8.4 P03 gain adjustment parameter group
Code | Name | Set range | unit | value | Effective mode | Set method | Set mode |
|---|---|---|---|---|---|---|---|
P03-00 | Self tuning mode selection | 0-Manually adjust the gain parameter 1-Standard mode, use the standard rigidity table to adjust the gain parameter 2-Positioning mode, use the positioning rigidity table to adjust the gain parameter | -- | 1 | Effective immediately | Set anytime | Ordinary users |
P03-01 | Rigid grade | 0~31 | -- | 12 | Effective immediately | Set anytime | Ordinary users |
P03-02 | Load rotation inertia ratio | 0~12000 | % | 100 | Effective immediately | Set anytime | Ordinary users |
P03-03 | Real time inertia ratio | 0~65535 | % | 0 | Effective immediately | Set anytime | Ordinary users |
P03-04 | Position loop gain | 0~20000 | 0.1Hz | 400 | Effective immediately | Set anytime | Ordinary users |
P03-05 | Speed loop gain | 1~20000 | 0.1Hz | 250 | Effective immediately | Set anytime | Ordinary users |
P03-06 | Speed loop integral constant time | 15~51200 | 0.01ms | 3183 | Effective immediately | Set anytime | Ordinary users |
P03-07 | 2nd position loop gain | 0~20000 | 0.1Hz | 640 | Effective immediately | Set anytime | Ordinary users |
P03-08 | 2nd speed loop gain | 1~20000 | 0.1Hz | 400 | Effective immediately | Set anytime | Ordinary users |
P03-09 | 2nd speed loop Integration constant time | 15~51200 | 0.01ms | 2000 | Effective immediately | Set anytime | Ordinary users |
P03-10 | PDFF control coefficient | 0~1000 | ‰ | 1000 | Effective immediately | Set anytime | Manufacturer mode |
P03-11 | Damping | 0~1000 | ‰ | 0 | Effective immediately | Set anytime | Manufacturer mode |
P03-12 | Selection of position feed forward control | 0-no speed feed forward 1. Internal speed feed forward 2-pulse type: AI1 is used for speed feed forward ECAT type: In CSP mode, use 60B1 as speed feed forward 3-Pulse type: AI2 is used for speed feed forward | -- | 1 | Effective immediately | Stop setting | Ordinary users |
P03-13 | Speed feed forward filtering time | 0~6400 | 0.01ms | 50 | Effective immediately | Set anytime | Ordinary users |
P03-14 | Speed feed forward gain | 0~1000 | ‰ | 0 | Effective immediately | Set anytime | Ordinary users |
P03-15 | Torque feed forward filtering time | 0~6400 | 0.01ms | 50 | Effective immediately | Set anytime | Ordinary users |
P03-16 | Torque feed forward gain | 0~2000 | ‰ | 0 | Effective immediately | Set anytime | Ordinary users |
P03-17 | Speed feedback average filtering level | 0~4 | -- | 0 | Effective immediately | Stop setting | Ordinary users |
P03-18 | Speed feedback low-pass filtering cut-off frequency | 100~4000 | Hz | 4000 | Effective immediately | Set anytime | Ordinary users |
P03-19 | Performance mode | 0-High speed mode 1- High performance mode, Kp switch 2-High performance mode, Ki switch | -- | 0 | Stop and restart | Stop setting | Manufacturer mode |
P03-20 | Gain switch mode | 0-GF mode: Fixed first group gain 1-GF mode: Fixed first group gain, using external DI for P and PI switch 2-GS mode: switch using external DI signal 3-GS mode: Switch based on torque command size 4-GS mode: Switch based on speed command size 5-GS mode: based on speed command Switch according to the acceleration size 6-GI mode: Interpolation based on speed command size 7-GS mode: Switch based on the size of the positional deviation 8-GS mode: No position command<first group gain>, with position command<second group gain> 9-GS mode: Positioning completed<first group gain>, positioning incomplete<second group gain> 10-GS mode: Switch based on speed feedback size 11-GS mode: No position command and low feedback speed<first group gain>, with position command<second group gain> | -- | 0 | Effective immediately | Set anytime | Ordinary users |
P03-21 | Gain switch delay time | 0~10000 | 0.1ms | 50 | Effective immediately | Set anytime | Ordinary users |
P03-22 | Gain switch threshold | 0~20000 | -- | 50 | Effective immediately | Set anytime | Ordinary users |
P03-23 | Gain switch delay | 0~20000 | -- | 30 | Effective immediately | Set anytime | Ordinary users |
P03-24 | Position gain switch time | 0~10000 | 0.1ms | 30 | Effective immediately | Set anytime | Ordinary users |
P03-25 | Speed feedback selection | 0-FPGA speed measurement 1-mcu uses M method for speed measurement | -- | 0 | Stop and restart | Set anytime | R&D personnel |
P03-26 | Current loop gain adjustment coefficient | 0-10240 | -- | 1024 | Effective immediately | Set anytime | Ordinary users |