User Manual of EL6-CAN AC Servo
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32
Synchronous jitter compensation range, used in poor synchronization of the master station.
Note
：
Valid after restart power.
Pr0.26
Name
Synchronous compensation time
2
Mode
Range
1~2000
Unit
0.1us
Default
50
Index
2026h
Synchronous jitter compensation range, used in poor synchronization of the master station.
Note
：
Valid after restart power.
4.2.2
【
Class 1
】
Gain Adjust
Pr1.00
Name
1st gain of position loop
Mode
PP
HM
Range
0~30000
Unit
0.1/s
Default
320
Index
2100h
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
Name
1st gain of velocity loop
Mode
F
Range
1~32767
Unit
0.1Hz
Default
180
Index
2101h
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
Name
1st Time Constant of Velocity
Loop Integration
Mode
F
Range
1~10000
Unit
0.1ms
Default
310
Index
2102h
You can set up the integration time constant of velocity loop, Smaller the setup value, 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
Name
1st Filter of Velocity Detection
Mode
F
Range
50~81
Unit
—
Default
70
Index
2103h
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32 steps (50 to
81).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:
Setup
Value
Speed Detection Filter
Cut-off Frequency(Hz)
Setup
Value
Speed Detection Filter
Cut-off Frequency(Hz)
81
2500
65
750
80
2250
64
700
79
2100
63
650
78
2000
62
600
77
1800
61
550
76
1600
60
500
75
1500
59
450
74
1400
58
400
