86
Pn No.
Size
Name
Setting range
Setting
Unit
Factory setting Available
time
Categor
y
Model
Pn002
2 Function
selection
application switch 2
0000
～
4213
-
0000
Power
restart
Setup
P
0011
B
n.
X Speed/position control selection (T-REF assignment)
Model
0
No T-REF allocation.
P
1
Use T-REF as the external torque limit input.
(Torque Limit Enabled in Bus Mode)
P
（
B
）
2
T-REF is used as torque feedforward input.
P
3
When /P-CL and /N-CL are "valid", T-REF is used as external
torque limiting input.
P
n.
X
Torque control selection (V-REF allocation)
Model
0
No V-REF allocation.
P
1
Use V-REF as the external speed limit input.
(In bus mode, speed limit under torque control is enabled)
P
（
B
）
n.
X
Method of use of encoder
Remarks
0
Use the encoder according to its specifications.
1
The encoder is used as an incremental encoder.
2
The absolute value encoder is used as a single coil absolute value
encoder.
n.X
Use method of external encoder
Remarks
0
No external encoder is used.
1
It is used as "the motor rotates in CCW direction and the external
encoder moves forward".
2
Appointment Parameters (Do Not Set)
3
It is used as "the motor rotates in CCW direction and the external
encoder moves in reverse".
4
Appointment Parameters (Do Not Set)
Pn008
2 Function
selection
application switch 8
0000
～
7121
-
4000
Power
restart
Setup
n.
X Alarm/Warning Selection for Battery Undervoltage
Remarks
0
Set the battery undervoltage as an alarm (A.830).
1
Set the battery undervoltage as a warning (A.930).
n.
X
Function Selection in Undervoltage
Remarks
0
Under voltage warning is not detected.
1
The undervoltage warning is detected, and the torque limit is
executed by the upper device.
2
The undervoltage warning is detected, and torque limitation is
performed through Pn424 and Pn425
n.
X
Warning Check Out Selection
Remarks
0
Check out warnings.
1
No warnings are detected (except A.971).
n.X
Appointment parameters (do not change it)
Pn009
2 Function
selection
application switch 9
0000
～
0121
-
0010
Power
restart
Adjustm
ent
-
n.
X Appointment parameters (do not change it)
Remarks
n.
X
Current control mode selection
Remarks
0
Select current control mode 0
1
Select current control mode 1
2
Select current control mode 2
n.
X
Selection of Speed Detection Methods
Remarks
0
Select Speed Check Out 1.
1
Select Speed Check Out 2.
n.X
Appointment parameters (do not change it)
Remarks
