LSIS XDL-L7NH Series, Руководство пользователя, Страница: 200 / 348

9. Object Dictionary
9-28

Gain Adjustment(0x2100~ )
0x2100 Inertia Ratio ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 3000 100 % RW No Always Yes
This specifies the ratio of the load inertia to the motor's rotor inertia in %.
Inertia ratio = Load inertia / Motor's rotor inertia x 100
The inertia/load ratio is an important control parameter for the operation of the servo. It is crucial to
set the correct inertia ratio for optimal servo operation. You can estimate the inertia ratio by auto gain
tuning. The ratio will be continuously estimated during operation if you carry out real-time gain tuning.
0x2101 Position Loop Gain 1 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 500 50 1/s RW Yes Always Yes
This specifies the whole responsiveness of the position controller. The larger the setting is configured,
the higher the responsiveness is. Too large setting value may cause vibration depending on the load.
0x2102 Speed Loop Gain 1 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 2000 75 Hz RW Yes Always Yes
This specifies the whole responsiveness of the speed controller. To make the whole responsiveness of
the system higher, you have to set the speed loop gain large as well, along with the position loop gain.
Too large setting value may cause vibration depending on the load.
0x2103 Speed Loop Integral Time Constant 1 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 1000 50 ms RW Yes Always Yes
This specifies the integral time constant of the speed controller. If you set a large value, error will be
reduced at a steady state (while stopped or driving at a constant speed), but vibration may occur at a
transient state (while accelerating or decelerating).
0x2104 Torque Command Filter Time Constant 1 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1000 5 0.1ms RW Yes Always Yes
This applies a low pass filter for torque command. You can improve the system stability by setting an
appropriate value to smoothen the torque command. If you set it too large, the delay for the torque
command will be longer, reducing the system responsiveness.