Estun ETS-101010APC-CAN - Machine Rigidity Setting for Online Autotuning

ETS Series AC Servo User's Manual
- 84 -
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
Pn101
Machine rigidity setting
—
0~15
5
Immediately
Pn128
Speed gain acceleration relationship during
online autotuning
If the setting is greater, the servo gain will
increase.
—
0~3
3
Immediately
4.9.4 Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected, the servo
gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Machine
Rigidity Setting
Position Loop Gain【s
-1
】
Pn104
Speed Loop Gain【Hz】
Pn102=Pn104*( Pn128+1)
Speed Loop Integral Time
Constant【0.1ms】
Pn103
0
10
40
800
1
15
60
600
2
20
80
450
3
25
100
400
4
30
120
300
5
40
160
200
6
65
260
140
7
80
320
110
8
100
400
90
9
120
480
80
10
140
560
70
11
160
640
60
12
180
720
55
13
210
840
50
14
250
1000
40
15
300
1200
30