Leadshine EL7-EC Series, Руководство пользователя

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User Manual Of EL7-EC** AC Servo
71
Pr1.01
Label 1
st
velocity loop gain Mode F
Range 1~32767 Unit 0.1Hz Default 180 Index 2101h
Activation Immediate
To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform with
actual inertia ratio, velocity loop responsiveness = Pr1.01.
To increase position loop gain and improve responsiveness of the whole system, velocity loop
gain must be set at higher value. Please notice that if the velocity loop gain is too high, it might
cause vibration.
Pr1.02
Label
1
st
Integral Time Constant
of Velocity Loop
Mode F
Range 1~10000 Unit 0.1ms Default 310 Index 2102h
Activation Immediate
If auto gain adjusting function is not enabled, Pr1.02 is activated.
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If the
value set is overly large, overshoot, delay of positioning time duration and lowered
responsiveness might occur.
Set 10000 to deactivate Pr1.02.
Recommended range: 50000
≤
PA1.01xPA1.02
≤
150000
For example: Velocity loop gain Pr1.01=500(0.1Hz), which is 50Hz. Integral time constant of
velocity loop should be 100(0.1ms)
≤
Pr1.02
≤
300(0.1ms)
Pr1.03
Label 1
st
velocity detection filter Mode F
Range 0~10000 Unit — Default 15 Index 2103h
Activation Immediate
This filter is a low pass filter. It blocks high frequencies which cause system instability from
velocity feedback data. The higher the set value, lower frequencies will be blocked and velocity
responsiveness will also be lowered. Pr1.03 needs to match velocity loop gain. Please refer to
the following table.
Set
Value
Velocity Detection
Filter Cut-off
Frequency(Hz)
Set
Value
Velocity Detection Filter
Cut-off Frequency(Hz)
0 2500 16 750
1 2250 17 700
2 2100 18 650
3 2000 19 600
4 1800 20 550
5 1600 21 500
6 1500 22 450
7 1400 23 400
8 1300 24 350
9 1200 25 300
10 1100 26 250
11 1000 27 200
12 950 28 175
13 900 29 150
14 850 30 125
15 800 31 100