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8. Glossary of Command and Parameter
SG: Servo Gain
Format
Data
Shipping set
Default
l The SG parameter sets the maximum response frequency to the velocity loop.
l When the SG value is changed, the parameters PG (position loop proportional gain), VG
(velocity loop proportional gain) and VI (velocity loop integration frequency) settings will be
automatically renewed.
l The TS or ?SG reports the current setting.
l The SG/AJ command starts the fine adjusting program.
l If PG, VG, or VI is changed, the SG data will be cleared to 0.
«
SI: System Initialization
Format
Data range
Default
l Resets all parameters to the shipping set values. Please note that the SI command with optional
data AL, SY, and YS will delete all Programmable Indexers' channel programs
l The SI command can only be inputted immediately after entering the password, and when the
Motor is servo-off.
l The following show the parameters that will be initialized with the SI command.
！ Caution: It requires approximately 30 seconds to initialize the system. Do not turn
: SG data
: 0 to 30 [HZ], or /AJ (Adjust mode)
: 0
: 0
à Sets position loop gain SG in the automatic tuning.
: SI/data
: No data, /AL, /SY, /YS
: No data
SI
: Initializes the servo-related parameters only. (PG, VG, VGL, VI, VIL, LG, TL, GP,
GT, FO, FP, FS, NP, NS, NQ, DBP, DBA, ILV, FF, FC, SG, and LO)
SI/AL : Initializes all parameters.
SI/SY : • For ESB23 and 25 type Driver Units, this command will initialize all parameters
excluding PA.
• For ESBB3 and B5 type Diver Units, this command will initialize all parameters
excluding PA and RO.
SI/YS : • For ESB23 and 25 type Driver Units, this command will initialize all parameters
excluding PA. The PA will be set to 700.
• For ESBB3 and B5 type Diver Units, this command will initialize all parameters
excluding PA and RO. Parameters PA and RO will be set to 700 and 2048,
respectively.
* Executing SI/AL entails resolver phase adjustment. Be careful not to interrupt the Motor
motion by an external force. (Do not perform above initializations only to the Driver Unit.)
off the power while initializing. Otherwise, the memory error alarm occurs.
* When the error occurs, only the SI/AL command is valid even for the input of the SI or
the SI/SY.
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