Leadshine EL8-EC Series User Manual page 82

Label
Pr1.13
Range
Activation
Low pass filter to eliminate abnormal or high frequencies in torque feed forward command.
Usually used when encoder has lower resolution or precision.
Noise reduces if torque feed forward filter time constant is set higher but position deviation will
increase at acceleration varied points.
Label
Pr1.15
Range
Activation
Set
Condition
Value
st
1 gain fixed
0
nd
2 gain fixed
1
Reserved
2
High set torque
3
Reserved
4
High set velocity
5
Torque feed forward
filter time constant
0~640
Unit 0.01ms Default
0
Immediate
Position control gain
switching mode
0~11 Unit —
Immediate
Gain switching condition
Fixed on using 1
Fixed on using 2
nd
Switch to 2
larger than (level + hysteresis)[%]
st
Switch to 1 gain when set torque command absolute value
smaller than (level + hysteresis)[%]
Hysteresis
Level
Set
Torque
Reserved
Valid for position and velocity control.
nd
Switch to 2
larger than (level + hysteresis)[r/min]
st
Switch to 1 gain when set velocity command absolute value
smaller than (level-hysteresis)[r/min]
User manual of EL8-EC***F AC Servo
Mode PP
0
Mode
Default 0
st
gain(Pr1.00-Pr1.04)
nd
gain (Pr1.05-Pr1.09)
gain when set torque command absolute value
Constant
Acceleration
speed
1st 2nd 1st
gain when set velocity command absolute value
CS CS
PV HM
P V
Index 2113h
Index 2115h
Deceleration
2nd 1st
82
F