Leadshine EL6-CAN, Руководство пользователя, Страница: 103 / 117

User Manual of EL6-CAN AC Servo
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103
Pr2.04
Name 2nd notch frequency Mode
F
Range 50~2000 Unit Hz Default 2000 Index 2204h
Set the center frequency of the 2nd notch filter
Notice
: the notch filter function will be invalidated by setting up this parameter to “2000”.
Pr2.05
Name 2nd notch width selection Mode F
Range 0~20 Unit - Default 2 Index 2205h
Set the width of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Pr2.06
Name 2nd notch depth selection Mode
F
Range 0~99 Unit - Default 0 Index 2206h
Set the depth of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.
6.12 Friction torque compensation
Pr6.07
Name
Torque command additional
value
Mode
F
Range -100~100 Unit % Default 0 Index 2607h
Pr6.08
Name
Positive direction torque
compensation value
Mode
F
Range -100~100 Unit % Default 0 Index 2608h
Pr6.09
Name
Negative direction torque
compensation value
Mode
F
Range -100~100 Unit % Default 0 Index 2609h
These three parameters may apply feed forward torque superposition directly to torque command.
6.13 Third gain switching
In addition to the conventional switch between the first and second gain, add the third gain switch
function to shorten the positioning and setting time.
Pr6.05
Name
Position 3
rd
gain valid time
Mode P
Range
0~1000
Unit
0.1ms
Default
0
Data Type 16bit Access R/W Address 060BH
Repower -
Set up the time at which 3
rd
gain becomes valid.
When not using this parameter, set PR6.05=0, PR6.06=100
This is valid for only position control/full-closed control.