Quick Tuning Guide

Source: 03.ES610_快速调试指南.html (the “Quick Tuning Guide” chapter of the ES610 comprehensive manual)

Commissioning preparation

Power-on checks

Confirm the following before applying power.

Item	Content
Supply voltage	Confirm supply voltage is correct (AC 380V–480V, 50/60Hz). Ensure the input terminals (R/S/T) are firmly wired.
Grounding	Confirm the drive and motor are grounded correctly.
Drive output and motor terminals	Confirm the drive output (U/V/W) to motor wiring is firm.
Control-circuit wiring	Confirm control-circuit terminals are firmly wired to other control devices.
Control-terminal state	Confirm all control-circuit terminals are OFF (drive is not running).
Load	Confirm the motor is unloaded and disconnected from the mechanical system.

Power on

In a normal state the operator display after power-up is:

State	Display (example)	Notes
Normal	Factory-default speed in rpm	System normal
Fault	Drive stops and shows the fault type	Handle the fault first

Quick-tuning flow chart

The product supports tuning-free motor start for fast commissioning. Commissioning has two paths: speed-mode and pressure-mode.

Servo-pump application commissioning

AI zero-drift auto-correction

Step	Function code	Notes
Set command source	`F0-02=0`	Operator-panel control
AI zero-drift auto-correction	`A3-20=1`	Press RUN to finish the correction automatically

⚠️

Manual correction: with the drive disabled, read the four AI channels U1-04, U1-05, U1-06, U1-16. Take the maximum value plus a 0.08V margin and write it to F4-18, F4-23, F4-28, and F4-33 respectively. After AI zero-drift auto-correction finishes, A3-20 automatically returns to “0”.

Pressure-mode selection and parameters

Function code	Description	Scenario
`A3-00=0`	Speed mode	Non-pressure mode
`A3-00=2`	Analog command	AI1 for pressure command, AI2 for flow command, AI3 for pressure feedback; drive performs pressure control
`A3-00=4`	Pressure PN mode	PN communication channel gives pressure and flow commands; AI3 for pressure feedback; drive performs pressure control
`A3-00=6`	CANopen command	CANopen channel gives pressure and flow commands; AI3 for pressure feedback; drive performs pressure control

When switching from non-pressure mode (A3-00=0) to pressure mode (A3-00≠0), related parameters are set automatically:

Function code	Description	Mode 2	Mode 4	Mode 6
`F0-01`	Control mode	1 (closed-loop vector)	1 (closed-loop vector)	1 (closed-loop vector)
`F0-02`	Command source	1 (terminal)	2 (communication)	2 (communication)
`F0-03`	Main frequency source	3 (AI2 analog)	9 (communication)	9 (communication)
`F0-17`	Acceleration time	0 ms	0 ms	0 ms
`F0-18`	Deceleration time	0 ms	0 ms	0 ms

Pressure function parameters

System pressure and flow mapping

Function code	Description	Setting
`A3-01`	Maximum speed	Motor max speed, i.e. the motor speed corresponding to 100% flow command
`A3-02`	System pressure	Maximum system pressure, 0 to `A3-03`
`A3-03`	Maximum pressure	Pressure-sensor range, matched to 0–10 Vdc output pressure sensor

AI1 pressure command mapping

Function code	Description	Setting
`F4-18`	AI1 minimum input	Minimum voltage for pressure command, corresponding to AI1 zero drift
`F4-19`	AI1 minimum-input setting	Minimum pressure command; default 0.0%, i.e. zero pressure
`F4-20`	AI1 maximum input	Maximum voltage for pressure command; typically 10 V
`F4-21`	AI1 maximum-input setting	Maximum pressure command; 100.0% corresponds to system pressure (`A3-02`)

This sets the mapping from AI1 0–10 V (or any other range) to 0 kg/cm² to system pressure (A3-02).

AI2 flow command mapping

Function code	Description	Setting
`F4-23`	AI2 minimum input	Minimum voltage for flow command, corresponding to AI1 zero drift
`F4-24`	AI2 minimum-input setting	Minimum flow command; default 0.0%, i.e. zero flow
`F4-25`	AI2 maximum input	Maximum voltage for flow command; typically 10 V
`F4-26`	AI2 maximum-input setting	Maximum flow command; default 100.0% corresponds to maximum speed (`A3-01`)

This sets the mapping from AI2 0–10 V (or any other range) to 0 rpm to the maximum speed (A3-01).

AI3 pressure feedback mapping

Function code	Description	Setting
`F4-28`	AI3 minimum input	Minimum voltage for pressure feedback, corresponding to AI3 zero drift
`F4-29`	AI3 minimum-input setting	Minimum pressure feedback; default 0.0%, i.e. zero pressure
`F4-30`	AI3 maximum input	Maximum voltage for pressure feedback; typically 10 V
`F4-31`	AI3 maximum-input setting	Maximum pressure feedback; default 100.0% corresponds to maximum pressure (`A3-03`)

This sets the mapping from AI3 0–10 V (or any other range) to 0 kg/cm² to the maximum pressure (A3-03).

Pressure-release setting (A3-08)

Function code	Description
`A3-08`	Maximum reverse speed: the largest reverse speed during pressure release, expressed as a percentage of the maximum speed (`A3-01`). Higher values give faster release but create more pump-reversal noise; lower values give slower release.

Base flow and base pressure (A3-09, A3-10)

Because of internal leakage in the pump, when no flow or pressure command is given the hydraulic fluid flows back into the tank, letting air into the oil path and creating noise and instability. A small base flow and base pressure are therefore required.

Function code	Description	Setting
`A3-09`	Base flow	0.0%–50.0%; percentage of maximum speed (`A3-01`)
`A3-10`	Base pressure	0.0 kg/cm²–50.0 kg/cm²

Pressure and flow command filter times

Pressure command filter times (F4-22, A3-04, A3-25, A3-26):

Function code	Description	Setting
`F4-22`	AI1 filter time	0.000 s–10.000 s
`A3-04`	Pressure-command rise time (group 1)	0.000 s–2.000 s
`A4-02`	Pressure-command fall time (group 1)	0.000 s–2.000 s
`A3-25`	S-curve filter on pressure rise (group 1)	0.000 s–1.000 s
`A3-26`	S-curve filter on pressure fall (group 1)	0.000 s–1.000 s

Shorter filter times speed up pressure response but increase overshoot; longer filter times slow response and reduce overshoot.

Flow command filter times (F4-27, A4-04):

Function code	Description	Setting
`F4-27`	AI2 filter time	0.000 s–10.000 s
`A4-03`	Flow-command rise time (group 1)	0–5.000 s
`A4-04`	Flow-command fall time (group 1)	0–5.000 s

Shorter filter times speed up pressure response but increase mechanical shock; longer filter times slow response and give smoother operation.

Pressure PID response tuning

Pressure PID group selection

The drive provides four PID groups selected by the combination of DI inputs 48#DI2 and 49#DI3:

DI3 (49#DI function)	DI2 (48#DI function)	PID group
0	0	Group 1: `A3-05`, `A3-06`, `A3-07`
0	1	Group 2: `A3-11`, `A3-12`, `A3-13`
1	0	Group 3: `A3-14`, `A3-15`, `A3-16`
1	1	Group 4: `A3-17`, `A3-18`, `A3-19`

Higher proportional gain Kp, shorter integral time Ki, and larger derivative time Kd give faster response. Responses that are too fast overshoot and cause oscillation. Responses that are too slow lead to pressure instability.

Pressure-loop gain coefficient (A3-29)

Used to tune the overall pressure-loop response. Higher values give a stronger loop but can cause oscillation; lower values slow the loop. When the hydraulic inertia is large or the hose is long and narrow, this gain usually needs to be reduced.

Code	Name	Range	Unit	Default	Change
`A3-29`	Pressure-loop gain coefficient	0.2%–5.00%	%	1.00	Real-time

Holding-pressure stability

Adjust speed-loop stiffness level

If holding pressure fluctuates significantly, increase the first group (low-speed speed loop) stiffness to improve stability: raise F2-12 moderately. Do not overdo it, or motor control will oscillate.

Code	Name	Value	Default	Unit	Change
`F2-12`	Stiffness level 1	0–31	12	-	Real-time

Switch pressure-loop PI based on the setpoint

Code	Name	Value	Default	Unit	Change
`A3-63`	High/low-pressure PI switch enable (Kp)	0–1	0	-	Real-time
`A3-64`	Group-1 low-pressure control Kp	0.0–800.0	210	-	Real-time
`A3-65`	Group-1 low-pressure control Ti	0.001–10.000	0.5	-	Real-time
`A3-66`	Group-1 high-pressure control Kp	0.0–800.0	260	-	Real-time
`A3-67`	Group-1 high-pressure control Ti	0.001–10.000	0.02	-	Real-time
`A3-68`	Low-pressure threshold	0.0 to `A3-69`	50	-	Real-time
`A3-69`	High-pressure threshold	`A3-68` to `A3-02`	100	-	Real-time

When A3-63=1, the high/low-pressure PI switch is enabled. A3-05 and A3-06 then change automatically based on the setpoint:

Above A3-69, use A3-66 and A3-67.
Below A3-68, use A3-64 and A3-65.
Between A3-68 and A3-69, the PI values are interpolated linearly.

⚠️

The high/low-pressure PI switch is only effective with PID group 1, i.e. when both 49#DI and 48#DI are 0.

Switch pressure-loop PI between pressurization and holding

Code	Name	Value	Default	Unit	Change
`A4-44`	Pressurize-to-hold PID switch	0–7	0	-	Real-time
`A4-45`	Feedback-pressure filter for switching into hold	0.000 s–5.000 s	0.005	s	Real-time
`A4-46`	Pressure-deviation for switching into hold	0.0–10.0 kg/cm²	1	kg/cm²	Real-time
`A4-47`	Speed ceiling for switching into hold	0–1000 rpm	200	rpm	Real-time
`A4-79`	Hold detection follows setpoint change	0–1	1	-	Real-time

The software dynamically detects the holding-pressure state and switches pressure-loop PI parameters automatically. The holding state is entered when all of the following hold:

The speed setpoint is within A4-47 (default 200 rpm).
The pressure setpoint exceeds the base pressure by at least 30 kg.
The filtered feedback-pressure deviation is below A4-46.

Monitor U0-75 to see the current holding state. U0-75=1 indicates the software has detected the holding state.

When the software enters holding and A4-44≠0, PID parameters switch internally:

DI3 (49#DI function)	DI2 (48#DI function)	Pressurize PID	Holding PID
0	0	Group 1: `A3-05`, `A3-06`, `A3-07`	Group 1: `A4-48`, `A4-49`, `A4-50`
0	1	Group 2: `A3-11`, `A3-12`, `A3-13`	Group 2: `A4-51`, `A4-52`, `A4-53`
1	0	Group 3: `A3-14`, `A3-15`, `A3-16`	Group 3: `A4-54`, `A4-55`, `A4-56`
1	1	Group 4: `A3-17`, `A3-18`, `A3-19`	None

⚠️

When the setpoint-based pressure-loop PI switch and the pressurize/holding pressure-loop PI switch are both enabled, the pressurize/holding switch takes priority.

Auto-adjust inertia ratio based on setpoint under low-speed holding

Code	Name	Value	Default	Unit	Change
`A4-80`	Low-pressure threshold for inertia auto-adjust	0.0 to `A4-81` kg/cm²	10	kg/cm²	Real-time
`A4-81`	High-pressure threshold for inertia auto-adjust	`A4-80` to `A3-02` kg/cm²	20	kg/cm²	Real-time
`A4-82`	Inertia ratio at low-pressure threshold	0.2 to `F2-13`	0.5	-	Real-time

When A4-80 is not 0, the inertia ratio is auto-adjusted based on setpoint during low-speed holding:

Above A4-81, inertia ratio is F2-13 (default 1.00).
Below A4-80, inertia ratio is A4-82.
Between A4-80 and A4-81, the actual inertia ratio is linearly interpolated.

⚠️

The auto-adjust function takes effect only when the speed is below F2-02.

Electrical Installation & Design Troubleshooting