Xinje DS5L1 Series, Руководство пользователя

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Load inertia ratio P0-07: 500%
speed loop gain P1-00: 200 speed loop gain P1-00: 800 speed loop gain P1-00: 800
speed loop integral P1-01: 3300 speed loop integral P1-01: 825 speed loop integral P1-01: 825
position loop gain P1-02: 200 position loop gain P1-02: 700 position loop gain P1-02: 700
Model loop gain P2-49: 300 Model loop gain P2-49: 300 Model loop gain P2-49: 4000
Phenomenon: Running jitter,
slow response
Phenomenon: smooth operation
and slow response
Phenomenon: smooth operation
and fast response
Note: The above curves only show the effect of the parameters, not the real running curves.
6.1.4 Torque disturbance observation
Disturbance observer can reduce the influence of external disturbance on servo system and improve the
anti-disturbance ability by detecting and estimating the external disturbance torque of the system and
compensating the torque command.
If the soft mode is selected in the auto-tuning mode, the disturbance observer will be closed
automatically, and the gain of the disturbance observer will not change. If the fast positioning or fast
positioning (control overshoot) is selected, the disturbance observer will be opened automatically, and
the gain of the disturbance observer will be modified to 85. The relevant parameters of this function no
need to be set manually by users.
Parameter Meaning
Default
setting
Modification Effective
P2-00
n.□□□0
Turn-off of disturbance observer
n.□□□0
Servo bb At once
n.□□□1
Turn-on of disturbance observer
Parameter Meaning
Default
setting
Unit
Setting
range
Modify Effective
P2-41
Disturbance
observer gain
85 % 0~100 Anytime At once
6.2
Rotary inertia presumption
6.2.1 Overview
Rotational inertia estimation is the function of automatic operation (forward and reverse) in the driver
and estimate the load inertia in operation.
Rotational inertia ratio (the ratio of load inertia to motor rotor inertia) is a benchmark parameter for
gain adjustment, and it must be set to the correct value as far as possible.
Parameter Meaning
Default
setting
Unit Setting range Modification Effective
P0-07 First inertia ratio 200 % 0~50000 Anytime At once