User manual of EL8-EC***F AC Servo
82
Set
Torque
Constant
speed
Deceleration
Hysteresis
Level
1st
2nd
1st
2nd
1st
Acceleration
Pr1.13
Label
Torque feed forward
filter time constant
Mode
PP PV HM
CS
P
CS
V
Range
0~640
0
Unit
0.01ms Default
0
Index
2113h
Activation
Immediate
Low pass filter to eliminate abnormal or high frequencies in torque feed forward command.
Usually used when encoder has lower resolution or precision.
Noise reduces if torque feed forward filter time constant is set higher but position deviation will
increase at acceleration varied points.
Pr1.15
Label
Position control gain
switching mode
Mode
F
Range
0~11
Unit
—
Default
0
Index
2115h
Activation
Immediate
Set
Value
Condition
Gain switching condition
0
1
st
gain fixed
Fixed on using 1
st
gain(Pr1.00-Pr1.04)
1
2
nd
gain fixed
Fixed on using 2
nd
gain (Pr1.05-Pr1.09)
2
Reserved
3
High set torque
Switch to 2
nd
gain when set torque command absolute value
larger than (level + hysteresis)[%]
Switch to 1
st
gain when set torque command absolute value
smaller than (level + hysteresis)[%]
4
Reserved
Reserved
5
High set velocity
Valid for position and velocity control.
Switch to 2
nd
gain when set velocity command absolute value
larger than (level + hysteresis)[r/min]
Switch to 1
st
gain when set velocity command absolute value
smaller than (level-hysteresis)[r/min]
