Leadshine iSV2-RS Series User Manual page 46

To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform
with actual inertia ratio, velocity loop responsiveness = Pr1.01.
To increase position loop gain and improve responsiveness of the whole system, velocity
loop gain must be set at higher value. Please notice that if the velocity loop gain is too
high, it might cause vibration.
Label
Range
Pr1.02
Byte length
Valid
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If
the value set is overly large, overshoot, delay of positioning time duration and lowered
responsiveness might occur.
Set 10000 to deactivate Pr1.02.
st
1 Integral Time Constant of
Velocity Loop
1～10000 Unit
Attribute
16bit
Immediate
User Manual of iSV2-RS Integrated Servo
Valid mode(s)
Default
0.1ms
485 address
R/W
P S T
310
0x0105
46