Leadshine iSV2-CAN Series, Руководство пользователя

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User Manual of iSV2-CAN Servo
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69 950 53 175
68 900 52 150
67 850 51 125
66 800 50 100
Pr1.04
Name 1st torque filter Mode F
Range 0~2500 Unit 0.01ms Default 126 Index 2104h
Set the time constant of the first order hysteresis filter for the insertion of torque instruction. Vibration due
to torsional resonance can be controlled.
Pr1.05
Name 2nd gain of position loop Mode PP HM
Range 0~30000 Unit 0.1/s Default 380 Index 2105h
Pr1.06
Name 2nd gain of velocity loop Mode F
Range 1~32767 Unit 0.1Hz Default 180 Index 2106h
Pr1.07
Name
2nd Time Constant of Velocity
Loop Integration
Mode F
Range 1~10000 Unit 0.1ms Default 10000 Index 2107h
Pr1.08
Name 2nd Filter of Velocity Detection Mode F
Range 0~31 Unit
—
Default 15 Index 2108h
Pr1.09
Name
2nd Time Constant of torque
filter
Mode F
Range 0~2500 Unit 0.01ms Default 126 Index 2109h
Position loop, velocity loop, velocity detection filter, torque command filter have their 2 pairs of gain or
time constant(1st and 2nd).
Pr1.10
Name Velocity feed forward gain Mode PP HM
Range 0~1000 Unit 0.10% Default 300 Index 2110h
Multiply the velocity control command calculated according to the internal positional command by the
ratio of this parameter and add the result to the speed command resulting from the positional control
process.
Pr1.11
Name Velocity feed forward filter Mode PP HM
Range 0~6400 Unit 0.01ms Default 50 Index 2111h