Leadshine EL8-EC Series User Manual page 247

Large position
6
deviation
Pending position
7
command
Not yet in
8
position
High actual
9
velocity
User manual of EL8-EC***F AC Servo
Valid for position control.
nd
Switch to 2 gain when position deviation absolute value
larger than (level + hysteresis)[pulse]
st
Switch to 1 gain when position deviation absolute value
smaller than (level-hysteresis)[pulse]
Set
Velocity
Level
Hysteresis
Position
Deviation
1st
Valid for position control.
gain if position command ≠ 0
nd
Switch to 2
st
Switch to 1 gain if position command remains = 0 throughout
the duration of delay time.
Position
Command
1st
Valid for position control.
nd
Switch to 2 gain if position command is not completed.
st
Switch to 1 gain if position command remains uncompleted
throughout the duration of delay time.
Position
Command
1st
Valid for position control.
nd
Switch to 2 gain when actual velocity absolute value larger
than (level + hysteresis)[r/min]
st
Switch to 1 gain when actual velocity absolute value remains
smaller throughout the duration of delay time than
(level-hysteresis)[r/min]
2nd
2nd 1st
2nd 1st
1st
247