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LG : Lower Velocity Gain
Format : LG data
Data : 0 ~ 100 (%)
Shipping set : 0
Default : Not available
l Sets velocity loop proportional gain (VG) lowering ratio when IOFF input is activated.
l However, LG is invalidated when an excessive position error alarm is issued.
l The Motor does not generate torque if LG remains LG0 when IOFF turns ON.
« LO : Load Inertia
Format : LO data
Data range : 0.000 ~ 50.000 [kgm
2
]
Shipping set : 0
Default : 0
l This is to set the actual load inertia. The data may be entered when the load inertia is known prior
to perform automatic tuning.
◊ The automatic tuning sets actual load inertia LO automatically.
l TS command or ?LO reports the current setting.
l Data of PG, VG, VI and MA will be automatically adjusted when LO data is changed.
l Data of LO is cleared to 0 when one of the data of PG, VG or VI is changed.
« LR : Low Torque Ripple
Format : LR data
Data range : 0, 1
Shipping set : 0
Default : 0
l Selects the characteristics of the Motor torque output.
0 : Standard
1 : Low torque ripple. (the maximum Motor torque will be lowered)
l “TS” or “?LR” command reports the current setting.
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