Leadshine ELD2 Series - Page 25

25
UserManualforELD2Servo
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0 -30000 0.1/s 320 P
You can determine the response of the positional control system. Higher the gain of position loop you
set, faster the positioning time you can obtain. Note that too high setup may cause oscillation.
Pr1.01
1stgainofvelocityloop
Range unit default
Related
control mode
0 -32767 0.1Hz 180 P S T
You can determine the response of the velocity loop. In order to increase the response of overall
servo system by setting high position loop gain, you need higher setup of this velocity loop gain as
well. However, too high setup may cause oscillation.
Pr1.02
1st Time Constant of Velocity Loop
Integration
Range unit default
Related
control mode
0 -10000 0.1ms 310 P S T
You can set up the integration time constant of velocity loop, Smaller the set up, faster you can
dog-in deviation at stall to 0.The integration will be maintained by setting to”9999”.The integration
effect will be lost by setting to”10000”.
Pr1.03
1stFilterofVelocityDetection
Range unit default
Related
control mode
0 -31 - 15 P S T
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32 steps
(0 to 31).Higher the setup, larger the time constant you can obtain so that you can decrease the motor
noise, however, response becomes slow.
You can set the filter parameters through the loop gain, referring to the following table:
Set
Value
SpeedDetectionF ilter
Cut‐offFrequency(Hz)
Set
Value
SpeedDetectionFilter
Cut‐offFrequency(Hz)
0 2500 16 750
1 2250 17 700
2 2100 18 650
3 2000 19 600
4 1800 20 550
5 1600 21 500
6 1500 22 450
7 1400 23 400
8 1300 24 350
9 1200 25 300
10 1100 26 250
11 1000 27 200
12 950 28 175
13 900 29 150
14 850 30 125
15 800 31 100
Pr1.04
2ndTimeConstantoftorquefilter
Range unit default
Related
control mode
0 -2500 0.01ms 126 P S T
Pr1.05
2ndgainofpositionloop
Range unit default
Related
control mode
0 -30000 0.1/s 380 P
Pr1.06
2ndgainofvelocityloop
Range unit default
Related
control mode
0 -32767 0.1Hz 180 P S T
Pr1.07
2nd Time Constant of Velocity Loop
Integration
Range unit default
Related
control mode
0 -10000 0.1ms 10000 P S T
Pr1.08
2ndFilterofVelocityDetection
Range unit default
Related
control mode
0 -31 - 15 P S T
Pr1.09
2ndTimeConstantoftorquefilter
Range unit default
Related
control mode