Leadshine iSV2-RS Series User Manual page 50

Label
Range
Pr1.15
Byte length
Valid
In position control, set the conditions for gain switching to be valid.
Value Condition
【0】
1
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
Set threshold value for gain switching to occur.
Unit is mode dependent.
Switching condition
Position
Velocity
Torque
Please set level ≥ hysteresis
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)[%]
High command
torque Switch to 1
value smaller than (level + hysteresis)[%]
Reserved Reserved
Valid for position control.
Switch to 2
Switch to 1
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
Encoder pulse count
RPM
%
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
gain if position command ≠ 0
nd
gain if positional command = 0 throughout
st
Valid mode(s)
Mode Default
dependent
R/W 485 address
Unit
P S
0
0x011F
st
gain.
nd
gain.
P
50
0x0123
50