Specifications

II Parameters
Servo Parameters
II - 128
【#2207】 SV007 VIL Speed loop delay compensation
Set this when the limit cycle occurs in the full-closed loop, or overshooting occurs in
positioning. The speed loop delay compensation method can be selected with SV027/bit1,0.
Normally, use "Changeover type 2". Changeover type 2 controls the occurrence of
overshooting by lowering the speed loop lead compensation after the position droop gets 0.
When setting this parameter, make sure to set the torque offset (SV032).
---Setting range---
0 to 32767
【#2208】 SV008 VIA Speed loop lead compensation
Set the gain of the speed loop integral control.
Standard setting: 1364
Standard setting in the SHG control: 1900
Adjust the value by increasing/decreasing this by about 100 at a time.
Raise this value to improve contour tracking accuracy in high-speed cutting.
Lower this value when the position droop does not stabilize (when the vibration of 10 to
20Hz occurs).
---Setting range---
1 to 9999
【#2209】 SV009 IQA Current loop q axis lead compensation
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
【#2210】 SV010 IDA Current loop d axis lead compensation
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 20480
【#2211】 SV011 IQG Current loop q axis gain
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
【#2212】 SV012 IDG Current loop d axis gain
Set the fixed value of each motor.
Set the standard value for each motor described in the standard parameter list.
---Setting range---
1 to 8192
【#2213】 SV013 ILMT Current limit value
Set the current (torque) limit value in a normal operation.
This is a limit value in forward run and reverse run (for linear motors:forward and reverse
direction).
When the standard setting value is "800", the maximum torque is determined by the
specification of the motor.
Set this parameter as a proportion (%) to the stall current.
---Setting range---
0 - 999 (Stall current %)
【#2214】 SV014 ILMTsp Current limit value in special control
Set the current (torque) limit value in a special operation (absolute position initial setting,
stopper control and etc.).
This is a limit value in forward and reverse directions.
Set to "800" when not using.
Set this parameter as a proportion (%) to the stall current.
---Setting range---
0 - 999 (Stall current %)
However, when SV084/bitB=1, the setting range is from 0 to 32767 (Stall current
0.01%).
【#2215】 SV015 FFC Acceleration rate feed forward gain
When a relative error in synchronous control is too large, set this parameter to the axis that
is delaying.
The standard setting is "0". The standard setting in the SHG control is "50".
To adjust a relative error in acceleration/deceleration, increase the value by 50 at a time.
---Setting range---
0 to 999 (%)