Specifications

14-107
14.5.2 Servo drive relevant parameter
Main topic Topic Subtopic
Name of Parameter
No. of Parameter
Typical Setting
Value
UNIT General setting and others
Standard setting
Axes configuration
Parking axis setting
FUNCTION_SWITCH_APPLIC4 MD3004 digit 2(Pn004 digit 2) - -
0: Enabled axis 2: Parking axis
Motor encoder
Rotation direction selection
FUNCTION_SWITCH_BASIC MD3000 digit 0(Pn000 digit 0) 0 -
0: Forward 1: ReverseReverse connection is set with CNC.
Usage for absolute value encoder
FUNCTION_SWITCH_APPLIC2 MD3002 digit 2(Pn002 digit 2) - -
0: Used as absolute value encoder 1: Used as incremental encoder
Multi return limit
MULT_TURN_LIMIT MD3205(Pn205) 65535 rev
Electronic gear ratio (numerator) (lower word)
ELECTRIC_GEAR_NUMERATOR_LW MD3214(Pn20E) 1 -
Use CNC-side setting for electronic gear.
Electronic gear ratio (numerator) (upper word)
ELECTRIC_GEAR_NUMERATOR_HW MD3215(Pn20F) 0
Electronic gear ratio (denominator) (lower word)
ELECTRIC_GEAR_DENOMIN_LW MD3216(Pn210) 1 -
Use CNC-side setting for electronic gear.
Electronic gear ratio (denominator) (upper word)
ELECTRIC_GEAR_DENOMIN_HW MD3217(Pn211) 0
Separately mounted
encoder
Usage for full-closed PC pulse
FUNCTION_SWITCH_APPLIC2 MD3002 digit 3(Pn002 digit 3) - -
Full-closed specification
FUNCTION_SWITCH_APPLIC6 MD3006 digit 2(Pn002 digit 2) -
2: Forward rotation with C phase 4: Reverse rotation with C phase
Number of full-closed PC pulse/rotation of motor (lower word)
PG_PLS_MTRRND_LW_FULLCLOSED MD3210(Pn20A) - pulse/rev
Set multiplication-by-one value.
Number of full-closed PC pulse/rotation of motor (upper word)
PG_PLS_MTRRND_HW_FULLCLOSED MD3211(Pn20B) -
Number of full-closed PC pulse/rotation of encoder (lower word)
PG_PLS_ENCRND_LW_FULLCLOSED MD3212(Pn20C) - pulse/rev
Set multiplication-by-one value.
Number of full-closed PC pulse/rotation of encoder (upper word)
PG_PLS_ENCRND_HW_FULLCLOSED MD3213(Pn20D) -
Number of Z-phase pulse per rotation of encoder
PG_PLS_ENCRND_Z_PHASE MD3231(Pn21F) - pulse
Setting is not required when MP scale is used.
Absolute PG reference position offset (lower word)
ABS_PG_POINT_OFFS_LW MD3508(Pn808) - pulse
Setting is not required when MP scale is used.
Absolute PG reference position offset (upper word)
ABS_PG_POINT_OFFS_HW MD3509(Pn809) - pulse
Setting is not required when MP scale is used.
Servo drive
control
Position control
Position control enabled/disabled
FUNCTION_SWITCH_BASIC MD3000 digit 1(Pn000 digit 1) 7 -
0: Position control is disabled 1: Position control is enabled 7:Position/speed changing is
enabled
Position loop gain
KP MD3032(Pn102) - 0.1/s
Specify the same value as MD32200. Take notice of unit.
Position loop gain setting method
SWITCH_FUNCTION_2 MD3069 digit 0(Pn127 digit 0) 1 -
0: Setting value for drive is used 1: Cyclic data for CNC is used.
Excessive deviation range
OVERFLOW_LEVEL MD3425(Pn505) - pulse
Speed control
Speed loop gain
KV MD3030(Pn100) - 0.1Hz
Speed loop gain integral time constant
KVI MD3031(Pn101) - 0.01ms
Load inertia ratio for motor inertia
LOAD_INERTIA_RATIO MD3033(Pn103) - %
PI control/ IP control switching
GAIN/SWITCH MD3041 digit 1(Pn10B digit 1) 1 -
0: PI control1: IP control
1st stage torque reference filter time constant
TORQUE_FILTER_CONSTANT_1 MD3351(Pn401) - 0.01ms
2nd stage torque reference filter time constant
TORQUE_FILTER_CONSTANT_2 MD3363(Pn40D) - 0.01ms
3rd stage torque reference filter time constant
TORQUE_FILTER_CONSTANT_3 MD3364(Pn40E) - 0.01ms
Quadrant jerk
compensation
Functional quadrant jerk compensation function selection
SWITCH_FUNCTION_1 MD3068 digit 1(Pn126 digit 1) - -
0: Disabled2: Enabled
Jerk compensation 11th stage gain (negative to positive)
1ST_P_GAIN_QUAD_ERR_COMP MD3101(Pn147) -
0.00001/s
3
Jerk compensation 11th stage limit offset (negative to positive)
1ST_P_LMT_OFS_QUAD_ERR_COMP MD3102(Pn148) - 0.01%
Jerk compensation 12th stage gain (negative to positive)
2ND_P_GAIN_QUAD_ERR_COMP MD3103(Pn149) -
0.00001/s
3
Jerk compensation 12th stage limit (negative to positive)
2ND_P_LMT_QUAD_ERR_COMP MD3104(Pn14A) - 0.01%
Jerk compensation limit increment value (negative to positive)
P_LMT_ADJ_QUAD_ERR_COMP MD3105(Pn14B) - 0.01%/ms
Jerk compensation limit max. value (negative to positive)
P_LMT_CLAMP_QUAD_ERR_COMP MD3106(Pn14C) - 0.01%/ms
Jerk compensation 11th stage gain (positive to negative)
1ST_N_GAIN_QUAD_ERR_COMP MD3107(Pn14D) -
0.00001/s
3
Jerk compensation 11th stage limit offset (positive to negative)
1ST_N_LMT_OFS_QUAD_ERR_COMP MD3108(Pn14E) - 0.01%
Jerk compensation 12th stage gain (positive to negative)
2ND_N_GAIN_QUAD_ERR_COMP MD3109(Pn14F) -
0.00001/s
3
Jerk compensation 12th stage limit (positive to negative)
2ND_N_LMT_QUAD_ERR_COMP MD3110(Pn150) - 0.01%
Jerk compensation limit increment value (positive to negative)
N_LMT_ADJ_QUAD_ERR_COMP MD3111(Pn151) - 0.01%/ms
Jerk compensation limit max. value (positive to negative)
N_LMT_CLAMP_QUAD_ERR_COMP MD3112(Pn152) - 0.01%/ms
Quadrant compensation timing constant
TIMING_CONST_QUAD_ERR_COMP MD3113(Pn153) - 0.01/s