Leadshine EL8-EC Series User Manual page 84

Pending position
command
10
+actual velocity
For position control mode, set Pr1.15=3,5,6,9,10;
For velocity control mode, set Pr1.15=3,5,9;
** Above 'level' and 'hysteresis' are in correspondence to Pr1.17 Position control gain switching level
and Pr1.18 Hysteresis at position control switching.
Label
Pr1.17
Range
Activation
Set threshold value for gain switching to occur.
Unit is mode dependent.
Switching
condition
Position
Velocity
Torque
Please set level ≥ hysteresis
Level
Velocity
Feedback
Valid for position control.
nd
Switch to 2
st
Switch to 1
duration of delay time and absolute value of actual velocity
remains smaller than (level - hysteresis) (r/min)
Position
Command
Velocity
Feedback
Position control gain
switching level
0~2000 Mode
Unit
dependent
0
Immediate
Unit
Encoder pulse
count
RPM
%
User manual of EL8-EC***F AC Servo
Hysteresis
1st 2nd
gain if position command ≠ 0
gain if positional command = 0 throughout the
Switch when both
conditions fulfilled
Hysteresis
Level
1st 2nd
Mode
Default 50
1st
1st
Index 2117h
84
F