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Setup of Parameter and Mode
Composition and List of Parameters
For details, refer to "Parameter Setup" of each control mode.
• In this document, following symbols represent each mode.
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd with control
mode switching input (C-MODE).
When C-MODE is open : 1st mode selection
When C-Mode is closed : 2nd mode selection
Do not enter the command 10ms before/after the switching.
Group Outline
Parameter No.
(Pr )
Functional selection
Adjustment
Position (Step)
Control
Velocity Control,
Torque Control
Sequence
Full-Closed Control
00 to 0F
10 to 1F,
27 to 2E
20 to 26, 2F
30 to 3F
40 to 4F
50 to 5A,
74 to 77
5B to 5F
60 to 6F
70 to 73
78 to 7F
You can select a control mode, designate I/O signals and set up a baud
rate.
You can set up servo gains (1st and 2nd) of position, velocity,
integration, etc, and time constants of various filters.
Parameters related to Real Time Auto-Gain Tuning. You can set up a
mode and select a mechanical stiffness.
You can set up parameters related to gain switching(1st 2nd)
You can set up an input form, directional selection of command pulses,
dividing of encoder output pulse and set up a division multiplier ratio of
command pulse.
You can set up an input gain of command pulse, reverse polarity and
adjust offset. You can also set up internal speeds (1 to 8th speed),
acceleration/deceleration time.
You can set an input gain, reverse polarity and set up a torque limit of
torque command.
You can set up detecting conditions of output signals, such as
positioning-complete and zero-speed.
You can also set up a deceleration/stop action at main power-off, at
alarm output and at servo-off, and clear condition of the deviation
counter.
You can set up actions of protective functions.
You can set up dividing of external scale.
P
S
T
F
Symbol
0
1
2
6
Setup
value
of Pr02
Position control
Velocity control
Torque control
Full-Closed control
Control mode
P/S
P/T
S/T
Symbol
3*
4*
5*
Setup
value
of Pr02
Position (1st)/Velocity (2nd) control
Position (1st)/Torque (2nd) control
Velocity (1st)/Torque (2nd) control
Control mode