Appendix A
Parameter
- 129 -
Para
Para
Para
Para.... No.
No.
No.
No.
Name
Name
Name
Name
Unit
Unit
Unit
Unit
Setting
Setting
Setting
Setting
Range
Range
Range
Range
Factory
Factory
Factory
Factory
Setting
Setting
Setting
Setting
Setting
Setting
Setting
Setting
Invalidation
Invalidation
Invalidation
Invalidation
Pn005
Hex
Hex
Hex
Hex
Pn005.0: Torque feedforward mode
Pn005.1: Control mode
[0] Speed control(analog reference)
[1] Position control(pulse train)
[2] Torque control(analog reference)
[3]Speedcontrol(contact reference)←→
speed control(zero reference)
[4] Speed control(contact reference)←→
speed control(analog reference)
[5] Speed control(contact reference)←→
position control(pulse train)
[6] Speed control(contact reference)←→
torque control(analog reference)
[7] Position control(pulse train)←→
speed control(analog reference)
[8] Position control(pulse train)←→
torque control(analog reference)
[9] Torque control(analog reference)←→
speed control(analog reference)
[A] Speed control(analog reference)←→
zero clamp
[B] Position control(pulse train)←→
position control(inhibit)
[C] Position control (contact reference)
[D] Speed control(parameter reference)
[E] Pressure control(analog reference)
Pn005.2:Out-of-tolerance alarm selection
Pn005.3:Servomotor model
—
0~0x33E3
0
After restart
Pn006
Hex
Hex
Hex
Hex
Pn006.0: Bus mode
Pn006.1: Reserved
Pn006.2: Low frequency jitter suppersion
switch
Pn006.3: Reference input filter for open
collector signal
—
0~0x0132
0x0020
After restart
Pn100
Realtime
Realtime
Realtime
Realtime autotuning
autotuning
autotuning
autotuning setting
setting
setting
setting
0:Manual gain adjustment
1,2,3=Normal mode;4,5,6=Vertical load
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
—
0~6
1
After restart
Pn101
Load rigidity selection
—
0~15
5
Immediately
Pn102
Speed loop gain
Hz
1~2500
160
Immediately
Pn103
Speed loop integral time constant
0.1ms
1~4096
200
Immediately
Pn104
Position loop gain
1/s
0~1000
40
Immediately
