Leadshine iSV2-RS Series User Manual page 48

Label
Range
Pr1.05
Byte length
Valid
Label
Range
Pr1.06
Byte length
Valid
Label
Range
Pr1.07
Byte length
Valid
Label
Range
Pr1.08
Byte length
Valid
Label
Range
Pr1.09
Byte length
Valid
Position loop, velocity loop, velocity detection filter, torque command filter each have 2
pairs of gain or time constant (1st and 2nd).
Label
Range
Pr1.10
Byte length
Valid
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
Byte length
Valid
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.
Reduce Pr1.11 value to suppress velocity overshoot during deceleration; Increase Pr1.11
value to suppress noise or vibration due to long driver control cycle or position command
uneven pulse frequency.
<Application>
Set Pr1.11 = 50（0.5ms）, improve feedforward effect by gradually increase Pr1.10. The
equation below can be used to determine the position deviation due to velocity
feedforward gain under constant velocity.
Position deviation[Uint]=
nd
2 Position Loop Gain
Unit
0～30000
16bit Attribute
Immediate
nd
2 velocity loop gain
Unit
1～32767
16bit Attribute
Immediate
nd
2 Integral Time Constant of
Velocity Loop
1～10000 Unit
16bit Attribute
Immediate
nd
2 velocity detection filter
0～31 Unit
16bit Attribute
Immediate
nd
2 Torque Filter Time Constant
Unit
0~2500
Attribute
16bit
Immediate
Velocity feed forward gain
Unit
0~1000
Attribute
16bit
Immediate
Velocity feed forward filter time
constant
0~6400 Unit
16bit Attribute
Immediate
User Manual of iSV2-RS Integrated Servo
Valid mode(s)
Default
0.1/s
R/W 485 address
Valid mode(s)
Default
0.1Hz
R/W 485 address
Valid mode(s)
Default
0.1ms
R/W 485 address
Valid mode(s)
Default
—
R/W 485 address
Valid mode(s)
Default
0.01ms
485 address
R/W
Valid mode(s)
Default
0.10%
485 address
R/W
Valid mode(s)
0.01ms Default
R/W 485 address
P
380
0x010B
P S T
180
0x010D
P S T
10000
0x010F
P S T
15
0x0111
P S T
126
0x0113
P
300
0x0115
P
50
0x0117
48