— 12-30 —
SG : Servo Gain Adjust, Minor
Format : SG data
Data : 0 ~ 30 [HZ] or /AJ (Adjust mode)
Shipping set : 0
Default : Not available
l Sets position loop gain in the automatic tuning minor adjustment.
l When “SG” value is changed, the parameter “PG” (position loop proportional gain), “VG” ( velocity
loop proportional gain) and “VI” (velocity loop integration frequency) parameter settings will be
automatically renewed.
l “SG/AJ” command starts the fine adjusting program.
l “TS” or “?SG” reports the current setting.
l If PG, VG or VI is changed, SG setting is cleared to 0.
« SI : Set Initial Parameters
Format : SI/data
Data range : None, AL, SY, YS
Default : None
l Resets parameters to the shipping set value.
l The “SI” command can be input only immediately after inputting the password and when the Motor
is servo-off.
l The followings shows the parameters which are initialized by execution of command SI.
SI : Initializes servo related parameters (PG, VG, VI, DBP, ILV, FF, FP, FS, NP, NS, LG,
TL, SG, FO, FC)
SI/AL : Initializes all parameters.
SI/SY : This parameter initializes all parameters excluding PA for ESA25 type Driver Unit.
SI/YS : Initializes all parameters. PA will be set to 700.
* Executing “SI/AL” entails resolver phase adjustment. Be careful that the Motor is not locked
by an external force. Do not perform initializing only to the Driver Unit.
Caution : It requires approximately 30 seconds to initialize the system. Do not turn off
the power while initializing. Otherwise, the memory error will arise.
* If the memory is faulty, SI/AL will be executed when SI and SI/SY are input.
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