Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
250
Related parameters
Pr6.05
Label Position 3
rd
gain valid time Mode PP HM
CS
P
Range 0~10000 Unit 0.1ms Default 0 Index 2605h
Activation Immediate
To set time for 3
rd
gain to be valid
When not in use, set Pr6.05=0, Pr6.06=100
Pr6.06
Label
Position 3
rd
gain scale
factor
Mode PP HM
CS
P
Range 0~1000 Unit 100% Default 100 Index 2606h
Activation Immediate
Set up the 3
rd
gain by multiplying factor of the 1
st
gain
3
rd
gain= 1
st
gain * Pr6.06/100
Only effective under position control mode, set Pr6.05≠0, 3
rd
gain function activated, set 3
rd
gain
value in Pr6.06. When 2
nd
gain switches to 1
st
gain, will go through 3
rd
, switching time value set in
Pr1.19.
Above diagram is illustrated using Pr1.15 = 7.
6.8 Feedforward gain
In position control, velocity feedforward is calculated by comparing the velocity control
command calculated internally and velocity command calculated from position feedback.
Comparing to control only using feedbacks, this will reduce position deviation and
increase responsiveness. Besides, by comparing the torque needed during motion from
velocity control command in comparison with velocity feedback, torque feedback can be
calculated to improve system responsiveness.
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 x Pr6.06/100
Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant
，
Velocity detection filter
，
Torque filter
time constant still uses 1
st
gain
Effective time
Pr6.05 x 0.1ms