Parameter No. Function name Data Default data Unit
3037Hex-2FHex Positioning Data 2 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-30Hex Positioning Data 2 (LSB)
3037Hex-31Hex Positioning Data 3 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-32Hex Positioning Data 3 (LSB)
3037Hex-33Hex Positioning Data 4 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-34Hex Positioning Data 4 (LSB)
3037Hex-35Hex Positioning Data 5 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-36Hex Positioning Data 5 (LSB)
3037Hex-37Hex Positioning Data 6 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-38Hex Positioning Data 6 (LSB)
3037Hex-39Hex Positioning Data 7 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-3AHex Positioning Data 7 (LSB)
3037Hex-3BHex Positioning Data 8 (MSB) −268435455 to 268435455
(MSB: -4,096 to 4,095, LSB:
0 to 65,535)
0 -
3037Hex-3CHex Positioning Data 8 (LSB)
3037Hex-4EHex
Positioning Data Setting Se-
lection via communication
0: Disable Communications
Positioning Data (S20, S21)
0 -
1: Enable Communications
Positioning Data (S20, S21)
Position Loop Gain 1 (low speed side) (3037Hex-04Hex), Position Loop
Gain 2 (high speed side) (3037Hex-05Hex)
Position Loop Gain Switch Frequency (3037Hex-06Hex)
Speed control P (gain) (3014Hex-04Hex, 3009Hex-2EHex, 3013Hex-2EHex,
300CHex-2EHex)
Speed control I (integral time) (3014Hex-05Hex, 3009Hex-2FHex,
3013Hex-2FHex, 300CHex-2FHex)
In orientation operation, the response of position control can be switched during deceleration and
during a stop.
The larger the set value, the more improved response becomes, the shorter the settling time be-
comes and the more holding performance can be improved during a servo lock stop. However, set-
ting too large a value causes hunting. Adjust this parameter so that hunting does not occur. Also,
when increasing the gain of the position controller
, also adjust the speed adjuster (ASR). To switch
speed control P (gain) and speed control I (integral time), use parameter selection 1 and 2
“MPRM1” and “MPRM2.”
Electronic Gear Denominator (3037Hex-07Hex), Electronic Gear Numerator
(3037Hex-08Hex)
Positioning data in orientation can be handled as an angle, number of pulses or other user value.
Example) When the PG of number of pulses 1024 [pulse/rev] is used and the moving amount per user val-
ue is 1 [pulse/user value] for the equivalent number of pulses 4x the PG pulses
7 Vector Control and Applied Functions
7-54
M1 Series EtherCAT Type User’s Manual (I670)
To Next Page
Loading...
