Xinje DS3 series servo, Руководство пользователя

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Torque feedforward:
P1-12
Torque feedforward gain (Kp)
Unit Default set Range Suitable mode Change Effective
1% 0 0~300 3, 4, 6, 7, 10 Any At once
Increase this parameter can improve the rigidity, but it maybe overshoot.
P1-13 Torque feedforward filter time
Unit Default set Range Suitable mode Change Effective
0.01ms 0 0~10000 3, 4, 6, 7, 10 Any At once
6-2
．
Parameter switching
There are 6 switching modes for speed mode and position mode. It provides solution for the problem of
external load changing but control parameters cannot change immediately.
Gain switching in position mode:
P1-14
Position gain switching mode
Unit
Default setting Range Suitable mode Change Effective
—
0 0~6 6, 10 Any At once
mode function
unit Explanation
0 Group 1
—
Use group 1 parameters (P1-00~P1-04)
1 Group 2
—
Use group 2 parameters (P1-05~P1-09)
2 G-SEL
signal
—
Choose the group through external terminal (chapter
6-2-1)
3 Torque
command % of
rated
When torque command less than P1-16, use group 1;
when torque command larger than P1-16, use group 2
4 Speed
command rpm When speed command less than P1-16, use group 1;
when speed command larger than P1-16, use group 2.
5 Position
offset 1
command When position offset less than P1-16, use group 1;
when position offset larger than P1-16, use group 2.
6 Speed
feedback rpm When speed feedback less than P1-16, use group 1;
when speed feedback larger than P1-16, use group 2.
P1-16 Position gain switching comparison value
Unit
Default setting Range Suitable
mode Change Effective
Rated to P1-14
mode 50 -9999~9999 6, 10 Any At once
P1-17 Position gain switching comparison value hysteresis loop
Unit
Default setting Range Suitable
mode Change Effective
Related to
P1-14 mode
20 -9999~9999 6, 10 Any At once
Note: hysteresis loop please refer to chapter 5-11-4
Gain switching in speed mode:
P1-18
Speed gain switching mode
Unit
Default setting Range Suitable mode Change Effective
—
0 0~6 3, 4, 7 Any At once
Mode Function
Unit Explanation
0 Group 1
—
Use group 1 parameters (P1-00~P1-04)
1 Group 2
—
Use group 2 parameters (P1-05~P1-09)
2 G-SEL
signal
—
Choose the group through external terminal (chapter
6-2-1)
3 Torque
command % of rated When torque command less than P1-20, use group 1;
when torque command larger than P1-20, use group 2
4 Speed rpm When speed command less than P1-20, use group 1;