Gain Switching - Leadshine EL8-EC Series User Manual

Manually adjusted gain parameters
No. Parameter
1 Pr1.00
2 Pr1.01
3 Pr1.02
4 Pr1.04
5 Pr1.10
6 Pr1.11
Velocity control mode
Velocity control mode parameters adjustment is pretty similar to position control mode.
Except for position loop gain Pr1.00 and Pr1.05, velocity feedforward gain (Pr1.10)
Torque control mode
Parameters adjustment for torque control mode has to be differentiate into 2 conditions:
1. When actual velocity reaches velocity limit, adjustment will be as per velocity control
mode. Motor will switch from torque control to velocity limit as velocity control.
2. When actual velocity doesn't reach velocity limit yet, Except for position loop gain,
velocity loop gain and feedforward gain, parameter adjustments as per velocity
control mode.
If there is no velocity limit and control is through torque command, please deactivate
torque and notch filter, set velocity limit to max. value and increase velocity loop gain to as
high as possible.

6.7 Gain switching

Gain switching function can be triggered internally in servo driver. Only valid under
position or velocity control mode. Following effects can be realized by gain switching:
1. Switch to lower gain when motor stops to suppress vibration
2. Switch to higher gain when motor is moving at a low velocity to shorten positioning
time
3. Switch to higher gain when motor is moving at a high velocity to improve command
following behavior.
Label
st
1 position loop gain
st
1 velocity loop gain
st
1 velocity integral time constant
st
1 torque filter time constant
Velocity feedforward gain constant
Velocity feedforward filter time constant
User manual of EL8-EC***F AC Servo
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