Leadshine EL8-EC Series User Manual page 236

Parameters that change in accordance to real time gain adjustment
No. Parameters
1 Pr1.00
2 Pr1.01
3 Pr1.02
4 Pr1.03
5 Pr1.04
6 Pr1.05
7 Pr1.06
8 Pr1.07
9 Pr1.08
10 Pr1.09
If auto gain adjustment is valid, the parameters listed above can't be manually modified.
Only when Pr0.02 = 0x00 or 0x10, can the gain related parameters be modified manually.
Gain related parameters that don't change with the real time gain adjustment
No. Parameter
1 Pr1.10
2 Pr1.11
3 Pr1.12
4 Pr1.13
5 Pr1.15
6 Pr1.17
7 Pr1.18
18 Pr1.19
Types of mechanical load
Please select mechanical load according to load-inertia ratio and mechanical structures:
Load types
0x00_ : Rigid structure
0x01_ : High inertia
0x02_ : Flexible structure
Structures with high inertia can have better performance if inertia ratio is set accurately.
Label
st
1 position loop gain
st
1 velocity loop gain
st
1 velocity integral time
constant
st
1 velocity detection filter
st
1 torque filter
nd
2 position loop gain
nd
2 velocity loop gain
nd
2 velocity integral time
constant
nd
2 velocity detection filter
nd
2 torque filter
Label
Velocity feedforward gain constant
Velocity feedforward filter time constant
Torque feedforward gain
Torque feedforward filter time constant
Position control gain switching mode
Position control switching level
Position control switching hysteresis
Position gain switching time
When load is rigid with relatively low inertia. Gain adjustments
prioritize system responsiveness. Structures including high
precision reducer, lead screws, mechanical gears, etc.
High load inertia (10 times or above). Gain adjustments prioritize
operation stability and
mechanical stiffness level not more than 15.
When load is flexible with relatively high inertia. Gain
adjustments prioritize operation stability. Structures including
long transportation belt or chain.
User manual of EL8-EC***F AC Servo
Remarks
When stiffness setting is valid,
parameters will be updated to match
stiffness value
Description
responsiveness. Recommended
236