The rigidity level should be set according to the actual load. The larger the P-04 value, the greater the servo gain.
If there is vibration in the process of increasing the rigidity level, it is not suitable to continue to increase. If
vibration suppression is used to eliminate vibration, it can try to continue to increase. The following is the
recommended rigidity level of the load, for reference only.
1
20
32
Large load of
flexible structure
High rigidity
load
Flexible structure large load: refers to the type of synchronous belt structure, large load inertia equipment.
High rigid load: refers to the mechanism of screw rod or direct connection, and equipment with strong mechanical
rigidity.
The firmware corresponds
to the rigidity level
P1-00=65 P1-01=9794 P1-02=80
P2-35=100
P2-49=175
5.3.4 Notes
➢ The gain parameters corresponding to the rigidity level can be independently fine-tuned in the fast
adjustment mode.
➢ In order to ensure stability, the gain of model loops is small at low rigidity level, which can be added
separately when there is high response requirement.
➢ When vibration occurs in fast adjustment, the torque instruction filter P2-35 can be modified. If it is
ineffective, the mechanical characteristic analysis can be used and the relevant notch parameters can be
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