Xinje DS5F-43P0-PTA - Fast Adjustment Steps; Rigidity Level Corresponding Gain Parameters

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6.3.2 Fast adjustment steps
1. estimate the load inertia through servo driver panel or XinJeServo software, refer to chapter 6.2
2. shut down adaptive mode, set P2-01.0 to 0
3. set the rigidity level P0-04
Note: P2-01.0 is the first bit of P2-01
P2-01=n. 0 0 1 0
P2-01.0
6.3.3 Rigidity level corresponding gain parameters
 3640 firware rigidity level
P0-04
Rigidity level
P1-00
Speed loop
gain
P1-01
speed loop
integral
P1-02
Position loop
gain
P2-35
Torque
instruction
filter
P2-49
Model loop
gain
1
100
6600
100
100
100
2
200
3300
200
100
300
3
300
2200
300
100
400
4
400
1650
400
100
500
5
450
1467
400
90
600
6
500
1320
450
80
700
7
550
1200
450
70
800
8
600
1100
500
60
900
9
650
1015
550
50
1000
10
700
943
600
40
1100
11
750
880
650
30
1200
12
800
825
700
20
1300
13
850
776
750
10
1400
14
900
733
800
10
1500
15
1000
660
900
10
1600
16
1050
629
950
10
1800
17
1100
600
1000
10
2000
18
1150
574
1050
10
2200
19
1200
550
1100
10
2400
20
1300
508
1100
10
2600
21
1400
471
1200
10
2800
22
1500
440
1300
10
3000
23
1600
413
1400
10
3500
24
1700
388
1500
10
4000
25
1800
367
1600
10
4500
26
1900
347
1700
10
5000
27
2000
330
1800
10
5500
28
2100
314
1900
10
6000
29
2200
300
2000
10
6500
30
2300
287
2100
10
7000
31
2400
275
2200
10
7500
 3700 and later firmware rigidity level
P0-04
Rigidity
level
P1-00
Speed loop
gain
P1-01
speed loop
integral
P1-02
Position
loop gain
P2-35
Torque
instruction
filter
P2-49
Model loop
gain(version
3700~3720)
P2-49 Model
loop
gain(version
after 3730)