Leadshine ELD2 Series - Page 22

22
UserManualforELD2Servo
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Pr0.01* ControlModeSetup
Range unit default
Related
control mode
20-28 - 20 P S T
Set using control mode
Setup value
Content
1st mode 2nd mode
20 Position -
21 Velocity -
22 Torque -
23 Position Velocity
24 Position Torque
25
V
elocity Torque
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Pr0.02 Real-timeAuto-gainTuning 
Range unit default
Related
control mode
0 -2 - 0 P S T
You can set up the action mode of the real-time auto-gain tuning.
Setup value mode Varying degree of load inertia in motion
0 invalid Real-time auto-gain tuning function is disabled.
1 standard
Basic mode. do not use unbalanced load, friction compensation or
gain switching. It is usually for interpolation.
2 positioning
Main application is positioning. it is recommended to use this
mode on equipment without unbalanced horizontal axis, ball screw
driving equipment with low friction, etc. it is usually for point-to
point movement .
Caution: If pr0.02=1 or 2 , you can’t modify the values of Pr1.01 – Pr1.13, the values of them
depend on the real-time auto-gain tuning ,all of them are set by the driver itself.
Pr0.03
Selectionofmachinestiffnessatreal-
timeauto-gaintuning
Range unit default
Related
control mode
50 -81 - 70 P S T
You can set up response while the real-time auto-gain tuning is valid.
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Notice: Lower the setup value, higher the velocity response and servo stiffness will be obtained.
However, when decreasing the value, check the resulting operation to avoid oscillation or vibration.
Control gain is updated while the motor is stopped. If the motor can’t be stopped due to excessively
low gain or continuous application of one-way direction command ,any change made to Pr0.03 is not
used for update. If the changed stiffness setting is made valid after the motor stopped, abnormal
sound or oscillation will be generated. To prevent this problem, stop the motor after changing the
stiffness setting and check that the changed setting is enabled.
Pr0.04
Inertiaratio
Range unit default
Related
control mode
0 -10000 % 250 P S T
When you set up the combination mode of 3.4.5, you
can select either the 1st or the 2nd with control mode
switching input(C-MODE).
When C-MODE is open, the 1st mode will be selected.
When C-MODE is shorted, the 2nd mode will be
selected.