Leadshine iSV2-CAN Series User Manual page 27

You an set up response while the real-time auto-gain tuning is valid.
Notice: Lower the setup value, higher the velocity response and servo stiffness will be obtained. However,
when decreasing the value, check the resulting operation to avoid oscillation or vibration.
Control gain is updated while the motor is stopped. If the motor can't be stopped due to excessively low gain
or continuous application of one-way direction command ,any change made to Pr0.03 is not used for update.
If the changed stiffness setting is made valid after the motor stopped, abnormal sound or oscillation will be
generated. To prevent this problem, stop the motor after changing the stiffness setting and check that the
changed setting is enabled.
Name
Pr0.04
Range
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)× 100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia ratio of
Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger, and when the
inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity loop gain becomes
smaller.
Name
Pr0.13
Range
You can set up the limit value of the motor output torque, as motor rate current %, the value can't exceed
the maximum of output current.
Compared with the maximum torque 6072, the actual torque limit value is smaller one.
Name
Pr0.14
Range
Set excess range of positional deviation by the command unit(default).Setting the value too small will
cause Err180 (position deviation excess detection)
Name
Pr0.15
Range
Low
Low
81.80.................................70.69.68..............................51.50
Low
Inertia ratio
0~10000 Unit
1st Torque Limit
0~500 Unit
Position Deviation Excess Setup
0~500 Unit
Absolute Encoder Setup
0~15 Unit
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High
Machine stiffness
Servo gain High
Response High
Mode
% Default 250
Mode
% Default
Mode
0.1rev Default
Mode
- Default
27
User Manual of iSV2-CAN Servo
Index
300 Index
PP HM
200 Index
PP HM
0 Index
F
2004h
F
2013h
2014h
2015h