5-3.Manual adjustment
Manual adjustment needs to set load inertia first, then turn off the self-adaption function to use.
Servo firmware version 3640 and later supports this function.
5-3-1.Manual adjustment steps
1. Set the load inertia ratio P0-07 (Estimation of inertia by upper computer or known load
inertia).
2. Change P2-01.0 to 0, turn off self-adaption function.
After the above two steps, the manual adjustment takes effect. The rigidity level is adjusted by
P0-04 (rigidity level parameter). The rigidity gain is divided into 31 levels, and each level
corresponds to a set of parameters.
Integral time constant of speed loop
Torque command filter time constant
Notes for debugging:
(1) Rigidity level generally increases or decreases in the default value. If the rigidity
level is not suitable in actual operation, it can be modified by P0-04. The larger the
value, the greater the gain and the stronger the rigidity.
(2) Under the current rigidity level, if the requirements are not met, the above five
parameters can still be fine-tuned.
(3) If vibration occurs, it is necessary to detect resonance frequency by mechanical
characteristic analysis and to configure notch parameters to suppress vibration.
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