Manual Gain Adjustment - Parker FL20-CA Series Product Manual

CAUTION:
Ensure that the correct inertia ratio has been obtained before enabling automatic gain
adjustment.
Related Parameter:
Rigidity Selection PP PV PT CSP CSV CST HM
Mfr's Value
Setting Range Setting Unit Effect
2000h-0Bh 1~30 N/A 6 Immediate
Function code Mapping Data type Accessibility
Po010 N INT16 RW
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.
Table 9.3.2Manual Gain Adjustment Parameter Table
Parameter Name Parameter Name
295