Leadshine EL8-EC Series User Manual page 80

Label
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.
Label
Pr1.05
Range
Activation
Label
Range
Pr1.06
Activation
Label
Pr1.07
Range
Activation
Label
Pr1.08
Range
Activation
st
1 Torque Filter Time
Constant
0~250
Unit 0.01ms Default
0
Immediate
nd
2 Position Loop Gain
0~30000 Unit 0.1/s
Immediate
nd
2 velocity loop gain
1~32767 Unit 0.1Hz
Immediate
nd
2 Integral Time
Constant of Velocity
Loop
1~1000
Unit 0.1ms
0
Immediate
nd
2 velocity detection
filter
0~31 Unit —
Immediate
User manual of EL8-EC***F AC Servo
Mode
126
Mode PP
Default 380
Mode
Default 180
Mode
Default 10000
Mode
Default 15
Index 2104h
CS
HM
P
Index 2105h
Index 2106h
Index 2107h
Index 2108h
80
F
F
F
F