6.2 List of Servo Parameters
6-12
Pn163
2
Anti-Resonance Damp-
ing Gain
0 to 300
1%
0
Rotary
Immedi-
ately
Tuning
*1
Pn164
2
Anti-Resonance Filter
Time Constant 1 Cor-
rection
-1,000 to
1,000
0.01 ms
0
Rotary
Immedi-
ately
Tuning
*1
Pn165
2
Anti-Resonance Filter
Time Constant 2 Cor-
rection
-1,000 to
1,000
0.01 ms
0
Rotary
Immedi-
ately
Tuning
*1
Pn166
2
Anti-Resonance Damp-
ing Gain 2
0 to 1,000
1%
0
Rotary
Immedi-
ately
Tuning
*1
Pn170
2
Tuning-less Function-
Related Selections
0000h to
2711h
–
1401h
Rotary
–
Setup
*1
Pn205
2
Multiturn Limit
0 to 65,535
1 rev
65535
Rotary
After
restart
Setup
*1
Pn207
2
Position Control Func-
tion Selections
0000h to
2210h
–
0010h
Rotary
After
restart
Setup
*1
Pn20A
4
Number of External
Encoder Scale Pitches
4 to
1,048,576
1 scale
pitch/
revolu-
tion
32768
Rotary
After
restart
Setup
*1
Pn20E
4
Electronic Gear Ratio
(Numerator)
1 to
1,073,741,824
1
16
Rotary
After
restart
Setup
*1
Pn210
4
Electronic Gear Ratio
(Denominator)
1 to
1,073,741,824
1
1
Rotary
After
restart
Setup
*1
Continued on next page.
Continued from previous page.
Parameter
No.
Size
Name
Setting
Range
Setting
Unit
Default
Setting
Applicable
Motors
When
Enabled
Classi-
fication
Refer-
ence
n.
X
Tuning-less Selection
When
Enabled
0
Disable tuning-less function.
After
restart
1
Enable tuning-less function.
n.
X
Speed Control Method
When
Enabled
0
Use for speed control.
After
restart
1
Use for speed control and use host controller for position control.
n.
X
Rigidity Level
When
Enabled
0 to 7
Set the rigidity level.
Immedi-
ately
n.X
Tuning-less Load Level
When
Enabled
0 to 2
Set the load level for the tuning-less function.
Immedi-
ately
n.
X
Reserved parameter (Do not change.)
n.
X
Reserved parameter (Do not change.)
n.
X
Reserved parameter (Do not change.)
n.X
/COIN (Positioning Completion Output) Signal Output Timing
0
Output when the absolute value of the position deviation is the same or less
than the setting of Pn522 (Positioning Completed Width).
1
Output when the absolute value of the position error is the same or less than
the setting of Pn522 (Positioning Completed Width) and the reference after
the position reference filter is 0.
2
Output when the absolute value of the position error is the same or less than
the setting of Pn522 (Positioning Completed Width) and the reference input is
0.
