Parker PD-04 Series

Parker Hannifin
P series User Guide 224
Set Value
Setting Details
0
Do not use online gain tuning
1
Use online gain tuning
0x250E
System Rigidity for Gain Tuning
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
1 to 20
5
-
RW
No
Servo Off
Yes
Set the system rigidity to apply for gain tuning. This setting increases or decreases
the overall gain after gain tuning. If the gain of the maximum set value is not
sufficient, please use manual tuning. Automatically changed gains after gain tuning
are as follows.
Inertia ratio (0x2100), position loop gain 1(0x2001), speed loop gain 1(0x2102),
speed integral time constant 1(0x2103), torque command filter time constant
1(0x2104), notch filter 3 frequency (0x2507, TBD), notch filter 4 frequency (0x250A,
TBD)
0x250F
On-line Gain Tuning Adaptation Speed
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
1 to 5
1
-
RW
No
Servo Off
Yes
Sets the speed at which the gain change is reflected during gain tuning. The higher
the set value, the faster the gain change is applied.
0x2510
Off-line Gain Tuning Direction
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1
0
-
RW
No
Servo Off
Yes
Set the movement direction for off line gain tuning. Please use the appropriate
setting that fits the mechanical unit.
Set Value
Setting Details
0
Forward operation
1
Reverse operation
0x2511
Off-line Gain Tuning Distance
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
1 to 10
5
-
RW
No
Servo Off
Yes
Set the distance for offline gain tuning. Higher set value means longer movement
distance. Please use the appropriate setting that fits the mechanical unit. Secure
sufficient distance before tuning (1 rotation or longer).