21
User
Manual
for
ELD2
Servo
P
S
T
28 LED
initial
status
P
S
T
29
RS232 baud rate setup
P
S
T
30
RS485 baud rate setup
P
S
T
31 Axis
address
P
S
T
35
Front panel lock setup
P
S
T
【
Class
6
】
Special
Setup
03
JOG trial run command torque
P
S
T
04
JOG trial run command speed
P
S
T
08
Positive direction torque compensation value
P
S
T
09
Negative direction torque compensation value
P
20
distance of trial running
P
21
waiting time of trial running
P
22
cycling times of trial running
P
S
T
【
Class
7
】
Factory
setting
00
Current loop gain
P
S
T
01 Current
loop
integral
time
P
S
T
02-14 Setting
of
motor parameter
P
S
T
15 Motor
model
input
16 Encoder
selection
4.2 Parameter Function
Here is the explanation of parameters, you can check them or modify the value using software Protuner or
the front panel of driver.
Contact
if
you
need
more
technical
service
.
4.2.1
【
Class 0
】
Basic Setting
Pr0.00 Model following control
Range
unit
default
Related
control mode
0 -32767 0.1Hz
0
P
Set up the bandwidth of MFC , it is similar to the response bandwidth
Setup value Meaning
0 Disable
the
function.
1
Enable the function , set the bandwidth automatically ,
recommended for most application .
2-10
Forbidden and reserved .
11-20000
Set the bandwidth manually , 1.1Hz – 2000Hz
MFC is used to enhance the performance of dynamic tracing for input command , make
positioning faster , cut down the tracking error , run more smooth and steady . It is very useful for
multi-axis synchronous movement and interpolation, the performance will be better.
The main way to use this function :
a.
Choose the right control mode : Pr001 = 0
b.
Set up the inertia of ratio : Pr004
c.
Set up the rigidity : Pr003
d.
Set up the Pr000 :
1)
If no multi-axis synchronous movement , set Pr000 as 1 or more than 10 ;
2)
If multi-axis synchronous movement needed , set Pr000 as the same for all the axes .
3)
If Pr000 is more than 10 , start with 100 , or 150 , 200 , 250 , …. .
Caution:
1.
Set up the right control mode , the right inertia of ratio and rigidity firstly .
2.
Don’t change the value of Pr000 when the motor is running , otherwise vibration occurs
3.
Set up a small value from the beginning if using it in manual mode , smaller value means
running more smooth and steady , while bigger one means faster positioning
