Shenzhen Just Motion Control electromechanics co., ltd
0755-26509689
P01-03
P02-00
Real-time
automatic
adjustment
of
stiffness
settings
Position
Control
Gain 1
0-31
0-20000
according to the rigidity level set in P01-03, and manual
adjustment of these parameters will not work. The following
parameters are set by the user:
P02-03 (speed feedforward gain), P02-04 (speed feedforward
smoothing constant).
2: Positioning mode automatically adjusts rigidity. In this
mode, parameters P02-00, P02-01, P02 - 10, P02-11, P02-13,
P02-14, P08-20 and P08-21 will be automatically set
according to the rigidity level set in P01-03, and manual
adjustment of these parameters will not work. The following
parameters will be fixed and cannot be changed:
P02-03 (speed feedforward gain): 30%
P02-04 (speed feedforward smoothing constant): 50
3: Automatically adjust rigidity 2. In this mode, parameters
P02-00, P02-01, P02-10, P02-11, P02-13 will be
automatically set according to the rigidity level set in
P01-03.
The following parameters are set by the user: P02-03 (speed
feedforward gain), P02-14 (speed integral constant 2),
P08-20 (torque command filter constant 1), P08-21 (torque
command filter constant 2)
4: Automatic adjustment, depending on parameters P01-05,
P01-06
Built-in 32 kinds of gain parameters, when P01-02 is set to 1,
2, 3 when the effect. Can be directly called according to the
13
actual situation, the larger the set value, the stronger the
rigidity.
▸ The larger the setting value, the higher the gain,
the greater the rigidity, and the smaller the
position lag. However, if the value is too large, the
400
system will oscillate and overshoot.
▸ Increase the value as much as possible without
shock.
66
