Leadshine EL6-CAN, User Manual, Page: 35 / 117

User Manual of EL6-CAN AC Servo
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35
during delay time with the 2nd gain.
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 positional control.
7
position 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
previously during delay time with the 2nd gain.
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 gain.
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 during delay
time with the 2nd gain.
10
Have position
cactual
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 gain.
In position control mode, setup Pr1.15=3,5,6,9,10;
In speed control mode, setup Pr1.15=3,5,9;
Pr1.17
Name
Level of position control
switching
Mode F
Range 0~20000 Unit
Mode
specific
Default 50 Index 2117h
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
Name
Hysteresis at position control
switching
Mode F
Range 0~20000 Unit
Mode
specific
Default 33 Index 2118h
Combining Pr1.17(control switching level)setup
Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level.