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13.2 List of MECHATROLINK-III Common Parameters
13.2.2 List of MECHATROLINK-III Common Parameters
Parameter
No.
61
PnAC2
62
PnAC4
63
PnAC6
64
PnAC8
65
PnACA
66
PnACC
67
PnACE
81
PnB02
82
PnB04
83
PnB06
84
PnB08
85
PnB0A
86
PnB0C
87
PnB0E
13-46
Size
Name
4
Speed Loop Gain
Speed Loop Integral
4
Time Constant
4
Position Loop Gain
Feed Forward Com-
4
pensation
Position Loop Inte-
4
gral Time Constant
4
In-position Range
4
Near-position Range
Exponential Func-
tion Acceleration/
4
Deceleration Time
Constant
Movement Average
4
Time
Final Travel for Exter-
4
nal Input Positioning
Zero Point Return
4
Approach Speed
Zero Point Return
4
Creep Speed
Final Travel for Zero
4
Point Return
4
Monitor Select 1
0000h
APOS
0001h
CPOS
0002h
PERR
0003h
LPOS1
0004h
LPOS2
0005h
FSPD
0006h
CSPD
0007h
TRQ
0008h
ALARM
0009h
MPOS
000Ah
Reserved (undefined value).
000Bh
Reserved (undefined value).
000Ch
CMN1 (common monitor 1)
000Dh
CMN2 (common monitor 2)
000Eh
OMN1 (optional monitor 1)
000Fh
OMN2 (optional monitor 2)
Setting Unit
Setting Range
[Resolution]
1,000 to
0.001 Hz
2,000,000
[0.1 Hz]
1 μs
150 to 512,000
[0.01 ms]
1,000 to
0.001/s
2,000,000
[0.1/s]
0 to 100
1%
1 μs
0 to 5,000,000
[0.1 ms]
0 to
1 reference
1,073,741,824
unit
1 to
1 reference
1,073,741,824
unit
1 μs
0 to 510,000
[0.1 ms]
1 μs
0 to 510,000
[0.1 ms]
-1,073,741,823
1 reference
to
unit
1,073,741,823
0h to
-3
-1
10
min
3FFFFFFFh
0h to
-3
-1
10
min
3FFFFFFFh
-1,073,741,823
1 reference
to
unit
1,073,741,823
0h to Fh
–
Continued from previous page.
Default
Applicable
When
Setting
Motors
Enabled
Immedi-
40000
All
ately
Immedi-
20000
All
ately
Immedi-
40000
All
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
Immedi-
7
All
ately
10737418
Immedi-
All
24
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
Immedi-
100
All
ately
× 5,000h
reference
units/s
Immedi-
All
con-
ately
verted to
-3
-1
10
min
× 500h
reference
units/s
Immedi-
All
con-
ately
verted to
-3
-1
10
min
Immedi-
100
All
ately
Immedi-
1h
All
ately
Continued on next page.
Classi-
fication
*6
*6
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