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3. Setup
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(6) HA series (MDS-B-Vx4)
High-gain specifications
HA motor 3000 r/min rating Motor
Parameter
HA43N HA83N HA93N HA103N HA203N HA303N HA703N
No. Abbrev. Details Unit capacity 05 10 20 35 45 70 90
SV001 PC1 Motor side gear ratio --- --- --- --- --- --- ---
SV002 PC2 Machine side gear ratio --- --- --- --- --- --- ---
SV003 PGN1 Position loop gain 1 33 33 33 33 33 33 25
SV004 PGN2 Position loop gain 2 0 0 0 0 0 0 0
SV005 VGN1 Speed loop gain 1 150 150 150 150 150 150 250
SV006 VGN2 Speed loop gain 2 0 0 0 0 0 0 0
SV007 VIL Speed loop delay compensation 0 0 0 0 0 0 0
SV008 VIA Speed loop lead compensation 1364 1364 1364 1364 1364 1364 1364
SV009 IQA Current loop q axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV010 IDA Current loop d axis lead compensation 4096 4096 4096 4096 4096 4096 4096
SV011 IQG Current loop q axis gain 768 768 768 768 768 768 768
SV012 IDG Current loop d axis gain 768 768 768 768 768 768 768
SV013 ILMT Current limit value 500 500 500 500 500 500 500
SV014 ILMTsp Current limit value in special control 500 500 500 500 500 500 500
SV015 FFC Acceleration rate feed forward gain 0 0 0 0 0 0 0
SV016 LMC1 Lost motion compensation 1 0 0 0 0 0 0 0
SV017 SPEC Servo specification selection 0000 0000 0000 0000 0000 0000 0000
SV018 PIT Ball screw pitch --- --- --- --- --- --- ---
SV019 RNG1 Position detector resolution --- --- --- --- --- --- ---
SV020 RNG2 Speed detector resolution --- --- --- --- --- --- ---
SV021 OLT Overload detection time constant 60 60 60 60 60 60 60
SV022 OLL Overload detection level 150 150 150 150 150 150 150
SV023 OD1 Excessive error detection width during servo ON 6 6 6 6 6 6 6
SV024 INP In-position detection width 50 50 50 50 50 50 50
SV025 MTYP Motor/detector type xx80 xx81 xx8A xx82 xx83 xx84 xx85
SV026 OD2
Excessive error detection width during servo
OFF
6 6 6 6 6 6 6
SV027 SSF1 Servo function selection 1 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0
SV029 VCS Speed at the change of speed loop gain 0 0 0 0 0 0 0
SV030 IVC
Voltage dead time compensation /
current bias 1
0 0 0 0 0 0 0
SV031 OVS1 Overshooting compensation 1 0 0 0 0 0 0 0
SV032 TOF Torque offset 0 0 0 0 0 0 0
SV033 SSF2 Servo function selection 2 0000 0000 0000 0000 0000 0000 0000
SV034 SSF3 Servo function selection 3 0000 0000 0000 0000 0000 0000 0000
SV035 SSF4 Servo function selection 4 0000 0000 0000 0000 0000 0000 0000
SV036 PTYP Power supply type 0000 0000 0000 0000 0000 0000 0000
SV037 JL Load inertia scale 0 0 0 0 0 0 0
SV038 FHz1 Notch filter frequency 1 0 0 0 0 0 0 0
SV039 LMCD Lost motion compensation timing 0 0 0 0 0 0 0
SV040 LMCT
Lost motion compensation non-sensitive band
/current bias 2
0 0 0 0 0 0 0
SV041 LMC2 Lost motion compensation 2 0 0 0 0 0 0 0
SV042 OVS2 Overshooting compensation 2 0 0 0 0 0 0 0
SV043 OBS1 Disturbance observer filter frequency 0 0 0 0 0 0 0
SV044 OBS2 Disturbance observer gain 0 0 0 0 0 0 0
SV045 TRUB Frictional torque/current bias 3 0 0 0 0 0 0 0
SV046 FHz2 Notch filter frequency 2 0 0 0 0 0 0 0
SV047 EC Inductive voltage compensation gain 100 100 100 100 100 100 100
SV048 EMGrt Vertical axis drop prevention time 0 0 0 0 0 0 0
SV049 PGN1sp
Position loop gain 1 in spindle synchronous
control
15 15 15 15 15 15 15
SV050 PGN2sp
Position loop gain 2 in spindle synchronous
control
0 0 0 0 0 0 0
SV051 DFBT Dual feedback control time constant 0 0 0 0 0 0 0
SV052 DFBN Dual feedback control non-sensitive band 0 0 0 0 0 0 0
SV053 OD3 Excessive error detection width in special control 0 0 0 0 0 0 0
SV054 ORE Overrun detection width in closed loop control 0 0 0 0 0 0 0
SV055 EMGx Max. gate off delay time after emergency stop 0 0 0 0 0 0 0
SV056 EMGt Deceleration time constant at emergency stop 0 0 0 0 0 0 0
SV057 SHGC SHG control gain 0 0 0 0 0 0 0
SV058 SHGCsp SHG control gain in spindle synchronous control 0 0 0 0 0 0 0
SV059 TCNV Collision detection torque estimating gain 0 0 0 0 0 0 0
SV060 TLMT Collision detection level 0 0 0 0 0 0 0
SV061 DA1NO D/A output channel 1 data No. 0 0 0 0 0 0 0
SV062 DA2NO D/A output channel 2 data No. 0 0 0 0 0 0 0
SV063 DA1MPY D/A output channel 1 output scale 0 0 0 0 0 0 0
SV064 DA2MPY D/A output channel 2 output scale 0 0 0 0 0 0 0
SV065 TLC Tool end compensation spring constant 0 0 0 0 0 0 0