Leadshine EL8-EC Series User Manual page 116

Label
Pr6.05
Range
Activation
To set time for 3
When not in use, set Pr6.05=0, Pr6.06=100
Label
Pr6.06
Range
Activation
Set up the 3
rd st
3 gain= 1
Only effective under position control mode, set Pr6.05≠0, 3
value in Pr6.06. When 2
Pr1.19.
Above diagram is illustrated using Pr1.15 = 7.
Label
Pr6.07
Range
Activation
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and stop
the load at that particular point with motor enabled but not rotating. Record output torque value
from d04, use that value as torque command additional value (compensation value)
Label
Pr6.08
Range
Activation
rd
Position 3 gain valid time
0~10000 Unit
Immediate
rd
gain to be valid
rd
Position 3 gain
factor
0~1000 Unit
Immediate
rd
gain by multiplying factor of the 1
Position command velocity
(RPM)
nd
2 gain
Pr1.05~Pr1.09
Position loop gain = Pr1.00 x Pr6.06/100
Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant，Velocity detection filter，Torque filter
time constant still uses 1
gain * Pr6.06/100
nd
gain switches to 1
Torque command additional
value
-100~100 Unit
Immediate
Positive direction torque
compensation value
-100~100 Unit
Immediate
User manual of EL8-EC***F AC Servo
Mode
0.1ms Default
scale
Mode
100% Default
st
gain
Effective time
Pr6.05 x 0.1ms
rd st
3 gain 1 gain
Pr1.00~Pr1.04
st
gain
rd
st
gain, will go through 3
Mode
% Default
Mode
% Default
CS
PP HM
P
0 Index
CS
PP HM
P
100 Index
gain function activated, set 3
rd
, switching time value set in
0 Index
0 Index
116
2605h
2606h
rd
gain
F
2607h
F
2608h