Moons' MBDV Series - Introduction to Parameter Tuning Mode

157
Rev. 2.0
07/27/2023
MBDV Hardware Manual
10.1.2 Introduction to parameter tuning mode
There are three Tuning Modes. The desired tuning mode is selected by parameter P0-00. See below for
details.
Parameter P0-00
set value
Parameter tuning
mode
Modiable Tuning
Parameters
Introduce
0 No tuning
P0-03 1st mechanical
sti󰀨ness level
P0-04 2nd mechanical
sti󰀨ness level
When No Tuning is selected, the available parameters for
performance modication are limited. Users will only have
access to the mechanical sti󰀨ness parameters.
1
Auto-tuning
P0-03 1st mechanical
sti󰀨ness level P0-04 2nd
mechanical sti󰀨ness
level P0-02 Load inertia
ratio
In "auto-tuning mode", the servo system will automatically
identify the external load inertia
ratio, automatically select the appropriate sti󰀨ness level, and
automatically adjust the following
◆
(Manual modication is invalid):
◆
Gain (position loop, velocity loop)
◆
Filter (torque lter)
◆
Vibration suppression and other parameters
2 Advanced tuning
P0-05, P0-07
P0-08, P0-11
P0-12, P0-13
P0-16
P0-17, P0-19
P0-20, P0-21
P0-22, P0-23
P0-24
P0-25, P0-27
P0-28, P0-29
P0-30, P0-31
P0-32
In advanced tuning mode, the user will have access to all
servo tuning parameters and can modify them to meet their
application needs.