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5. PARAMETERS
Class No. Symbol Name and function
Initial
value
Unit
Setting
range
Control
mode
Internal torque limit 1
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[
].
When 0 is set, torque is not produced.
100 0
to
100
P S
(Note)
External
input
signals
TL1
Torque limit value made valid
0 Internal torque limit value 1 (parameter No.28)
1 Parameter No.76 Parameter No.28: Parameter No.28
Parameter No.76
Parameter No.28: Parameter No.76
28 TL1
Note. 0: TL1-VIN off (open)
1: TL1-VIN on (short)
When torque is output in analog monitor output, this set value is the
maximum output voltage (
8V). (Refer to section 3.4.1 (5))
29
30
For manufacturer setting
Do not change this value by any means.
0
31 MO1 Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1).
0
mV
999
to 999
P
S
32 MO2 Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2).
0
mV
999
to 999
P
S
33 MBR Electromagnetic brake sequence output
Used to set the delay time (Tb) between electronic brake interlock (MBR)
and the base drive circuit is shut-off.
100 ms 0
to
1000
P S
34 GD2 Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor shaft
inertia moment. When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically used.
(Refer to section 7.1.1)
In this case, it varies between 0 and 1000.
70
Multi-
plier
( 10
1
)
0
to
3000
P S
35 PG2 Position loop gain 2
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
disturbance. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1
2 and interpolation mode is selected, the result
of auto tuning is automatically used.
35 rad/s 1
to
1000
P
36 VG1 Speed loop gain 1
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1
2, manual mode and interpolation mode is
selected, the result of auto tuning is automatically used.
177 rad/s 20
to
8000
P
S
37 VG2 Speed loop gain 2
Set this parameter when vibration occurs on machines of low rigidity or
large backlash. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1
2 and interpolation mode is selected, the result
of auto tuning is automatically used.
817 rad/s 20
to
20000
P
S
38 VIC Speed integral compensation
Used to set the integral time constant of the speed loop.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1
2 and interpolation mode is selected, the result
of auto tuning is automatically used.
48 ms 1
to
1000
P
S
Expansion parameters 1
39 VDC Speed differential compensation
Used to set the differential compensation.
Made valid when the proportion control (PC) is switched on.
980 0
to
1000
P
S
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