Mitsubishi Electric MDS-E Series Instruction Manual page 164

MDS-E/EH Series Instruction Manual
4 Setup
#2212 SV012 IDG
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
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 mo-
tor.
Set this parameter as a proportion (%) to the stall current.
---Setting range---
0 - 999 (Stall current %)
#2214 SV014 ILMTsp
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
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 "100".
To adjust a relative error in acceleration/deceleration, increase the value by 50 at a time.
---Setting range---
0 to 999 (%)
#2216 SV016 LMC1
Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion, back-
lash, etc.) at quadrant change is too large. This sets the compensation torque at quadrant change (when an
axis feed direction is reversed) by the proportion (%) to the stall torque. Whether to enable the lost motion
compensation and the method can be set with other parameters.
Type 2: When SV027/bit9, 8=10 (Compatible with obsolete type)
Set the type 2 method compensation torque. The standard setting is double the friction torque.
Related parameters: SV027/bit9,8, SV033/bitF, SV039, SV040, SV041, SV082/bit2
Type 3: When SV082/bit1=1
Set the compensation torque equivalent of dynamic friction amount of the type 3 method compensation
amount. The standard setting is double the dynamic friction torque.
Related parameters: SV041, SV082/bit2,1, SV085, SV086
To vary compensation amount according to the direction.
When SV041 (LMC2) is "0", compensate with the value of SV016 (LMC1) in both +/-directions.
If you wish to change the compensation amount depending on the command direction, set this and
SV041 (LMC2).
(SV016: + direction, SV041: - direction. However, the directions may be opposite depending on other set-
tings.)
When "-1" is set, the compensation will not be performed in the direction of the command.
---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%).
Current loop d axis gain
Current limit value
Current limit value in special control
Acceleration rate feed forward gain
Lost motion compensation 1
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