NSK MEGATORQUE M-ESB-YSB2020AB300 - VGL: Velocity Gain, Lower; Velocity Integrator Frequency; VIL: Velocity Integrator Frequency, Lower

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8. Glossary of Command and Parameter
VGL: Velocity Gain, Lower
Format : VGL data
Data range : 0.1 to 255.0
Shipping set : 1.0
Default : Not available
l Sets the proportional gain of velocity loop when the Motor is stationary.
l The gain will be switched from the data of VG parameter to the data of VGL parameter when a
position error is within the data of GP parameter longer than a time set by the GT parameter.
l If the GP setting is 0, the VGL is invalid and the data of VG will be always valid.
l The TS or ?VG reports the current setting.
l Refer to “7.2.7. Automatic Gain Switching” for switching timing.
VI: Velocity Integrator Frequency
Format : VI data
Data range : 0.10 to 63.00 [Hz], or /AJ (Adjust mode)
Shipping set : 1.00
Default : Not available
l Sets the integrator frequency of velocity loop.
l The TS or ?VI command reports the current setting.
l The VI/AJ starts the adjusting program.
l The VI data will be automatically adjusted when the LO and the SG data are changed.
l Change of the VI data will clear the LO and the VI settings to 0.
VIL: Velocity Integrator Frequency, Lower
Format : VI data
Data range : 0.10 to 63.00 [Hz]
Sipping set : 1.00
Default : Not available
l Sets the velocity integrator frequency of velocity loop when the Motor is stationary.
l The gain will be switched from the data of the VI parameter to the data of the VIL parameter
when a position error is within the data of GP parameter longer than a time set by the GT
parameter.
l If the GP setting is 0, the VIL is invalid and the data of VI will be always valid.
l The TS or ?VG reports the current setting.
l Refer to “7.2.7. Automatic Gain Switching” for switching timing.