Mitsubishi Electric C70 Setup Manual page 269

MITSUBISHI CNC
Appendix 1 Explanation of Parameters
【#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 (%)
【#2216】 SV016 LMC1 Lost motion compensation 1
Set this parameter when the protrusion (that occurs due to the non-sensitive band by friction, torsion,
backlash, 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 settings.)
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%).
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