Xinje DS5K Series

- 2 -
5.1.1 Control mode selection ................................................................................................................... 50
5.1.2 Control mode switching .................................................................................................................. 51
5.2 BASIC FUNCTION SETTING ...................................................................................................................... 52
5.2.1 Jog operation .................................................................................................................................. 52
5.2.2 Servo enable setting ........................................................................................................................ 53
5.2.3 Rotation direction switching ........................................................................................................... 54
5.2.4 Stop mode ....................................................................................................................................... 54
5.2.5 Power-off brake .............................................................................................................................. 56
5.2.6 Braking setting ................................................................................................................................ 59
5.3 POSITION CONTROL ................................................................................................................................ 60
5.3.1 General position control ................................................................................................................. 60
5.3.2 Position control (external pulse command) .................................................................................... 90
5.3.3 Position control (Internal command) ............................................................................................. 93
5.4 SPEED CONTROL ................................................................................................................................... 101
5.4.1 Speed mode general control ......................................................................................................... 101
5.4.2 Speed control (internal speed) ...................................................................................................... 104
5.4.3 Speed control (pulse frequency command) ................................................................................... 107
5.5 TORQUE CONTROL................................................................................................................................ 109
5.5.1 Torque general mode .................................................................................................................... 109
5.5.2 Torque control (internal setting) .................................................................................................. 109
5.6 ABSOLUTE VALUE SYSTEM ................................................................................................................... 110
5.6.1 Absolute system setting ................................................................................................................. 110
5.6.2 Replace the battery ....................................................................................................................... 110
5.6.3 The upper limit of turns ................................................................................................................ 111
5.6.4 Read absolute position through communication ........................................................................... 112
5.6.5 Reset absolute position ................................................................................................................. 113
5.6.6 Zero calibration of absolute encoder............................................................................................ 114
5.6.7 Homing application ...................................................................................................................... 114
5.7 AUXILIARY FUNCTIONS ........................................................................................................................ 116
5.7.1 Anti-blocking protection ............................................................................................................... 116
5.7.2 Torque limit .................................................................................................................................. 116
5.7.3 Speed limit .................................................................................................................................... 117
5.7.4 I/O signal distribution .................................................................................................................. 117
5.7.5 Output terminal function .............................................................................................................. 119
5.7.6 Input terminal function ................................................................................................................. 123
5.7.7 Time limit curve of overload protection ....................................................................................... 125
5.8 ENCODER ABZ PHASE FREQUENCY DIVISION OUTPUT .......................................................................... 127
6 SERVO GAIN ADJUSTMENT .............................................................................................................. 129
6.1 OVERVIEW OF SERVO GAIN ADJUSTMENT ............................................................................................. 129
6.1.1 Overview and process ................................................................................................................... 129
6.1.2 The difference of these adjustment modes .................................................................................... 130
6.1.3 Model loop control ....................................................................................................................... 130
6.1.4 Torque disturbance observation ................................................................................................... 132
6.2 ROTARY INERTIA PRESUMPTION ........................................................................................................... 132
6.2.1 Overview ....................................................................................................................................... 132
6.2.2 Notes ............................................................................................................................................. 132
6.2.3 Operation tool .............................................................................................................................. 133
6.2.4 Operation steps ............................................................................................................................. 133
6.3 FAST ADJUSTMENT ............................................................................................................................... 137
6.3.1 Overview ....................................................................................................................................... 137
6.3.2 Fast adjustment steps.................................................................................................................... 137
6.3.3 Rigidity level corresponding gain parameters .............................................................................. 137
6.3.4 Notes ............................................................................................................................................. 140
6.4 AUTO-TUNING ...................................................................................................................................... 140
6.4.1 Overview ....................................................................................................................................... 140
6.4.2 Notes ............................................................................................................................................. 141
6.4.3 Operation tools ............................................................................................................................. 141
6.4.4 Internal instruction auto-tuning steps........................................................................................... 141
6.4.5 External instruction auto-tuning steps .......................................................................................... 146
6.4.6 Related parameters ....................................................................................................................... 150
6.5 MANUAL ADJUSTMENT ........................................................................................................................ 151
6.5.1 Overview ....................................................................................................................................... 151
tudonghoatoancau.com