User manual of EL8-EC***F AC Servo
238
0X011
High i Standard
0X012
High i Positioning
0X020
Flexible str Manual
0X021
Flexible strStandard
0X022
Flexible structure
+Positioning
Pr0.03
Name
Real time auto stiffness
adjusting
Mode
F
Range
50 ~ 81
Unit
—
Default
70
Index
2003h
Activation
Immediate
Valid when Pr0.03 = 1,2
Low
High
Mechanical stiffness
Servo gain
Responsiveness
81.80
……………………………
70.69.68
…………………………
51.50
High
High
Low
Low
Lower values ensure better system responsiveness and mechanical stiffness but machine vibration
might occur, please set accordingly.
Gain parameters settings table
S
ti
ffn
e
s
s
1
st
gain
2
nd
gain
Pr1.00
Pr1.01
Pr1.02
Pr1.04
Pr1.05
Pr1.06
Pr1.07
Pr1.09
Position
loop
gain
(0.1/s)
Velocity
loop
gain
(Hz)
Velocity loop
integral time
constant
(
0.1ms
)
Torque
filter
(0.01ms)
Position
loop
gain
(0.1/s)
Velocity
loop
gain
(Hz)
Velocity loop
integral time
constant
(
0.1ms
)
Torque
filter
(0.01ms)
0
20
15
3700
1500
25
15
10000
1500
1
25
20
2800
1100
30
20
10000
1100
2
30
25
2200
900
40
25
10000
900
3
40
30
1900
800
45
30
10000
800
4
45
35
1600
600
55
35
10000
600
5
55
45
1200
500
70
45
10000
500
6
75
60
900
400
95
60
10000
400
7
95
75
700
300
120
75
10000
300
8
115
90
600
300
140
90
10000
300
9
140
110
500
200
175
110
10000
200
10
175
140
400
200
220
140
10000
200
11
320
180
310
126
380
180
10000
126
Содержание EL8-EC Series
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