Related Objects; Figure 31. Control Loop Block Diagram; Table 63. Auto Tuning Related Objects - Parker P Series User Manual

You can set the distance covered during tuning with the offline gain tuning distance
(0x2511). The distance increases along with the set value: please set the appropriate
distance depending on the situation. Please secure a sufficient distance before gain tuning
(1 rotation or above).
Position Control
+
Ref.
P Gain
1 0x2101
-
2 0x2105
Position Feedback

Figure 31. Control Loop Block Diagram

5.4.1 Related Objects

Sub
Index
Index
0x250E System Rigidity for Gain Tuning
0x2510 - Off-line Gain Tuning Direction
0x2511 Off-line Gain Tuning Distance

Table 63. Auto Tuning Related Objects

Parker Hannifin
Velocity Control
+
P Gain I Gain
0x2103
1 0x2102
-
2 0x2106 0x2107
Resonance
Frequency
Estimation
Load Inertia
Estimation
Inertia 0x2100
Velocity Feedback
Name
Notch Filter
Adaptive Filter
0x2500
function Select
Frequency Width
1 0x2501 0x2502
0x2505
2 0x2504
3 0x2507 0x2508
4 0x250A 0x250B
Current Control
Space
Gain 0x2514 Vector
Control
Current Feedback
Velocity
Calculation
Velocity
Calculation
Variable
Accessibility
Format
UINT RW
UINT RW
UINT RW
P series User Guide
Torque Filter
Depth
Time
0x2503
1 0x2104
0x2506
2 0x2108
0x2509
0x250C
Torque Command
PWM
Motor
Control
Load
Encoder
PDO
Unit
Allocation
No -
No -
No -
101