 700
Model loop gain P2-49: 300
Model loop gain P2-49: 300
Model loop gain P2-49: 4000
Phenomenon: Running jitter,
slow response
Phenomenon: smooth operation
and slow response
Phenomenon: smooth operation
and fast response
Note: The above curves only show the effect of the parameters, not the real running curves.
6.1.4 Torque disturbance observation
Disturbance observer can reduce the influence of external disturbance on servo system and improve the
anti-disturbance ability by detecting and estimating the external disturbance torque of the system and
compensating the torque command.
If the soft mode is selected in the auto-tuning mode, the disturbance observer will be closed
automatically, and the gain of the disturbance observer will not change. If the fast positioning or fast
positioning (control overshoot) is selected, the disturbance observer will be opened automatically, and
the gain of the disturbance observer will be modified to 85. The relevant parameters of this function no
need to be set manually by users.
Parameter
Meaning
Default
setting
Modification Effective
P2-00
n.□□□0
Turn-off of disturbance observer
n.□□□0
Anytime
At once
n.□□□1
Turn-on of disturbance observer
