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2
Preparation
[Class 0] Basic setting
Parametr
No.
Class No.
0
00
Rotational direction setup
0
01
Control mode setup
0
02
Real-time auto-gain tuning setup
Selection of machine stiffness at real-
0
03
time auto-gain tuning
0
04
Inertia ratio
0
05
Selection of command pulse input
Command pulse rotational direction
0
06
setup
0
07
Command pulse input mode setup
Command pulse counts per one motor
0
08
revolution
0
09
1st numerator of electronic gear
0
10
Denominator of electronic gear
Output pulse counts per one motor
0
11
revolution
0
12
Reversal of pulse output logic
0
13
1st torque limit
0
14
Position deviation excess setup
0
15
Absolute encoder setup
0
16
External regenerative resistor setup
Load factor of external regenerative
0
17
resistor selection
* Definition of symbols under "Attribute" - INI: turning on of power supply is required, RO: read only
* Definition of symbols under "Related mode" - P: position control, S: velocity control, T: torque control, F: full closed control
*1 Default settings depend on the combination of driver and motor. Refer to P. 2-49 "Torque limit setting".
Note
Parameter describes of this page is P.4-4 to P.4-11.
13. Setup of Parameter and Mode
List of Parameters
Title
Range
0 to 1
0 to 6
0 to 6
0 to 31
0 to 10000
0 to 1
0 to 1
0 to 3
0 to 2
0 to 2
0 to 2
1 to 262144
0 to 3
0 to 500
0 to 2
0 to 2
0 to 3
0 to 4
Default
Unit
A,B
C
D,E,F
-frame
-frame
-frame
1
−
0
−
1
−
13
11
−
250
%
0
−
0
−
1
−
10000
pulse
20
0
−
30
10000
−
30
2500
P/r
0
−
500
*1
%
Command
100000
27
unit
1
−
3
0
−
0
−
Related
Attribute
Control Mode Detail
page
P
S
T
F
INI RO
P
S
T
F
4-4
P
S
T
F
P
S
T
F
4-5
P
S
T
F
P
S
T
F
4-6
P
S
T
F
P
S
T
F
4-7
P
S
T
F
P
S
T
F
4-8
P
S
T
F
P
S
T
F
P
S
T
F
4-9
P
S
T
F
P
S
T
F
4-10
P
S
T
F
P
S
T
F
P
S
T
F
4-11
P
S
T
F
2-41
1
2
3
4
5
6
7
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