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Default Parameters
• Servo parameter (SV.Pr)
SV.Pr**
Parameter
00
(For manufacturer's use)
7-segment LED status for console, initial condition display
01
Control mode
02
03
Torque limit selection
04
(For manufacturer's use)
(For manufacturer's use)
05
(For manufacturer's use)
06
Speed monitor (SP) selection
07
08
Torque monitor (IM) selection
(For manufacturer's use)
09
(For manufacturer's use)
0A
Absolute encoder set up
0B
0C
Baud rate of RS232
0D
(For manufacturer's use)
(For manufacturer's use)
0E
Node address
0F
10
1st position loop gain
11
1st velocity loop gain
1st velocity loop integration time constant
12
1st speed detection filter
13
14
1st torque filter time constant
15
Velocity feed forward
Feed forward filter time constant
16
(For manufacturer's use)
17
2nd position loop gain
18
19
2nd velocity loop gain
2nd velocity loop integration time constant
1A
2nd speed detection filter
1B
2nd torque filter time constant
1C
1D
1st notch frequency
1E
1st notch width selection
(For manufacturer's use)
1F
Inertia ratio
20
21
Real time auto tuning set up
22
Machine stiffness at auto tuning
Adaptive filter mode
23
Vibration suppression filter switching selection
24
Normal auto tuning motion setup
25
26
Software limit set up
Velocity observer
27
2nd notch frequency
28
2nd notch width selection
29
2A
2nd notch depth selection
2B
1st vibration suppression frequency
1st vibration suppression filter
2C
2nd vibration suppression frequency
2D
2E
2nd vibration suppression filter
2F
Adaptive filter frequency
2nd gain action set up
30
1st control switching mode
31
32
1st control switching delay time
33
1st control switching level
1st control switching hysteresis
34
Position loop gain switching time
35
(For manufacturer's use)
36
37
(For manufacturer's use)
(For manufacturer's use)
38
(For manufacturer's use)
39
(For manufacturer's use)
3A
3B
(For manufacturer's use)
3C
(For manufacturer's use)
(For manufacturer's use)
3D
(For manufacturer's use)
3E
3F
(For manufacturer's use)
*1) A maximum value of SV.Pr5E (torque limit setting) varies depending on an applicable motor. Refer to page 78.
*2) Default parameters of SV.Pr10 to 12, 14, 18, 19, 1C, 22 and 6C vary depending on a driver.
*3) The parameters with parenthesized set value are specified automatically when real-time auto-gain tuning or normal-mode
auto-gain tuning has been executed.
228
(for all the models of A4P Series)
Default
(*2)
(63/32)
(*2)
(35/18)
(*2)
(16/31)
(0)
(*2)
(65/126)
(300)
(50)
(*2)
(73/38)
(*2)
(35/18)
(1000)
(0)
(*2)
(65/126)
1500
(250)
(*2)
4/1
10
(0)
1500
(1)
(10)
(30)
(50)
(33)
(20)
(0)
300
SV.Pr**
(For manufacturer's use)
1
40
1
(For manufacturer's use)
41
0
(For manufacturer's use)
42
1
43
(For manufacturer's use)
Numerator of output pulse ratio
1
44
0
Denominator of output pulse ratio
45
0
Pulse output logic inversion
46
3
(For manufacturer's use)
47
0
48
(For manufacturer's use)
0
(For manufacturer's use)
49
1
(For manufacturer's use)
4A
1
(For manufacturer's use)
4B
2
4C
Smoothing filter
FIR filter set up
5
4D
0
(For manufacturer's use)
4E
0
(For manufacturer's use)
4F
50
(For manufacturer's use)
(For manufacturer's use)
51
(For manufacturer's use)
52
Over-travel inhibit input valid
53
54
Over-travel inhibit input logic
Over-travel inhibit input operation setting
55
Home sensor input logic
56
0
Selecting the number of input points
57
Point specifying input logic setting
58
59
Multi-function input 1 Signal logic
Multi-function input 1 Signal selection
5A
Multi-function input 2 Signal logic
5B
Multi-function input 2 Selection logic
5C
5D
Servo-ON input valid
1st torque limit
2
5E
0
2nd torque limit
5F
In-position range
60
1
61
(For manufacturer's use)
(For manufacturer's use)
62
1
(For manufacturer's use)
63
0
Output signal selection
64
0
Undervoltage error response at main power-off
65
(For manufacturer's use)
66
Error response at main power-off
67
Error response action
68
2
Sequence at Servo-OFF
69
0
6A
Mechanical brake delay at motor standstill
Mechanical brake delay at motor in motion
0
6B
0
External regenerative resistor set up
6C
0
Main power-off detection time
6D
0
6E
Emergency stop torque set up
(For manufacturer's use)
0
6F
Position deviation error level
70
(For manufacturer's use)
71
72
Overload level
Overspeed level
73
(For manufacturer's use)
74
(For manufacturer's use)
75
(For manufacturer's use)
76
(For manufacturer's use)
0
77
0
Numerator of external scale ratio
78
0
Multiplier of numerator of external scale ratio
79
0
Denominator of external scale ratio
7A
0
7B
Hybrid deviation error level
External scale direction
0
7C
(For manufacturer's use)
7D
0
(For manufacturer's use)
7E
0
7F
(For manufacturer's use)
Parameter
(*1)
(*1)
(*2)
Default
5
500
0
0
10000
10000
0
0
10000
0
0
10000
1
0
2
0
0
0
2
1
0
1
1
2
1
1
0
1
0
1
500
500
131
50
1000
0
0
1
0
0
0
0
0
0
0/3
35
0
0
25000
0
0
0
0
0
0
0
10000
0
10000
100
0
0
0
0
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