Parker Hannifin
P Series User Guide 112
5.5 Automatic Gain Tuning (On-line)
PD-xxP drive doesn’t follow the command generated by itself. While operating under the
command from host device, it sets position loop gain, speed loop gain, speed integral time
constant, torque command filter automatically base on general rule and the rigidity set by
user. Setting operation is basis on estimation of the system inertia during performance.
inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque
command filter time constant
During online tuning, it refers 20 steps of value of gain table by rigidity. The result of tuning
is reflected regularly and changed gain is stored in EEPROM every two minutes.
When inertia estimating, estimated result reflected quickly or slowly by set adaption speed
value. The setting rigidity parameters can determine the overall responsiveness of system.
In the following cases, it may be inaccurate to estimate the inertia when online auto tuning.
when a change of the load is too heavy
When rigidity of load is too weak or too heavy backlash system.
When the load is too small(less than 3 times) or too heavy (more than 20 times)
When acceleration and deceleration is too small for sufficient acceleration and
deceleration torque(less than 10% of the rated).
When the speed of revolution is too slow(less than 10% of the rated).
When friction torque is too large.
If the above conditions or on-line auto tuning system doesn’t operate well, please run an
off-line gain tuning.
5.5.1 Changed parameters after tuning
- 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).
- Notchfilter3frequency, notchfilter4frequency (0x2507, 0x250A) Please refer
automatic notch setting function.
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