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[Preparation]
Preparation
Parameters for Position Control
Parameters for Velocity/Torque control
*2 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
Refer to P.57, "Setup of Torque Limit".
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr )
Default
40*1
41*1
42*1
43
44*1
45*1
46*1
47*1
48
49
4A
4B
4C
4D*1
4E
4F
0 to 1
0 to 1
0 to 3
0 to 1
1 to 32767
0 to 32767
0 to 3
0 to 32767
0 to 10000
0 to 10000
0 to 17
1 to 10000
0 to 7
0 to 31
0 to 2
–
0
0
1
1
2500
0
0
0
0
0
0
10000
1
0
1
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
P, F
P, F
P, F
P, F
all
all
all
F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
–
Selection of command pulse input
setup of rotational direction of command pulse
setup of command pulse input mode
Canceling of command pulse prohibition input
Numerator of pulse output division
Denominator of pulse output division
Logic reversal of pulse output
Setup of Z-phase of external scale
1st numerator of electronic gear
2nd numerator of electronic gear
Multiplier for numerator of electronic gear
Denominator of electronic gear
Setup of smoothing filter for primary delay
Setup of FIR smoothing
Counter clear input mode
(For manufacturer's use)
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr )
Default
50
51
52
53
54
55
56
74
75
76
77
57
10 to 2000
0 to 1
–2047 to 2047
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
0 to 6400
500
1
0
0
0
0
0
0
0
0
0
0
(r/min)/V
–
0.3mV
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
0.01ms
S, T
S
S, T
S
S
S
S, T
S
S
S
S
S, T
Input gain of speed command
Input reversal of speed command
Offset of speed command
1st speed of speed setup
2nd speed of speed setup
3rd speed of speed setup
4th speed of speed setup
5th speed of speed setup
6th speed of speed setup
7th speed of speed setup
8th speed of speed setup
Setup of speed command filter
Setup of acceleration time
Setup of deceleration time
Setup of sigmoid acceleration/deceleration time
Selection of torque command
Input gain of torque command
Input reversal of torque command
Setup of 1st torque limit
Setup of 2nd torque limit
58
59
5A
5B
5C
5D
5E
5F
0 to 5000
0 to 5000
0 to 500
0 to 1
10 to 100
0 to 1
0 to 500
0 to 500
0
0
0
0
30
0
<500>*2
<500>*2
2ms/(1000r/min)
2ms/(1000r/min)
2ms
–
0.1V/rated torque
–
%
%
S
S
S
T
T
T
all
P, S, F
• For parameters with suffix of "*1", change will be validated after the reset of the control power.