Xinje DS5L1 Series, User Manual

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8. The upper device starts to send pulses, wait the completion of auto-tuning.
9. Auto-tuning is finished, click ok.
6.4.6 Related parameters
The following parameters may be modified during auto-tuning. Do not change them manually during
auto-tuning.
Parameter Name Property
The influence of numerical
value on gain after
auto-tuning
P0-07
First inertia ratio
Gain
performance
parameters
Yes
P1-00
First speed loop gain
P1-01
Integral time constant of the first speed
loop
P1-02
First position loop gain
P2-00.0
Disturbance observer switch
P2-01.0
Adaptive mode switch
P2-35
Torque command filter time constant 1
P2-41
Disturbance observer gain
P2-47.0
model loop switch
P2-49
model loop gain
P2-55
model speed feedforward gain
P2-60.0
Active vibration suppression switch
P2-61
Active vibration suppression frequency
P2-62
Active vibration suppression gain
P2-63
Active vibration suppression damping