Automatic adjustment (external command self-tuning) is the function of automatic optimal adjustment for the
operation command from the upper device.
Manual adjustment function: manual adjustment is the function of manually setting parameters such as
speed loop, position loop, model loop gain and vibration frequency in self-tuning mode to achieve rapid
response.
5-1.DS5 series fast adjustment mode
Quick adjustment requires setting the moment of inertia of the load before turning off the adaptive function. If the
inertia does not match, it will cause oscillation alarm.
5-1-1.Fast adjustment steps
1. The load inertia is estimated through the driver panel or XinJeServo software;
2. Turn off the adaptive mode and change P2-01.0 to 0;
3. Set the required rigidity grade P0-04.
Note: P2-01.0 is the rightmost bit of P2-01 parameter, as shown below:
5-1-2. Corresponding parameters of rigidity grade
The rigidity level shall be set according to the actual load. The greater the P0-04 value, the greater the servo
gain. If vibration occurs in the process of increasing the rigidity level, it should not continue to increase. If
vibration suppression is used to eliminate the vibration, you can try to continue to increase. The following is
the rigidity grade corresponding to the recommended load for reference only.
Recommended rigidity
grade（P0-04）
Suitable load
56
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