Leadshine EL8-EC Series User Manual page 8

5.7.1 Common Functions of Torque Mode ..................................................................................... 223
5.7.2 Cyclic Synchronous Torque Mode (CST) ................................................................................. 224
5.7.3 Profile Torque Mode (PT) ....................................................................................................... 225
CHAPTER 6 APPLICATION ................................................................................................................. 227
6.1 G A ............................................................................................................................ 227
AIN DJUSTMENT
6.2 I
NERTIA RATIO IDENTIFICATION
6.2.1 Online inertia determination ................................................................................................. 230
6.2.2 Offline inertia determination................................................................................................. 230
6.3 E T .................................................................................................................................... 232
ASY UNING
6.3.1 Single Parameter Tuning ....................................................................................................... 232
6.3.2 One-click Tuning .................................................................................................................... 233
6.4 A
UTO GAIN ADJUSTMENT
6.5 M
ANUAL GAIN ADJUSTMENT
6.6 P
ARAMETERS ADJUSTMENT UNDER DIFFERENT CONTROL MODES
6.7 G ............................................................................................................................... 243
AIN SWITCHING
6.7 3 RD G S ......................................................................................................................... 249
AIN WITCHING
6.8 F .......................................................................................................................... 250
EEDFORWARD GAIN
6.8.1 Velocity feedforward ............................................................................................................. 251
6.8.2 Torque feedforward ............................................................................................................... 252
6.9 M
ODEL FOLLOWING CONTROL
6.10 Z
ERO TRACKING CONTROL
6.11 F
RICTION COMPENSATION FUNCTION
6.12 V S
IBRATION UPPRESSION
6.12.1 Mechanical resonance suppression ..................................................................................... 257
6.12.2 End vibration suppression ................................................................................................... 259
6.12.3 Mechanical properties analysis ........................................................................................... 260
6.13 P
OSITION COMPARISON
6.15 F
ULL CLOSED LOOP CONTROL
6.16 M
ULTITURN ABSOLUTE ENCODER
6.16.1 Parameters setting .............................................................................................................. 270
6.16.2 Read absolute position ........................................................................................................ 270
6.16.3 Absolute Encoder Related Alarm ......................................................................................... 275
6.16.6 Battery kit ............................................................................................................................ 275
6.17 P ........................................................................................................................................... 276
ROBE
6.17.1 Probe function ..................................................................................................................... 277
6.17.2 Signal Input of EXT1 and EXT2 ............................................................................................. 278
6.17.3 Probe Control Word 60B8h .................................................................................................. 278
6.17.4 Probe Status Word 60B9h ................................................................................................... 279
6.17.6 Latch Position Register ........................................................................................................ 279
6.17.7 Latch Counter Register ........................................................................................................ 280
6.17.8 Probe mode ......................................................................................................................... 280
6.18 S F .......................................................................................................................... 281
AFETY UNCTIONS
6.18.1 External brake deactivation output signal BRK-OFF ............................................................ 281
6.18.2 Emergency stop function ..................................................................................................... 283
6.19 O F .......................................................................................................................... 284
THER UNCTIONS
6.19.1 Functions under Position mode ........................................................................................... 284
6.19.2 Functions under velocity mode ............................................................................................ 288
6.19.3 Functions under torque mode ............................................................................................. 290
CHAPTER 7 ETHERCAT COMMUNICATION ........................................................................................ 291
7.1 E CAT
THER PRINCIPLE FUNCTION
7.2 S M
YNCHRONOUS ODE
7.2.1 Free Running Mode ............................................................................................................... 292
7.2.2 Distributed clock synchronization mode ................................................................................ 292
7.3 E CAT
THER STATE MACHINE
7.4 CAN E
OPEN OVER THER
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CAT (C E) ....................................................................................................... 294
O
User Manual Of EL8-EC** AC Servo
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