Xinje DS5E Series, Руководство пользователя

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6.4 Fast adjustment
6.4.1 Overview
Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If
the inertia does not match, it will cause oscillation alarm. Servo firmware version 3640 and later
versions support this function, and the version is viewed through U2-07. Fast adjustment of gain
parameters belongs to auto-tuning mode.
6.4.2 Fast adjustment steps
1. estimate the load inertia through servo driver panel or XinJeServo software
2. shut down adaptive mode, set P2-01.0 to 0
3. set the rigidity level P0-04
Note: P2-01.0 is the first bit of P2-01
P2-01=n. 0 0 1 0
P2-01.0
6.4.3 Rigidity level corresponding gain parameters

Rigidity level of firmware 3640
P0-04
Rigidity level
P1-00
Speed loop
gain
P1-01
speed loop
integral
P1-02
Position loop
gain
P2-35
Torque
instruction
filter
P2-49
Model loop
gain
1 100 6600 100 100 100
2 200 3300 200 100 300
3 300 2200 300 100 400
4 400 1650 400 100 500
5 450 1467 400 90 600
6 500 1320 450 80 700
7 550 1200 450 70 800
8 600 1100 500 60 900
9 650 1015 550 50 1000
10 700 943 600 40 1100
11 750 880 650 30 1200
12 800 825 700 20 1300
13 850 776 750 10 1400
14 900 733 800 10 1500
15 1000 660 900 10 1600
16 1050 629 950 10 1800
17 1100 600 1000 10 2000
18 1150 574 1050 10 2200
19 1200 550 1100 10 2400
20 1300 508 1100 10 2600
21 1400 471 1200 10 2800
22 1500 440 1300 10 3000
23 1600 413 1400 10 3500
24 1700 388 1500 10 4000
25 1800 367 1600 10 4500
26 1900 347 1700 10 5000
27 2000 330 1800 10 5500
28 2100 314 1900 10 6000
29 2200 300 2000 10 6500