Leadshine EL8-EC Series User Manual page 241

Name
Pr1.00
Range
Activation
Higher position loop gain value improves the responsiveness of the servo driver and lessens the
positioning time.
Position loop gain value shouldn't exceed responsiveness of the mechanical system and take in
consideration velocity loop gain, if not it might cause vibration, mechanical noise and overtravel.
As velocity loop gain is based on position loop gain, please set both values accordingly.
Recommended range: 1.2≤Pr1.00/Pr1.01≤1.8
Name
Pr1.02
Range
Activation
If auto gain adjusting function is not enabled, Pr1.02 is activated.
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If the value
set is overly large, overshoot, delay of positioning time duration and lowered responsiveness
might occur.
Set 10000 to deactivate Pr1.02.
Recommended range: 50000≤PA1.01xPA1.02≤150000
For example: Velocity loop gain Pr1.01=500(0.1Hz), which is 50Hz. Integral time constant of
velocity loop should be 100(0.1ms)≤Pr1.02≤300(0.1ms)
Name
Pr1.04
Range
Activation
To set torque command low-pass filter, add a filter delay time constant to torque command and
filter out the high frequencies in the command.
Often used to reduce or eliminate some noise or vibration during motor operation, but it will reduce
the responsiveness of current loop, resulting in undermining velocity loop and position loop
control. Pr1.04 needs to match velocity loop gain.
Recommended range: 1,000,000/(2π×Pr1.04) ≥Pr1.01×4
For example: Velocity loop gain Pr1.01=180(0.1Hz) which is 18Hz. Time constant of torque filter
should be Pr1.01≤221(0.01ms)
If mechanical vibration is due to servo driver, adjusting Pr1.04 might eliminate the vibration. The
smaller the value, the better the responsiveness but also subjected to machine conditions. If the
value is too large, it might lower the responsiveness of current loop.
With higher Pr1.01 value settings and no resonance, reduce Pr1.04 value;
With lower Pr1.01 value settings, increase Pr1.04 value to lower motor noise.
st
1 position loop gain
0~3000
Unit 0.1/s
0
Immediate
st
1 Integral Time Constant
of Velocity Loop
1~1000
Unit 0.1ms
0
Immediate
st
1 Torque Filter Time
Constant
0~250
Unit 0.01ms Default
0
Immediate
User manual of EL8-EC***F AC Servo
Mode PP
Default 320
Mode
Default 310
Mode
126
CS
HM
P
Index 2100h
Index 2102h
Index 2104h
241
F
F