User Manual for ELD5 Servo
(V1.00)
www.leadshine.com
29
4.2.2
【
Class 1
】
Gain Adjust
You can set up the limit value of the motor output torque, as motor rate current %, the value can’t
exceed the maximum of output current.
Pr0.14 Position Deviation Excess Setup
Range
unit
default
Related
control mode
0 -500
0.1 rev
200
P
Set excess range of positional deviation by the command unit(default).Setting the value too small
will cause Err18.0 (position deviation excess detection)
Pr1.00 1st gain of position loop
Range
unit
default
Related
control mode
0 -30000 0.1/s
320
P
You can determine the response of the positional control system. Higher the gain of position loop you
set, faster the positioning time you can obtain. Note that too high setup may cause oscillation.
Pr1.01 1st gain of velocity loop
Range
unit
default
Related
control mode
0 -32767 0.1Hz
180
P
S
T
You can determine the response of the velocity loop. In order to increase the response of overall
servo system by setting high position loop gain, you need higher setup of this velocity loop gain as
well. However, too high setup may cause oscillation.
Pr1.02 1st Time Constant of Velocity Loop
Integration
Range
unit
default
Related
control mode
0 -10000 0.1ms
310
P
S T
You can set up the integration time constant of velocity loop, Smaller the set up, faster you can
dog-in deviation at stall to 0.The integration will be maintained by setting to”9999”.The integration
effect will be lost by setting to”10000”.
Pr1.03 1st Filter of Velocity Detection
Range
unit default
Related
control mode
0 -31
-
15
P
S T
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32 steps
(81 to 50).Lower the setup, larger the time constant you can obtain so that you can decrease the
motor noise, however, response becomes slow.
You can set the filter parameters through the loop gain, referring to the following table:
Set
Value
Speed Detection Filter
Cut-off Frequency(Hz)
Set
Value
Speed Detection Filter
Cut-off Frequency(Hz)
81
2500
65
750
80
2250
64
700
79
2100
63
650
78
2000
62
600
77
1800
61
550
76
1600
60
500
75
1500
59
450
74
1400
58
400
73
1300
57
350
72
1200
56
300
71
1100
55
250
70
1000
54
200
69
950
53
175
68
900
52
150
