Rd Gain Switching - Leadshine EL8-EC Series User Manual

To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.
If level< hysteresis, drive will set internally hysteresis = level.
Name
Pr1.19
Range
Activation
During position control, to ease torque changes and vibration due to rapid changes in position
loop gain, set suitable Pr1.19 value
For example: 1 st (pr1.00) <-> 2nd (Pr1.05)
6.7 3 Gain Switching
rd
Besides switching between 1
moment of stopping to reduce positioning time.
Only available under position mode and Pr6.05 ≠ 0, set Pr6.06 for 3
gain switches to 1
Diagram below shows when Pr1.15 = 7.
Position command velocity
Position gain switching
time
0~1000
Unit
0
Immediate
st nd
and 2 gain, a 3
st
gain, it has to go through 3
RPM
nd
2 gain
Pr1.05~Pr1.09
Position loop gain = Pr1.00 × Pr6.06/100
Velocity loop gain = Pr1.01 × Pr6.06/100
Velocity loop integral time constant, velocity detection filter, torque filter time
constant will still be applied in 1
User manual of EL8-EC***F AC Servo
Mode
0.1ms Default
rd
gain switching is added to set gain at the
rd
gain, switching time is set in Pr1.19.
Duration
PA6.05 × 0.1ms
rd st
3 gain 1 gain
Pr1.00~Pr1.04
st
gain
33 Index
rd nd
gain value. When 2
249
F
2119h