Xinje DS5L1 Series, Руководство пользователя

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6.6.4 Inertia mode and related parameters
The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the
allowable load inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia
mode can be turned on.
Parameter Meaning
Default
setting
Modification Effective
P2-03
n.0□□□
Adaptive small inertia mode
n.0□□□
Servo bb
Re-power
on
n.1□□□
Adaptive large inertia mode
Parameter Meaning Default setting Modification Effective
P2-05 Adaptive speed loop gain 400
Note1
Servo bb At once
P2-10 Adaptive speed loop integral 500 Servo bb At once
P2-11 Adaptive position loop gain 100 Servo bb At once
P2-07 Adaptive inertia ratio 0 Servo bb At once
P2-08 Adaptive speed observer gain 60 Servo bb At once
P2-12 Adaptive stable max inertia ratio 30 Servo bb At once
P2-16 Adaptive motor rotor inertia coefficient 100 Servo bb At once
P2-19 Adaptive bandwidth 50
Note2
Servo bb At once
P6-05
Adaptive large inertia mode speed loop
gain
200
Servo bb At once
P6-07 Adaptive large inertia mode inertia ratio 50 Servo bb At once
P6-08
Adaptive large inertia mode speed
observer gain
40
Servo bb At once
P6-12
Adaptive large inertia mode max inertia
ratio
50
Servo bb At once
Note 1: DS5 series servo 750W and below driver default value is 400; other power section default
value is 200.
Note 2: DS5 series servo 400W and below driver default value is 70; other power section default value
is 50.
6.6.5 Recommended inertia ratio parameters
Under the adaptive default parameters, the load can only run steadily under a certain moment of inertia.
If the load inertia is large, some parameters need to be adjusted. The recommended parameters are as
follows (the parameters are modified under the default parameters).
Motor
flange
Inertia Parameters
40~90
Within 20 times inertia Adaptive small inertia mode (default parameters)
20-30 times inertia Set P2-08=50, P2-12=40
30-40 times inertia Set P2-08=50, P2-12=40, P2-07=10
40-50 times inertia Set P2-08=50, P2-12=40, P2-07=30
50-80 times inertia
Switch to adaptive large inertia mode or set P2-08=40,
P2-12=50, P2-07=50
Note: The large inertia parameters can still drive a smaller inertia load. For example, when the
parameters of 50 times inertia are used in the mechanism of 20 times inertia, only the response will
become worse.