Inovance SV660N - Page 37

7
INOVANCE TECHNOLGY EUROPE GmbH
SV660N Startup Procedure_EN_v1.4_20220826.docx
6.6.5.1 STIFFNESS LEVEL
This section shows the gain values depending on the value of stiffness level:
H09-00: Gain auto-tunning mode
H09-01: Stiffness level
H08-00: Speed loop proportional gain
H08-01: Speed loop integral gain
H08-02: Position loop proportional gain
H08-43: Tracking function model gain
H08-46: Tracking function feedforward gain
H07-05:Torque reference filter time constant
H09-00=4
H09-00=3
H09-00=6
H09-01
Stiffness
level
H08-
00
H08-
01
H08-
02
H07-
05
H08-
00
H08-
01
H08-
02
H07-
05
H08-
00
H08-
01
H08-
02
H08-43
H08-
46
H07-
05
15
39
28
36.2
0.2
40
27.43
37.1
0.2
39
28.13
36.2
72.4
99
0.2
16
43.7
25.11
40.6
0.2
50
21.95
46.4
0.2
43.7
25.11
40.6
81.2
99
0.2
17
49
22.38
45.5
0.2
60
18.28
55.7
0.2
49
22.38
45.5
91
99
0.2
18
54.9
19.98
51
0.2
75
14.62
69.7
0.2
54.9
19.98
51
102
99
0.2
19
61.5
17.83
57.1
0.2
90
12.18
83.6
0.2
61.5
17.83
57.1
114.2
99
0.2
20
68.9
15.92
64
0.2
115
9.53
106.8
0.2
68.9
15.92
64
128
99
0.2
21
77.1
14.22
71.6
0.2
140
7.83
130.1
0.2
77.1
14.22
71.6
143.2
99
0.2
22
86.4
12.69
80.2
0.2
170
6.44
157.9
0.2
86.4
12.69
80.2
160.4
99
0.2
23
96.8
11.33
89.9
0.2
210
5.22
195.1
0.18
96.4
11.33
89.9
179.8
99
0.2
24
108.4
10.11
100.7
0.2
250
4.38
232.3
0.15
108.4
10.11
100.7
201.4
99
0.2
25
121.4
9.03
112.8
0.2
280
3.91
260.2
0.14
121.4
9.03
112.8
225.6
99
0.2
26
136
8.06
126.3
0.2
310
3.53
288.1
0.12
136
8.06
126.3
252.6
99
0.2
27
152.3
7.2
141.5
0.2
340
3.22
315.9
0.11
152.3
7.2
141.5
283
99
0.2
28
170.5
6.43
158.4
0.2
370
2.95
343.8
0.1
170.5
6.43
158.4
316.8
99
0.2
29
191
5.74
177.5
0.2
400
2.74
371.7
0.09
191
5.74
177.5
355
99
0.2
30
213.9
5.13
198.7
0.18
450
2.43
418.2
0.08
213.9
5.13
198.7
397.4
99
0.18
31
239.6
4.57
222.6
0.16
500
2.19
464.6
0.07
239.6
4.57
222.6
445.2
99
0.16
32
268.4
4.08
249.4
0.14
500
2.19
464.6
0.07
268.4
4.08
249.4
498.8
99
0.14
33
300.6
3.64
279.3
0.13
500
2.19
464.6
0.07
300.6
3.64
279.3
558.6
99
0.13
34
336.7
3.25
312.9
0.11
500
2.19
464.6
0.07
336.7
3.25
312.9
625.8
99
0.11
35
377.1
2.9
350.4
0.1
500
2.19
464.6
0.07
377.1
2.9
350.4
700.8
99
0.1
36
422.3
2.59
392.4
0.09
500
2.19
464.6
0.07
422.3
2.59
392.4
784.8
99
0.09
37
473
2.31
439.5
0.08
500
2.19
464.6
0.07
473
2.31
439.5
879
99
0.08
38
529.8
2.07
492.3
0.07
500
2.19
464.6
0.07
529.8
2.07
492.3
984.6
99
0.07
39
593.4
1.84
551.4
0.06
500
2.19
464.6
0.07
593.4
1.84
551.4
1102.8
99
0.06
40
664.6
1.64
617.6
0.05
500
2.19
464.6
0.07
664.6
1.64
617.6
1235.2
99
0.05