Estun EtherCAT User Manual page 110

Online
autotuning
Pn100
setting
Machine rigidity
Pn101
setting
After restart P, S
Immediately P, S
EtherCAT User's Manual
Pn100.0 Load inertia setting
[0] Manual setting
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
[3,6] Load inertia with great variation
Pn100.1 Online autotuning setting
[0] Manual setting
[1] Standard
[2] Steadily
[3] High precision
Note:
1.Autotuning is invalid when servomotor max.speed is less than 100rpm. Manual gain
adjustment is used.
2.Autotuning is invalid when servomotor acceleration/deceleration speed is less than
5000rpm/s. Manual gain adjustment is used.
3.Autotuning is invalid when mechanical clearance is too big during operation. Manual
gain adjustment is used.
4.Autotuning is invalid when the difference of different speed load is too great. Manual
gain adjustment is used.
The response speed of servo system is determined by this parameter. Normally, the
rigidity should be set a little larger. However, if it is too large, it would suffer mechanical
impact. It should be set a little smaller when large vibration is present. This parameter
is only valid in autotuning.
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