User manual of EL8-EC***F AC Servo
242
6.6 Parameters adjustment under different control modes
Under different control mode, parameters adjustment has to be adjusted in this order:
“Inertia measuring” -> “Auto gain adjustment”->” Manual gain adjustments”
Position control mode
Set load-inertia ratio Pr0.04 after inertia determination.
No.
Parameter
Label
1
Pr1.00
1
st
position loop gain
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 time constant
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 time constant
11
Pr1.10
Velocity feedforward gain constant
12
Pr1.11
Velocity feedforward filter time constant
13
Pr1.12
Torque feedforward gain
14
Pr1.13
Torque feedforward filter time constant
15
Pr1.15
Position control gain switching mode
16
Pr1.17
Position control switching level
17
Pr1.18
Position control switching hysteresis
18
Pr1.19
Position gain switching time
1
st
and 2
nd
gain initial values are obtained by automatic gain adjustment
No.
Parameter
Label
1
Pr1.00
1
st
position loop gain
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 time constant
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 time constant
