Xinje DS5L1 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

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 20 31831 20 100 50
2 50 12732 50 100 80
3 70 9094 70 100 90
4 80 7957 80 100 100
5 100 6366 100 100 120
6
120 5305 120 100 150
7
140 4547 140 100 200
8 160 3978 160 100 250
9 180 3536 180 100 310