Leadshine iSV2-RS Series User Manual page 141

Label
Range
Pr1.15
Byte length
Valid
In position control, set the conditions for gain switching to be valid.
Value Condition
1
【0】
1 2
2
3
4-9
Pending position
10 command
+actual velocity
** Above 'level' and 'hysteresis' are in correspondence to Pr1.17 Position control gain
switching level and Pr1.18 Hysteresis at position control switching.
Label
Range
Pr1.17
Byte length
Valid
Position control gain switching mode
Unit
0～10
16bit Attribute
Immediate
Gain switching condition
st
gain fixed Fixed on using 1
nd
gain fixed Fixed on using 2
· Gain switching input （GAIN）invalid: 1
Gain switching
· Gain switching input （GAIN）valid: 2
input valid
*Default: 1
Switch to 2
value larger than (level + hysteresis)[%]
Switch to 1
value smaller than (level + hysteresis)[%]
High command
torque
Reserved Reserved
Valid for position control.
Switch to 2
Switch to 1
throughout the duration of delay time and absolute
value of actual velocity remains smaller than (level -
hysteresis) (r/min)
Position control gain switching level
Unit
0~20000
16bit Attribute
Immediate
User Manual of iSV2-RS Integrated Servo
Valid mode(s)
Default
—
R/W 485 address
st
gain(Pr1.00-Pr1.04)
nd
gain (Pr1.05-Pr1.09)
st
gain
nd
gain when set torque command absolute
st
gain when set torque command absolute
Hysteresis
Constant
Acceleration
speed
Level
Set
Torque
1st 2nd 1st
gain if position command ≠ 0
nd
gain if positional command = 0
st
Switch when both
conditions fulfilled
Position
Command
Hysteresis
Velocity
Feedback
1st
Valid mode(s)
Mode Default
dependent
R/W 485 address
P S
0
0x011F
st
gain.
nd
gain.
Deceleration
2nd 1st
Level
2nd 1st
P
50
0x0123
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