Leadshine ELD2 Series - Page 27

27
UserManualforELD2Servo




durin
g
dela
y
time with the 2nd
g
ain.
4 reserve reserve
5 Speed command is
large
 Valid for position and speed controls.
 Shift to the 2nd gain when the absolute value of the speed
command exceeded (level + hysteresis)[r/min]previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the speed
command was kept below (level + hysteresis) [r/min]
p
reviousl
y
durin
g
dela
y
time with the 2nd
g
ain.
6 Position deviation is
large
 Valid for position control.
 Shift to the 2nd gain when the absolute value of the positional
deviation exceeded (level + hysteresis)[pulse] previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the
positional deviation was kept below (level +
hysteresis)[r/min]previously during delay time with the 2nd
gain.
 Unit of level and hysteresis [pulse] is set as the encoder
resolution for
p
ositional control.
7
p
osition command
exists
 Valid for position control.
 Shift to the 2nd gain when the positional command was not 0
previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
0
p
reviousl
y
durin
g
dela
y
time with the 2nd
g
ain.
8 Not in positioning
complete
 Valid for position control.
 Shift to the 2nd gain when the positioning was not completed
previously with the 1st gain.
 Return to the 1st gain when the positioning was kept in
completed condition previously during delay time with the
2nd
g
ain.
9 Actual speed is
large
 Valid for position control.
 Shift to the 2nd gain when the absolute value of the actual
speed exceeded (level + hysteresis) (r/min) previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the actual
speed was kept below (level - hysteresis) (r/min) previously
durin
g
dela
y
time with the 2nd
g
ain.
10 Have position
command +actual
speed
 Valid for position control.
 Shift to the 2nd gain when the positional command was not 0
previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
at 0 during the delay time and the absolute value of actual
speed was kept below (level - hysteresis) (r/min) previously
with the 2nd
g
ain.
In position control mode, setup Pr1.15=3,5,6,9,10;
In s
p
eed control mode, setu
p
Pr1.15=3,5,9;
Pr1.17
Levelofpositioncontrolswitching
Range unit default
Related
control mode
0 -20000
Mode
de
p
endent
50 P
Unit of setting varies with switching mode.
switching condition: position :encoder pulse number ; speed : r/min ; torque : % .
Notice: set the level equal to or higher than the hysteresis.
Pr1.18
Hysteresisatpositioncontrol
switching
Range unit default
Related
control mode
0 -20000
Mode
de
p
endent
33 P
Combining Pr1.17(control switching level)setup
Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level.
Pr1.19
Positiongainswitchingtime
Range unit default
Related
control mode