User manual of EL8-EC***F AC Servo
236
Parameters that change in accordance to real time gain adjustment
No.
Parameters
Label
Remarks
1
Pr1.00
1
st
position loop gain
When stiffness setting is valid,
parameters will be updated to match
stiffness value
2
Pr1.01
1
st
velocity loop gain
3
Pr1.02
1
st
velocity integral time
constant
4
Pr1.03
1
st
velocity detection filter
5
Pr1.04
1
st
torque filter
6
Pr1.05
2
nd
position loop gain
7
Pr1.06
2
nd
velocity loop gain
8
Pr1.07
2
nd
velocity integral time
constant
9
Pr1.08
2
nd
velocity detection filter
10
Pr1.09
2
nd
torque filter
If auto gain adjustment is valid, the parameters listed above can’t be manually modified.
Only when Pr0.02 = 0x00 or 0x10, can the gain related parameters be modified manually.
Gain related parameters that don’t change with the real time gain adjustment
No.
Parameter
Label
1
Pr1.10
Velocity feedforward gain constant
2
Pr1.11
Velocity feedforward filter time constant
3
Pr1.12
Torque feedforward gain
4
Pr1.13
Torque feedforward filter time constant
5
Pr1.15
Position control gain switching mode
6
Pr1.17
Position control switching level
7
Pr1.18
Position control switching hysteresis
18
Pr1.19
Position gain switching time
Types of mechanical load
Please select mechanical load according to load-inertia ratio and mechanical structures:
Load types
Description
0x00_
:
Rigid structure
When load is
rigid
with relatively
low inertia
. Gain adjustments
prioritize
system responsiveness
. Structures including high
precision reducer, lead screws, mechanical gears, etc.
0x01_
: High inertia
High load inertia
(10 times or above). Gain adjustments prioritize
operation stability and responsiveness
. Recommended
mechanical stiffness level
not more than 15
.
0x02_
: Flexible structure
When load is
flexible
with relatively
high inertia
. Gain
adjustments prioritize
operation stability
. Structures including
long transportation belt or chain.
Structures with high inertia can have better performance if inertia ratio is set accurately.
