Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
249
To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.
If level< hysteresis, drive will set internally hysteresis = level.
Pr1.19
Name
Position gain switching
time
Mode
F
Range
0~1000
0
Unit 0.1ms Default 33 Index 2119h
Activation Immediate
During position control, to ease torque changes and vibration due to rapid changes in position
loop gain, set suitable Pr1.19 value
For example: 1
st
(pr1.00) <-> 2nd (Pr1.05)
6.7 3
rd
Gain Switching
Besides switching between 1
st
and 2
nd
gain, a 3
rd
gain switching is added to set gain at the
moment of stopping to reduce positioning time.
Only available under position mode and Pr6.05 ≠ 0, set Pr6.06 for 3
rd
gain value. When 2
nd
gain switches to 1
st
gain, it has to go through 3
rd
gain, switching time is set in Pr1.19.
Diagram below shows when Pr1.15 = 7.
Position command velocity
RPM
2
nd
gain
Pr1.05~Pr1.09
3
rd
gain 1
st
gain
Pr1.00~Pr1.04
Position loop gain = Pr1.00 × Pr6.06/100
Velocity loop gain = Pr1.01 × Pr6.06/100
Velocity loop integral time constant, velocity detection filter, torque filter time
constant will still be applied in 1
st
gain
Duration
PA6.05 × 0.1ms