Parker PD-04 Series

Parker Hannifin
P series User Guide 196
 Gain Adjustment(0x2100~ )
0x2100
Inertia Ratio
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 3000
100
%
RW
No
At all
times
Yes
Set the load inertia ratio to the motor rotation inertia by %.
Inertia rate = load inertia/ motor rotation inertia x 100
Load inertia rate is a very important control variable for the servo operation
characteristics. The inertia ratio should be accurately set to achieve optimal servo
operation. The inertial ratio can be estimated by automatic gain tuning. Real-time gain
tuning will estimate the inertia continuously during operation.
0x2101
Position Loop Gain 1
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 500
50
1/s
RW
Yes
At all
times
Yes
Set the overall responsivity of the position controller. Responsivity increases as the set
value increases. Too high responsivity may cause vibration depending on the load.
0x2102
Speed Loop Gain 1
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 2000
75
Hz
RW
Yes
At all
times
Yes
Set the overall responsivity of the speed controller. O increase the overall system
responsivity, both position loop gain and speed loop gain should be set high. Too high
responsivity may cause vibration depending on the load.
0x2103
Speed Loop Integral Time Constant 1
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
1 to 1000
50
ms
RW
Yes
At all
times
Yes
Set the integral time constant of the speed controller. Higher value decreases the error
under the steady state (stop or operation at regular speed). However, excessive state
(acceleration/deceleration) may cause vibration.