NSK EDD Megatorque Motor, User Manual, Page: 306 / 398

9. Details of Command and Parameter
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P SG : Servo Gain

This parameter sets the position loop bandwidth.

Refer to “5.3. Tuning Level 2: Servo Gain Tuning” for details.

A quadruple value of the setting of the parameter SG is the actual position loop bandwidth.
Category Parameter
Format
SG data
Data range 1 0 : Manual setting by the parameters PG and VG
Data range 2 1 to 250 [× 4 Hz] : Position loop control band width
Shipping set 0

A change in the parameter SG automatically resets the parameters PG (Position loop proportional gain)
and VG (Velocity loop proportional gain).

Changes in the parameters PG, VG and LO (Load inertia) will clear the parameter SG to zero (0).

SI : Set Initial Parameters

This command resets the parameters to the shipping set.
Category Command
Format 1
SI
: Initializes the servo parameters.
(The parameters to be read out by the commands TS1 and TS2.)
Format 2
SI /SY
: Initializes all parameters excluding the parameter AO (Absolute position scale
offset.
Format 3
SI /AL
: Initializes all parameters.
Condition to be
met
The servo must be deactivated. (In case of the commands SI/SY or SI/AL)

In case of the alarm E2 (RAM error) or the alarm E7 (System error), execution of the command SI will
automatically initialize the broken area of the ROM.

The command SI does not initialize programs, the function set to the control input/output and the alarm
history. The following commands reset to the shipping set respectively.

Initialization of the programs: Command CC/AL

Initialization of the function set to the control inputs and outputs: Commands PI/CL or PO/CL

Initialization of the alarm history: Command TA/CL
！
Caution : The initialization of the System requires approximately 40 seconds. If the
control power is turned off during the initialization, the alarm E2 (RAM error)
may occur.

P SK : (Factory use only)

This parameter is for factory use only. Do not change the setting. .