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6.2 FT40 Specification
6.2.1 List of Servo Parameters
Parameter
No.
Pn164
Pn165
Pn166
Pn170
Pn181
Pn182
Pn205
Pn207
Pn20A
Pn20E
6-16
Name
Anti-Resonance Filter
2
Time Constant 1 Cor-
rection
Anti-Resonance Filter
2
Time Constant 2 Cor-
rection
Anti-Resonance Damp-
2
ing Gain 2
Tuning-less Function-
2
Related Selections
Tuning-less Selection
n.
X
0
Disable tuning-less function.
1
Enable tuning-less function.
Speed Control Method
n.
X
0
Use for speed control.
1
Use for speed control and use host controller for position control.
Rigidity Level
n.
X
0 to 7
Set the rigidity level.
Tuning-less Load Level
n.X
0 to 2
Set the load level for the tuning-less function.
Mode Switching Level
2
for Speed Reference
Mode Switching Level
2
for Acceleration
2
Multiturn Limit
Position Control Func-
2
tion Selections
n.
X
Reserved parameter (Do not change.)
n.
X
Reserved parameter (Do not change.)
n.
X
Reserved parameter (Do not change.)
/COIN (Positioning Completion Output) Signal Output Timing
Output when the absolute value of the position deviation is the same or less
0
than the setting of Pn522 (Positioning Completed Width).
Output when the absolute value of the position error is the same or less than
n.X
1
the setting of Pn522 (Positioning Completed Width) and the reference after
the position reference filter is 0.
Output when the absolute value of the position error is the same or less than
2
the setting of Pn522 (Positioning Completed Width) and the reference input is
0.
Number of External
4
Encoder Scale Pitches
Electronic Gear Ratio
4
(Numerator)
Setting
Setting
Default
Range
Unit
Setting
-1,000 to
0.01 ms
0
1,000
-1,000 to
0.01 ms
0
1,000
0 to 1,000
1%
0
0000
to
h
–
1400
2711
h
0 to 10,000
1 mm/s
0
1 mm/
0 to 30,000
0
2
s
0 to 65,535
1 rev
65535
0000
h
to
–
0010
2210
h
1 scale
4 to
pitch/
32768
1,048,576
revolu-
tion
1 to
1
16
1,073,741,824
Continued from previous page.
Applicable
When
Motors
Enabled
fication
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
h
All
–
Immedi-
Linear
ately
Immedi-
Linear
ately
After
Rotary
restart
After
All
h
restart
After
Rotary
restart
After
All
restart
Continued on next page.
Classi-
Refer-
ence
*1
Tuning
*1
Tuning
*1
Tuning
*1
Setup
When
Enabled
After
restart
When
Enabled
After
restart
When
Enabled
Immedi-
ately
When
Enabled
Immedi-
ately
*1
Tuning
*1
Tuning
*1
Setup
*1
Setup
*1
Setup
*1
Setup
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Troubleshooting
