Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
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Pr1.04
Label
1
st
Torque Filter Time
Constant
Mode F
Range
0~250
0
Unit 0.01ms Default 126 Index 2104h
Activation Immediate
To set torque command low-pass filter, add a filter delay time constant to torque command and
filter out the high frequencies in the command.
Often used to reduce or eliminate some noise or vibration during motor operation, but it will reduce
the responsiveness of current loop, resulting in undermining velocity loop and position loop
control. Pr1.04 needs to match velocity loop gain.
Recommended range: 1,000,000/(2
π×Pr1.04) ≥Pr1.01×4
For example: Velocity loop gain Pr1.01=180(0.1Hz) which is 18Hz. Time constant of torque filter
should be
Pr1.01≤221(0.01ms)
If mechanical vibration is due to servo driver, adjusting Pr1.04 might eliminate the vibration. The
smaller the value, the better the responsiveness but also subjected to machine conditions. If the
value is too large, it might lower the responsiveness of current loop.
With higher Pr1.01 value settings and no resonance, reduce Pr1.04 value;
With lower Pr1.01 value settings, increase Pr1.04 value to lower motor noise.
Pr1.05
Label 2
nd
Position Loop Gain Mode PP HM
CS
P
Range 0~30000 Unit 0.1/s Default 380 Index 2105h
Activation Immediate
Pr1.06
Label 2
nd
velocity loop gain Mode F
Range 1~32767 Unit 0.1Hz Default 180 Index 2106h
Activation Immediate
Pr1.07
Label
2
nd
Integral Time
Constant of Velocity
Loop Mode
F
Range
1~1000
0
Unit 0.1ms Default 10000 Index 2107h
Activation Immediate
Pr1.08
Label
2
nd
velocity detection
filter
Mode F
Range 0~31 Unit — Default 15 Index 2108h
Activation Immediate