Shihlin electric SDP Series, Manual

Page: 199 / 555

186
The position feed-forward gain adjustment method is set from low to high. Theoretically, setting
it to 1 should be the best. If the setting is too large, it may cause vibration. In this case, the
position feed-forward value should be reduced until no vibration occurs.
6.5 Dual control mode
To easily switch control modes frequently, Shihlin servo also provides five dual-modes for user
to set manually. PA01 can change the dual mode setting, see the table below:
Mode name
Mode
code
PA01
setting
Description
Dual
mode
Position with external
command - speed
Pt-S 1001h
Pt/S is switched mutually via
the signal of DI.
Position with external
command - torque
Pt-T 1005h
Pt/T is switched mutually via
the signal of DI.
Position with inner register
command - speed
Pr-S 1011h
Pr/S is switched mutually via
the signal of DI.
Position with inner register
command - torque
Pr-T 1015h
Pr/T is switched mutually via
the signal of DI.
Speed - torque S-T 1003h
S/T is switched mutually via
the signal of DI.
When using the dual mode, the assignment of DI and DO is very important. To avoid
insufficient DI/DO pin, in S-T mode, you can input speed and torque by external analog input,
and in position mode you can use external input pulse, which is to save DI.
The DI pin of switching mode is LOP pin, please enable LOP function of DI. The description
is as follows: