Leadshine EL8-EC Series User Manual page 81

Label
Pr1.09
Range
Activation
Position loop, velocity loop, velocity detection filter, torque command filter eachhave 2 pairs of
gain or time constant (1st and 2nd).
Label
Pr1.10
Range
Activation
Used for decreasing following error caused by low responsiveness of velocity loop. Might cause
overshoot or increase in noise if set value is too high.
Label
Pr1.11
Range
Activation
Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in velocity feed
forward command. Often used when position command with low resolution or high electronic gear
ration to smoothen velocity feed forward.
Position deviation under constant velocity can be lowered with higher velocity feed forward gain.
Please to refer to the equation below.
Position deviation[Uint]=
Label
Pr1.12
Range
Activation
Before using torque feed forward, please set correct inertia ratio. By increasing torque feed
forward gain, position deviation on constant acceleration/deceleration can be reduced to close to
0. Under ideal condition and trapezoidal speed profile, position deviation of the whole motion can
be reduced to close to 0. In reality, perturbation torque will always exist, hence position deviation
can never be 0.
nd
2 Torque Filter Time
Constant
0~2500 Unit 0.01ms Default
Immediate
Velocity feed forward
gain
0~1000 Unit 0.10%
Immediate
Velocity feed forward
filter time constant
0~6400 Unit 0.01ms Default
Immediate
Torque feed forward
gain
0~100
Unit 0.1%
0
Immediate
User manual of EL8-EC***F AC Servo
Mode
126
Mode PP
Default 300
Mode PP
50
Mode PP PV
Default 0
Index 2109h
CS
HM
P
Index 2110h
CS
HM
P
Index 2111h
CS CS
HM
P V
Index 2112h
81
F