User Manual of EL6-CAN AC Servo
www.leadshine.com
30
Low
High
Machine stiffness
Servo gain
Response
81.80
……………………………
70.69.68
…………………………
51.50
High
High
Low
Low
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
Name
Inertia ratio
Mode
F
Range
0~10000
Unit
%
Default
250
Index
2004h
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100
%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia ratio of
Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger, and when the
inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity loop gain becomes
smaller.
Pr0.13
Name
1st Torque Limit
Mode
F
Range
0~500
Unit
%
Default
300
Index
2013h
You can set up the limit value of the motor output torque, as motor rate current %, the value can’t exceed
the maximum of output current.
Compared with the maximum torque 6072, the actual torque limit value is smaller one.
Pr0.14
Name
Position Deviation Excess Setup Mode
PP
HM
Range
0~500
Unit
0.1rev
Default
200
Index
2014h
Set excess range of positional deviation by the command unit(default).Setting the value too small will
cause Err180 (position deviation excess detection)
Pr0.15
Name
Absolute Encoder Setup
Mode
PP
HM
Range
0~15
Unit
-
Default
0
Index
2015h
