User Parameters; Parameter Tables - Omron SMARTSTEP R7D-AP Series User Manual

Operation
4-6

User Parameters

This section describes the Servo Driver internal user parameters. Even if operating
using the Servo Driver's front panel switch settings, be sure to understand the kinds of
functions that are set with the parameters.
Note R7A-PR02A Parameter Unit is required to change user parameters. Refer to Operation Manual
(I534) for detailed operation procedures.

4-6-1 Parameter Tables

• The parameters for which each digit number must be set separately are given with the digit number
added to the parameter number. For example, Pn001.0 (i.e., digit 0 of parameter Pn001).
• The default setting for parameters set using 5 digits are given in the table without leading zeros
(e.g., if the default setting is 00080, 80 is given in the table).
Parameter Parameter name
No.
Pn000 Basic switches 1 0
1
2
3
Pn001 Basic switches 2 0
1
2
3
Pn100 Speed loop gain Speed loop response adjustment
Pn101 Speed loop inte- Speed loop integral time constant
gral time constant
Pn102 Position loop gain Adjusts position loop responsiveness.
Pn103 Inertia ratio The ratio between the machine system inertia and the Servomotor rotor
inertia
Pn109 Feed-forward Position control feed-forward compensation
amount
Pn10A Feed-forward The position control feed-forward command filter
command filter
Description for parameters set with 5 digits
Digit Name Setting
No.
Reverse rotation 0
mode
1
Control mode 1
selection
Not used. 0
Not used. 0
Stop selection if 0
an alarm occurs
when servo is
1
OFF
2
Not used. 0
Not used. 0
Not used. 1
Default
Description for parameters
with individually set digits
CCW direction is taken for posi- 0010
tive command.
CW direction is taken for posi-
tive command.
Position control by pulse train
command
–
–
Servomotor stopped by 1002
dynamic brake.
Servomotor stopped by
dynamic brake.
Dynamic brake released after
Servomotor stops.
Servomotor stopped with free
run.
–
–
–
80
2000
40
300
0
0
Chapter 4
Unit Setting Restart?
range
– – Yes
– – Yes
Hz 1 to 2000 –
× 0.01 ms
15 to 51200 –
1/s 1 to 2000 –
% 0 to 10000 –
% 0 to 100 –
× 0.01 ms
0 to 6400 –
4-15