6.2 List of Servo Parameters
6-4
Pn002
2
Application Function
Selections 2
0000h to
4213h
–
0011h
Rotary
After
restart
Setup
–
Pn006
2
Application Function
Selections 6
0000h to
105Fh
–
0002h
Rotary
Immedi-
ately
Setup
*1
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Parameter
No.
Size
Name
Setting
Range
Setting
Unit
Default
Setting
Applicable
Motors
When
Enabled
Classi-
fication
Refer-
ence
n.
X
MECHATROLINK Command Position and Speed Control Option
Reference
0
Reserved setting (Do not use.)
*2
1
Use TLIM as the torque limit.
2
Reserved setting (Do not use.)
3
Reserved setting (Do not use.)
n.
X
Torque Control Option
Reference
0
Reserved setting (Do not use.)
*2
1
Use the speed limit for torque control (VLIM) as the speed limit.
n.
X
Encoder Usage
Reference
0
Use the encoder according to encoder specifications.
*1
1
Use the encoder as an incremental encoder.
2
Use the encoder as a single-turn absolute encoder.
n.X
External Encoder Usage
Reference
0
Do not use an external encoder.
*1
1
The external encoder moves in the forward direction for CCW
motor rotation.
2
Reserved setting (Do not use.)
3
The external encoder moves in the reverse direction for CCW
motor rotation.
4
Reserved setting (Do not use.)
n.
XX
Analog Monitor 1 Signal Selection
00
Motor speed (1 V/1,000 min
-1
)
01
Speed reference (1 V/1,000 min
-1
)
02
Torque reference (1 V/100% rated torque)
03
Position deviation (0.05 V/reference unit)
04
Position amplifier deviation (after electronic gear) (0.05 V/encoder pulse unit)
05
Position reference speed (1 V/1,000 min
-1
)
06
Reserved setting (Do not use.)
07
Load-motor position deviation (0.01 V/reference unit)
08
Positioning completion (positioning completed: 5 V, positioning not com-
pleted: 0 V)
09
Speed feedforward (1 V/1,000 min
-1
)
0A
Torque feedforward (1 V/100% rated torque)
0B
Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C
Completion of position reference distribution (completed: 5 V, not com-
pleted: 0 V)
0D
External encoder speed (1 V/1,000 min
-1
: value at the motor shaft)
0E
Reserved setting (Do not use.)
0F
Reserved setting (Do not use.)
10
Main circuit DC voltage
11 to 5F
Reserved settings (Do not use.)
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
