User manual of EL8-EC***F AC Servo
116
Pr6.05
Label
Position 3
rd
gain valid time
Mode
PP
HM
CS
P
Range
0~10000
Unit
0.1ms Default
0
Index
2605h
Activation
Immediate
To set time for 3
rd
gain to be valid
When not in use, set Pr6.05=0, Pr6.06=100
Pr6.06
Label
Position 3
rd
gain scale
factor
Mode
PP
HM
CS
P
Range
0~1000
Unit
100% Default
100
Index
2606h
Activation
Immediate
Set up the 3
rd
gain by multiplying factor of the 1
st
gain
3
rd
gain= 1
st
gain * Pr6.06/100
Only effective under position control mode, set Pr6.05≠0, 3
rd
gain function activated, set 3
rd
gain
value in Pr6.06. When 2
nd
gain switches to 1
st
gain, will go through 3
rd
, switching time value set in
Pr1.19.
Above diagram is illustrated using Pr1.15 = 7.
Pr6.07
Label
Torque command additional
value
Mode
F
Range
-100~100
Unit
%
Default
0
Index
2607h
Activation
Immediate
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and stop
the load at that particular point with motor enabled but not rotating. Record output torque value
from d04, use that value as torque command additional value (compensation value)
Pr6.08
Label
Positive direction torque
compensation value
Mode
F
Range
-100~100
Unit
%
Default
0
Index
2608h
Activation
Immediate
Position command velocity
(RPM)
2
nd
gain
Pr1.05~Pr1.09
3
rd
gain
1
st
gain
Pr1.00~Pr1.04
Position loop gain = Pr1.00 x Pr6.06/100
Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant
，
Velocity detection filter
，
Torque filter
time constant still uses 1
st
gain
Effective time
Pr6.05 x 0.1ms
