Specifications

II Parameters
Servo Parameters
II - 70
【#2237】 SV037 JL Load inertia scale
Set the motor axis conversion total load inertia including motor itself in proportion to the
motor inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and
then repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor 0 to 5000 (kg)
【#2238】 SV038 FHz1 Notch filter frequency 1
Set the vibration frequency to suppress when machine vibration occurs.
(Normally, do not set 80 or less.)
Set to "0" when not using.
Related parameters: SV033/bit3-1, SV115
---Setting range---
0 to 2250 (Hz)
【#2239】 SV039 LMCD Lost motion compensation timing
Set this when the timing of lost motion compensation type 2 does not match.
Adjust increments of 10 at a time.
---Setting range---
0 to 2000 (ms)
【#2240】 SV040 LMCT Lost motion compensation non-sensitive band
Set the non-sensitive band of the lost motion compensation in the feed forward control.
When "0" is set, 2μm is the actual value to be set. Adjust increments of 1μm.
---Setting range---
0 to 255 (μm)
【#2241】 SV041 LMC2 Lost motion compensation 2
Set this with SV016 (LMC1) only when you wish to vary the lost motion compensation
amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 200 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 20000 (Stall
current 0.01%).
【#2242】 SV042 OVS2 Overshooting compensation 2
Set this with SV031 (OVS1) only when you wish to vary the overshooting compensation
amount depending on the command directions.
Normally, set to "0".
---Setting range---
-1 to 100 (Stall current %)
Note that when SV082/bit2 is "1", the setting range is between -1 and 10000 (Stall
current 0.01%).
【#2243】 SV043 OBS1 Disturbance observer filter frequency
Set the disturbance observer filter band.
Normally, set to "100". Setting values of 49 or less is equal to "0" setting.
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When disturbance observer related parameters are changed, lost motion compensation
needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 1000 (rad/s)
【#2244】 SV044 OBS2 Disturbance observer gain
Set the disturbance observer gain. The standard setting is "100 to 300".
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
When disturbance observer related parameters are changed, lost motion compensation
needs to be readjusted.
Set to "0" when not using.
---Setting range---
0 to 500 (%)
【#2245】 SV045 TRUB Friction torque
Set the frictional torque when using the collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, imbalance
torque (SV032) and load inertia display enabling flag (SV035/bitF).
---Setting range---
0 to 255 (Stall current %)