EA180 Series Servo Drive Users Manual 6.7.2 Scope of application Applicable to situations where the load inertia basically has no change or changes little. 6.7.3 Operating method 1) Servo enable OFF 2) Set P4-00 to 1 3) Servo enable ON (no command input) 4) Properly set the settings such as clearing the position deviation count, prohibiting command input, torque limit, etc. to enable the motor to rotate normally without obstacles. 5) Confirm that the P4-10 value is basically consistent with the actual mechanical situation, or first carry out offline inertia identification.
6) Set the rigidity value P4-01 according to the mechanical conditions (please first set a low value of about 1 ~ 4), and the following parameters will be set automatically. P4-02 position loop gain P4-03 speed loop gain P4-05 integral time constant of speed loop P4-29 torque command low pass smoothing constant 7) Improve the responsiveness of the motor by increasing the set value of P4-01. Please observe the positioning time or vibration state and gradually adjust them to an appropriate value.
6.8 Rigidity adjustment coefficient When using real-time automatic gain adjustment and semi-automatic gain adjustment, for mechanical systems with poor responsiveness (low mechanical rigidity), P4-01 must be set to a low value if vibration, abnormal sound, etc. occurs when rigidity (P4-01) is set high. If the rigidity adjustment coefficient is enabled, the speed loop gain can be forcibly increased at a lower rigidity value to improve the responsiveness of the overall mechanical system, but it may also lead to increased vibration.
Associated parameters 6.9 Mechanical resonance suppression In case of low mechanical rigidity, vibration or noise occurs due to resonance caused by the distortion of shaft, the flexibility of belt, etc., and the gain setting cannot be improved. In this case, higher gain can be set or vibration can be reduced by suppressing the resonance point through the notch filter.
6.9.1 EA180 resonance suppression block diagram Width Width Speed loop output -3db D e p t h -3db D e p t h Notch 4 P5-02~P5-04 Manual setting Manual setting Notch 2 P5-05~P5-07 Width D e p t h Width D e p t h -3db -3db -3db Torque given Notch 3 P5-08~P5-10 Notch 4 P5-11~P5-13 First order low pass Adaptive setting Adaptive setting Torque command filter P4-29 Adaptive filter module 63 Function Parameter name Function code P4-13 Rigidity adjustment coefficient When P4-00 ≠ 0, forcibly adjust the speed loop gain P4-03 Speedloopgain P4-13