Xinje DS5K Series, Руководство пользователя

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Note:
(1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio
parameters.
(2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help
document.
6.3 Fast adjustment
6.3.1 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.
6.3.2 Fast adjustment steps
1. estimate the load inertia through servo driver panel or XinJeServo software, refer to chapter 6.2
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
6.3.3 Rigidity level corresponding gain parameters

3640 firware rigidity level
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