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Direct Drive Motor Specifications and Instruction Manual
7 Setup
7.1.2 List of Standard Parameters for Each Direct-drive Motor
(1) Direct-drive motor TM-RB Series (MDS-E-V□, MDS-D2-V□)
Parameter
No.
Abbrev.
Details
SV001
PC1
Motor side gear ratio
SV002
PC2
Machine side gear ratio
SV003
PGN1
Position loop gain 1
SV004
PGN2
Position loop gain 2
SV005
VGN1
Speed loop gain 1
SV006
VGN2
Speed loop gain 2
SV007
VIL
Speed loop delay compensation
SV008
VIA
Speed loop lead compensation
SV009
IQA
Current loop q axis lead compensation
SV010
IDA
Current loop d axis lead compensation
SV011
IQG
Current loop q axis gain
SV012
IDG
Current loop d axis gain
SV013
ILMT
Current limit value
SV014
ILMTsp Current limit value in special control
SV015
FFC
Acceleration rate feed forward gain
SV016
LMC1
Lost motion compensation 1
SV017
SPEC1
Servo specification 1
SV018
PIT
Ball screw pitch/Magnetic pole pitch
SV019
RNG1
Sub side encoder resolution
SV020
RNG2
Main side encoder resolution
SV021
OLT
Overload detection time constant
SV022
OLL
Overload detection level
SV023
OD1
Excessive error detection width during servo ON
SV024
INP
In-position detection width
SV025
MTYP
Motor/Encoder type
SV026
OD2
Excessive error detection width during servo OFF
SV027
SSF1
Servo function 1
SV028
MSFT
Magnetic pole shift amount
SV029
VCS
Speed at the change of speed loop gain
SV030
IVC
Voltage non-sensitive band compensation
SV031
OVS1
Overshooting compensation 1
SV032
TOF
Torque offset
SV033
SSF2
Servo function 2
SV034
SSF3
Servo function 3
SV035
SSF4
Servo function 4
SV036
PTYP
Power supply type/ Regenerative resistor type
SV037
JL
Load inertia scale
SV038
FHz1
Notch filter frequency 1
SV039
LMCD
Lost motion compensation timing
SV040
LMCT
Lost motion compensation non-sensitive band
SV041
LMC2
Lost motion compensation 2
SV042
OVS2
Overshooting compensation 2
SV043
OBS1
Disturbance observer filter frequency
SV044
OBS2
Disturbance observer gain
SV045
TRUB
Friction torque
SV046
FHz2
Notch filter frequency 2
SV047
EC
Inductive voltage compensation gain
SV048
EMGrt
Vertical axis drop prevention time
SV049
PGN1sp Position loop gain 1 in spindle synchronous control
SV050
PGN2sp Position loop gain 2 in spindle synchronous control
SV051
DFBT
Dual feedback control time constant
SV052
DFBN
Dual feedback control non-sensitive band
SV053
OD3
Excessive error detection width in special control
SV054
ORE
Overrun detection width in closed loop control
SV055
EMGx
Max. gate off delay time after emergency stop
SV056
EMGt
Deceleration time constant at emergency stop
SV057
SHGC
SHG control gain
SV058
SHGCsp SHG control gain in spindle synchronous control
SV059
TCNV
Collision detection torque estimated gain
SV060
TLMT
Collision detection level
SV061
DA1NO D/A output ch1 data No. for initial DC excitation level
SV062
DA2NO D/A output ch2 data No. for final DC excitation level
D/A output ch1 output scale for initial DC excitation
SV063
DA1MPY
time
SV064
DA2MPY D/A output ch2 output scale
SV065
TLC
Machine end compensation gain
Motor
012C20
036E20
MDS-E-V1-
40
80
MDS-D2-V1-
-
-
33
33
0
100
100
0
0
1364
1364
20480
20480
20480
20480
2048
2048
2048
2048
800
800
800
800
0
0
7000
7000
360
360
-
-
60
60
150
150
6
50
50
22FF
2213
6
4000
4000
0
0
0
0
0
0000
0000
0000
0000
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
100
100
0
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
53
Direct-drive motor TM-RB Series
048G20 105G10 105G20 150G20
80
160
160
160
-
-
-
-
-
-
-
-
33
33
33
0
0
0
0
100
100
100
0
0
0
0
0
0
0
0
1364
1364
1364
20480
20480
20480
20480
20480
20480
20480
20480
3072
6144
4096
3072
6144
4096
800
800
800
800
800
800
0
0
0
0
0
0
0
0
7000
7000
7000
360
360
360
-
-
-
-
-
-
-
-
60
60
60
150
150
150
6
6
6
6
50
50
50
22FF
22FF
22FF
6
6
6
6
4000
4000
4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100
0
0
0
0
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
340J20
500J20
320
320W
-
-
-
-
-
-
33
33
33
0
0
0
100
100
100
0
0
0
0
0
0
1364
1364
1364
20480
20480
20480
20480
3072
3072
2048
3072
3072
2048
800
800
800
800
800
800
0
0
0
0
0
0
7000
7000
7000
360
360
360
-
-
-
-
-
-
60
60
60
150
150
150
6
6
6
50
50
50
2218
22FF
22FF
6
6
6
4000
4000
4000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
100
100
100
0
0
0
15
15
15
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
IB-1501068-C
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