Technical Manual for EA350 Analog Pulse Type Servo Driver V101 6.6.3 Steps of offline inertia identification 6.7 Semi-automatic gain adjustment 6.7.1 Overview After the actual load inertia ratio is obtained, select an appropriate rigidity value based on actual conditions of the machine; the driver will automatically set the basic gain value based on the load inertia ratio P4-10 and rigidity P4-01. 6.7.2 Scope of application Scenarios with basically little or no load inertia change.
6.7.3 Operation methods 1) Servo activation OFF 2) Set P4-00 to 1 3) Servo activation ON (no command input is allowed) 4) Properly set the position deviation counter clearing, command input disable, torque limit and other parameters, allowing the motor to rotate normally without obstacle. 5) Verify consistency of the P4-10 value with the actual conditions of the machine, or perform offline inertia identification first. 6) Set the rigidity value P4-01 based on conditions of the machine (please set it to a relatively low value ranging between 1~4); the following parameters will be automatically set.
P4-02 position loop gain P4-03 speed loop gain P4-05 Speed loop integral time constant P4-29 Torque command low-pass smoothing constant 7) Increase the set value of P4-01 to improve machine responsiveness. Observe the positioning time or vibration status, and gradually adjust it to an appropriate value. 6.8 Rigidity adjustment coefficient When real-time automatic gain adjustment or semi-automatic gain adjustment is used for a mechanical system with poor responsiveness (relatively low mechanical rigidity), and setting a high rigidity value (P4-01) for the driver may cause vibration and abnormal noise, it is required to set the P4-01 to a low value.
If a rigidity adjustment coefficient is used, when the rigidity is low, the user may apply a forced increase of the speed loop gain to improve the responsiveness of the whole mechanical system, but this may result in greater vibration. ➢ Associated parameter 68 Function code Parameter name Function P4-13 Rigidity adjustment coefficient When P4-00≠0, apply a forced adjustment of the speed loop gain. P4-03 Speed loop gain = P4-13