— 8-42 —
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e
8. Glossary of Command and Parameter
2
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SG: Servo Gain
Format : SG data
Data : 0 to 30 [HZ], or /AJ (Adjust mode)
Shipping set : 0
Default : 0
l The SG parameter sets the maximum response frequency to the velocity loop.
à Sets position loop gain SG in the automatic tuning.
l When the SG value is changed, the parameters PG (position loop proportional gain), VG
(velocity loop proportional gain) and VI (velocity loop integration frequency) settings will be
automatically renewed.
l The TS or ?SG reports the current setting.
l The SG/AJ command starts the fine adjusting program.
l If PG, VG, or VI is changed, the SG data will be cleared to 0.
« SI: System Initialization
Format : SI/data
Data range : No data, /AL, /SY, /YS
Default : No data
l Resets all parameters to the shipping set values. Please note that the SI command with optional
data AL, SY, and YS will delete all Programmable Indexers’ channel programs
l The SI command can only be inputted immediately after entering the password, and when the
Motor is servo-off.
l The following show the parameters that will be initialized with the SI command.
SI : Initializes the servo-related parameters only. (PG, VG, VGL, VI, VIL, LG, TL, GP,
GT, FO, FP, FS, NP, NS, NQ, DBP, DBA, ILV, FF, FC, SG, and LO)
SI/AL : Initializes all parameters.
SI/SY : • For ESB23 and 25 type Driver Units, this command will initialize all parameters
excluding PA.
• For ESBB3 and B5 type Diver Units, this command will initialize all parameters
excluding PA and RO.
SI/YS : • For ESB23 and 25 type Driver Units, this command will initialize all parameters
excluding PA. The PA will be set to 700.
• For ESBB3 and B5 type Diver Units, this command will initialize all parameters
excluding PA and RO. Parameters PA and RO will be set to 700 and 2048,
respectively.
* Executing SI/AL entails resolver phase adjustment. Be careful not to interrupt the Motor
motion by an external force. (Do not perform above initializations 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 alarm occurs.
* When the error occurs, only the SI/AL command is valid even for the input of the SI or
the SI/SY.
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