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7. Servo Parameters
7.2 MDS-C1-Vx High-gain (MDS-B-Vx4 Compatible)
110
No. Items Details Setting range
2215 SV015
FFC
Acceleration
rate feed
forward gain
When a relative error in the synchronous control is large,
apply this parameter to the axis that is delaying. The
standard setting value is “0”. For the SHG control, set to
“100”.
To adjust a relative error in acceleration/deceleration,
increase the value by 50 to 100 at a time.
0 to 999(%)
Set this when the protrusion (that occurs due to the
non-sensitive band by friction, torsion, backlash, etc) at
quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation
(SV027 (SSF1/lmc)) is selected.
Type 1: When SV027 (SSF1)/ bit9, 8 (lmc)=01
Set the compensation amount based on the motor torque
before the quadrant change.
The standard setting is “100”. Setting to “0” means the
compensation amount is zero.
Normally, use Type 2.
-1 to 200
(%)
Type 2: When SV027 (SSF1)/ bit9, 8 (lmc)=10
Set the compensation amount based on the stall (rated)
current of the motor.
The standard setting is double of the friction torque.
Setting to “0” means the compensation amount is zero.
-1 to 100
(Stall [rated]
current %)
2216 SV016
LMC1
Lost motion
compensa-
tion 1
When you wish different compensation amount
depending on the direction
When SV041 (LMC2) is “0”, compensate with the value
of SV016 (LMC1) in both of the + and -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 won’t be performed in
the direction of the command.