Parker Hannifin
P Series User Guide ３
4.4.4 Encoder Output .......................................................................................................... 93
4.5 I/O Signal Setting .............................................................................................................. 95
4.5.1 Allocating Digital Input Signals ................................................................................ 95
4.5.2 Allocating Digital Output Signals .............................................................................. 99
4.5.3 Using User I/O ......................................................................................................... 102
5. Tuning ............................................................................................................................... 107
5.1 Servo Tuning Overview .................................................................................................. 108
5.2 Position Variable Overview ............................................................................................ 108
5.2.1 Commanded Position ............................................................................................... 108
5.2.2 Actual Position ......................................................................................................... 109
5.3 Servo Response Overview .............................................................................................. 109
5.3.1 Stability .................................................................................................................... 109
5.3.2 Position Response Types ......................................................................................... 109
5.3.3 Performance Measurements ..................................................................................... 110
5.4 Automatic Gain Tuning (Off-line) .................................................................................. 110
5.4.1 Related Objects ........................................................................................................ 111
5.5 Automatic Gain Tuning (On-line) .................................................................................. 112
5.5.1 Changed parameters after tuning .......................................................................... 112
5.5.2 On-line auto tuning object .................................................................................... 113
5.5.3 Setting system rigidity when on-line auto tuning ................................................. 114
5.5.4 On-line auto tuning adaption speed ......................................................................... 114
5.6 Manual Gain Tuning ....................................................................................................... 115
5.6.1 Speed Controller Tuning ....................................................................................... 115
5.6.2 Position Controller Tuning ................................................................................... 115
5.7 Vibration Control ............................................................................................................ 116
5.7.1 Related Object ....................................................................................................... 116
5.7.2 Setting Vibration Suppression Filter(0x2515) ...................................................... 117
5.8 Filters .............................................................................................................................. 117
5.8.1 Related Objects ........................................................................................................ 117
5.8.2 Adaptive Filter ......................................................................................................... 118
5.8.3 Related Objects ........................................................................................................ 118
5.9 Analog Monitor ............................................................................................................... 119
5.9.1 Related Objects ........................................................................................................ 119
5.9.2 Analog monitor output mode(0x2220) setting ...................................................... 120
5.9.3 Analog monitor channel 1 setting (0x2221) ......................................................... 120
5.9.4 Setting Example .................................................................................................... 121
5.10 Gain Conversion ........................................................................................................... 122
5.10.1 Gain Group Conversion ......................................................................................... 122
5.10.2 Related Objects ................................................................................................. 123
5.10.3 P/PI Control Conversion ....................................................................................... 123
6. Command Reference ........................................................................................................ 126
6.1 Pulse Input Position Operation ....................................................................................... 127
6.1.1 Function Setting of Pulse Input Logic ..................................................................... 128
6.1.2 Related Objects ........................................................................................................ 128
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