Xinje DS5F-43P0-PTA - Invalid Parameters When Adaptive Effective; Vibration Suppression; Overview

142
P2-08/P6-08
Speed observer
gain
60/40
30-60
Reducing P2-08 and increasing P2-12 can
greatly improve the inertia capability, but
it will reduce the responsiveness, which
has a great impact on responsiveness.
P2-12/P6-12
Adaptive stable
max inertia ratio
30/50
30-60
P2-10
Adaptive speed
loop integral time
coefficient
500
200-larger
Adjust according to need, generally
increase
P2-11
Adaptive position
loop gain
coefficient
100
50-200
Adjust according to the need, increasing
will make the response fast, reducing will
make the response slow
P2-16
Adaptive motor
rotor inertia
coefficient
100
100-200
Increasing will improve the servo rigidity
and enhance anti-disturbance ability, can
solve operation jitter.
P2-19
Adaptive
bandwidth
50~70
40-80
Increasing will improve the inertia
capacity slightly, and has little effect on
the responsiveness, to be an auxiliary
parameter.
6.6.7 Invalid parameters when adaptive effective
When the adaptive function is effective (P2-01.0=1), the invalid parameters are shown as below:
Item
Parameters
Descriptions
Gain
P1-00
P1-05
First speed loop gain
Second speed loop gain
P1-01
P1-06
First speed loop integral time constant
Second speed loop integral time constant
P1-02
P1-07
First position loop gain
Second position loop gain
P2-49
Model loop gain
P0-07
P0-08
First inertia ratio
Second inertia ratio
Switch
P5-33
/G-SEL gain switch
P5-36
/I-SEL inertia ratio switch
6.7 Vibration suppression
6.7.1 Overview
The mechanical system has a certain resonance frequency. When the servo gain is increased, the
continuous vibration may occur near the resonance frequency of the mechanical system. Generally in
the range of 400Hz to 1000Hz, it caused the gain can not continue to increase. Vibration can be
eliminated by automatically detecting or manually setting the vibration frequency. After the vibration is
eliminated, if the responsiveness needs to be improved, the gain can be further improved.
Note:
(1) Servo responsiveness will change after vibration suppression operation.
(2) Before performing the vibration suppression operation, please set the inertia ratio and gain
parameters correctly, otherwise it can not be controlled properly.