Manual Gain Adjustment - Parker FL-20-C Series Product Manual

The setting range of Po010 (Rigidity selection) is 0–19. the bigger value is, stronger rigidity is.
System will generate first group parameters of gain. The first gain group includes: first position
loop gain Po301, first speed loop proportional gain Po101, first speed loop integral time Po102,
first speed filter time constant Po105, first torque filter time constant Po214, first current loop
bandwidth Po200.
Setting method of rigidity level:
1) Confirm that inertia identification has been executed and the inertia ratio is reasonable,
estimate proper rigidity level Po010 according to inertia ratio and drive connection mode (the
bigger mechanical load is, the lower rigidity level is ).
2) So-14 enters jog test running, check the normal operation and noise. Reduce rigidity level
Po010 properly if there is any noise. Otherwise, user can try to improve the rigidity level and
test running again until satisfying the system requirement.
When changing rigidity level, speed loop gain and position loop gain will change too. After
setting rigidity level, user can still make a fine-tuning for the first gain group (not influence
rigidity Po010).
The data of table above is related to the parameter of Po010 rigidity level, check the table above
for reference when rigidity selection.
Note: The entry-into-effect time of the parameter is 100ms.

9.3.3 Manual Gain Adjustment

User can make fine adjustment manually when the automatic gain adjustment cannot reach the expected effect.
Parameter
st
1 Speed
Po101
gain
st
Po102 1 Speed loop integral time
nd
2 Speed
Po103
gain
nd
2 Speed loop integral time
Po104
st
Po105 1 Speed loop time constant
nd
2 Speed
Po106
constant
Po107 Torque feedforward gain
Po108 Torque feedforward gain filter
Po010
Table 9.3.2Manual Gain Adjustment Parameter Table
Name
loop proportional
loop proportional
loop filter time
N INT16
Parameter
Gain 2 switch to gain 1 delay
Po135
time
st
Po200 1
nd
2
Po201
st
1
Po214
nd
Po215 2
st
1
Po301
nd
Po302 2
Po303 Position loop feedforward gain
284
RW
Name
current loop bandwidth
current loop bandwidth
torque filter time constant
torque filter time constant
position loop gain
position loop gain