A-7
A-1List of Parameters
APPENDIX
- SV Series User’s Manual -
TUN_30 Extend
2-Notch filter
depth
To set up depth of 2-notch filter. 0 to 1000(x0.001) 0
○
(40E)
○○○○
TUN_31 Special
Position integral
time constant
To set up the integral time constant
of position control loop.
This does not need to be changed normally.
0 to 50000
(x0.01ms)
0
○
(11F)
○○
--
TUN_32 Special
2nd torque cmd
filter frequency
To set up frequency of second torque
command filter.
This does not need to be changed normally.
100 to 5000(Hz) 5000
○
(40F)
○○○○
TUN_33 Special
2nd torque cmd
filter Q value
To set up Q value of second torque
command filter.
This does not need to be changed normally.
50 to 100(x0.01) 50
○
(410)
○○○○
TUN_34 Special
*Torque feedfor-
ward
*3
To set up whether torque feedfor-
ward is used or not.
This does not need to be changed normally.
1 : Disable
2 : Enable
1
○
(002.0)
○○○
-
TUN_35 Special
*
Speed feedfor-
ward
To set up whether speed feedforward
is used or not.
This does not need to be changed normally.
0: Disable
1: Enable
0-
○○
--
TUN_36 Special
Auto proportion
control switch
To set up the condition for switching
to proportional control automatically.
This does not need to be changed
normally.
0: Internal com-
mand torque
1: Internal com-
mand speed
2: Acceleration
3:
Position deviation
4: Disable
4
○
(10B.0)
○○○
-
TUN_37 Special
P change com-
mand torque
To set up the internal command
torque for switching to proportional
control automatically.
This does not need to be changed normally.
0 to 800(%) 200
○
(10C)
○○○
-
TUN_38 Special
P change com-
mand speed
To set up the internal command speed for switch-
ing to proportional control automatically.
This does not need to be changed normally.
0 to 10000(min
-1
)0
○
(10D)
○○○
-
TUN_39 Special
P change
acceleration
To set up the acceleration for switching to
proportional control automatically.
This does not need to be changed normally.
0 to 30000(min
-1
/s) 0
○
(10E)
○○○
-
TUN_40 Special
P change posi-
tion deviation
To set up the position deviation value for switch-
ing to proportional control automatically.
This does not need to be changed normally.
0 to 10000
(CMD_PLS)
0
○
(10F)
○○○
-
TUN_41 Special
Friction compen-
sation function
To set up whether friction compensa-
tion function is used or not.
This does not need to be changed normally.
0: Disable
1: Enable
0
○
(408.3)
○○○
-
TUN_42 Special
Friction compen-
sation gain
To set up friction compensation gain.
This does not need to be changed normally.
10 to 1000(%) 100
○
(121)
○○○
-
TUN_43 Special
Friction compen-
sation gain 2
To set up friction compensation gain 2.
This does not need to be changed normally.
10 to 1000(%) 100
○
(122)
○○○
-
TUN_44 Special
Friction comp co-
efficient
To set up friction compensation coefficient.
This does not need to be changed normally.
0 to 100(%) 0
○
(123)
○○○
-
TUN_45 Special
Friction comp
freq correction
To set up friction compensation fre-
quency correction.
This does not need to be changed normally.
-
10000 to 10000
(x0.1Hz)
0
○
(124)
○○○
-
TUN_46 Special
Friction comp
gain correction
To set up friction compensation gain correction.
This does not need to be changed normally.
1 to 1000(%) 100
○
(125)
○○○
-
TUN_47 Special
Model following
control
To set up whether model following
function is used or not.
This does not need to be changed normally.
0: Disable
1: Enable
0
○
(140.0)
○○
--
TUN_48 Special
Model following
control gain
To set up model following control gain.
This does not need to be changed normally.
10 to 20000
(x0.1/s)
500
○
(141)
○○
--
TUN_49 Special
Model follow ctrl
gain correct
To set up model following control gain correction.
This does not need to be changed
normally.
500 to 2000
(x0.1%)
1000
○
(142)
○○
--
TUN_50 Special
P-Model follow-
ing control bias
To set up forward model following control deviation.
This does not need to be changed normally.
0 to 10000
(x0.1%)
1000
○
(143)
○○
--
TUN_51 Special
N-Model follow-
ing control bias
To set up reversal model following
control deviation.
This does not need to be changed normally.
0 to 10000
(x0.1%)
1000
○
(144)
○○
--
TUN_52 Special
Model following
ctrl FF comp
To set up model following control
speed feedforward compensation.
This does not need to be changed normally.
0 to 10000
(x0.1%)
1000
○
(147)
○○
--
TUN_53 Special
Model following
control gain 2
To set up model following control gain 2.
This does not need to be changed normally.
10 to 20000
(x0.1/s)
500
○
(148)
○○
--
TUN_54 Special
Model follow ctrl
gain correct 2
To set up model following control gain correction 2.
This does not need to be changed normally.
500 to 2000
(x0.1%)
1000
○
(149)
○○
--
*1 For parameters marked with "*", the power needs to be restarted after setup.
*2 ML-II is the short name for MECHATROLINK-II type and PLS the pulse/analog input type.
For MECHATROLINK-II, the number in the bracket is parameter number.
*3 Generally, it is set to "Disable" when used together with KV-ML16V.
Parameter
Category
Parameter
name
*1
Description
Set value/Set-
ting unit
Default
Enable type
*2
Control
mode
ML-II
PLS
Position
Speed
Torque
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