Parker Hannifin
P Series User Guide 114
5.5.3 Setting system rigidity when on-line auto tuning
Index
Sub
Index
Name
e
ssibili
Alloc
Unit
0x250E - (System Rigidity for Gain Tuning) UINT RW No -
As shown in the figure below, there are 20 kinds of system rigidity setting when on-line
auto tuning.
When you set a system rigidity value, it automatically determines gains (position loop gain
1, speed loop gain 2, speed integral time constant 1, torque command filter time constant
1).
The default setting for system rigidity value is 5.
When you set a system rigidity value to large number, gain will be higher and positioning
time is shorter. However, if system rigidity value is too high, vibration could occur
depending on the mechanical configuration. So, please set the system rigidity value from
low value to high value and check it vibrates or not.
[0x250E] System Rigidity
1 2 3 4 5 6 7 8 9 10
[0x2101] position loop gain 1
2 5 10 15 22 30 40 50 60 73
[0x2102] speed loop gain 1
3 8 15 23 33 45 60 75 90 110
[0x2103] speed integral time
constant 1
190 70 50 40 30 22 15 13 10 9
[0x2104] torque command filter
time constant 1
80 30 20 10 8 6 4 3 3 2
[0x250E] System Rigidity
11
12
13
14
15
16
17
18
19
20
[0x2101] position loop gain 1
87
100
117
133
160
173
200
220
240
267
[0x2102] speed loop gain 1
130
150
175
200
240
260
300
330
360
400
[0x2103] speed integral time
constant 1
8
7
6
6
5
5
4
4
3
3
[0x2104] torque command filter
time constant 1
2
2
2
2
1
1
1
1
1
5.5.4 On-line auto tuning adaption speed
Index
Sub
Index
Name
e
ssibili
Alloc
Unit
0x250F - (On-line Tuning Adaptation Speed ) UINT RW No -
You can set the on-line tuning adaptation speed. Larger predetermined value reflects
change of gain more quickly.
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