Estun ProNet-50D - Chapter 5

ProNet Plus Series AC Servo User's Manual
- 116 -
Pn100
Online auto-tuning setting
selection
[0] Load inertia setting
[1]Online auto-tuning setting
[2] Reserved
[3] Reserved
—
0~0x0036
ProNet-□□□MG: 0x0010
ProNet-□□□EG-EC: 0x0000
After restart
Pn101
Machine rigidity setting
—
0~36
6
Immediately
4.12.4 LoadRigidity Setting for Online Autotuning
There are 37load rigidity settings for online auto-tuning, When the load rigidity setting is selected, the servo gains (speed
loop gain, speed loop integral time constant, position loop gain) are determined automatically. The factory setting of the
load rigidity is set to 5.
Machine
Rigidity
Setting
Position
Loop
Gain
【s
-1
】
Speed
Loop
Gain
【rad/s】
Speed
Loop
Integral
Time
Constant
【0.1ms】
Position
Loop
Gain
【s
-1
】
Speed
Loop
Gain
【rad/s】
Speed
Loop
Integral
Time
Constant
【0.1ms】
Position
Loop
Gain
【s
-1
】
Speed
Loop
Gain
【rad/s】
Speed
Loop
Integral
Time
Constant
【0.1ms】
Pn100.1=1 Standard
Pn100.1=2 Steadily
Pn100.1=3 High precision
Pn104
Pn102
Pn103
Pn104
Pn102
Pn103
Pn104
Pn102
Pn103
0
16
63
637
10
63
796
27
63
318
1
24
94
424
16
94
531
41
94
212
2
31
126
318
21
126
398
55
126
159
3
39
157
255
26
157
318
69
157
127
4
47
188
212
31
188
265
82
188
106
5
55
220
182
37
220
227
96
220
91
6
63
251
159
42
251
199
110
251
80
7
71
283
141
47
283
177
124
283
71
8
79
314
127
52
314
159
137
314
64
9
86
345
116
58
345
145
151
345
58
10
94
377
106
63
377
133
165
377
53
11
102
408
98
68
408
122
179
408
49
12
110
440
91
73
440
114
192
440
45
13
118
471
85
79
471
106
206
471
42
14
126
502
80
84
502
99
220
502
40
15
134
534
75
89
534
94
234
534
37
16
141
565
71
94
565
88
247
565
35
17
149
597
67
99
597
84
261
597
34
18
157
628
64
105
628
80
275
628
32
19
165
659
61
110
659
76
289
659
30
20
173
691
58
115
691
72
302
691
29
21
181
722
55
120
722
69
316
722
28