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Parameter
Name
No.
Gravity Compensation-
2
Related Selections
n. X
Gravity Compensation Selection
Pn475
n. X
Reserved parameter (Do not change.)
n. X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
Gravity Compensation
Pn476
2
Torque
Speed Limit during
Pn480
2
Force Control
Polarity Detection
Pn481
2
Speed Loop Gain
Polarity Detection
Pn482
2
Speed Loop Integral
Time Constant
Pn483
2
Forward Force Limit
Pn484
2
Reverse Force Limit
Polarity Detection Refer-
Pn485
2
ence Speed
Polarity Detection Refer-
Pn486
2
ence Acceleration/
Deceleration Time
Polarity Detection Con-
Pn487
2
stant Speed Time
Polarity Detection Refer-
Pn488
2
ence Waiting Time
Polarity Detection
Pn48E
2
Range
Polarity Detection Load
Pn490
2
Level
Polarity Detection Con-
Pn495
2
firmation Force Refer-
ence
Polarity Detection Allow-
Pn498
2
able Error Range
Speed Ripple Compen-
Pn49F
2
sation Enable Speed
Pressure Feedback
Pn4A0
2
One-Parameter Gain
Level
Reserved parameter (Do
Pn4A3
2
not change.)
Pressure Feedback
Pn4A7
2
Control 2 Stability Gain
Pressure Feedback
Pn4A8
2
Control 2 Stability Inte-
gral Time
Reserved parameter (Do
Pn4A9
2
not change.)
Reserved parameter (Do
Pn4AA
2
not change.)
Reserved parameter (Do
Pn4AB
2
not change.)
Pressure Feedback
Pn4AC
2
Moment of Inertia Ratio
Setting
Setting
Range
Unit
0000h to
–
0001h
0
Disable gravity compensation.
1
Enable gravity compensation.
-1,000 to
0.1%
1,000
0 to 10,000
1 mm/s
10 to 20,000
0.1 Hz
15 to 51,200 0.01 ms
*3
0 to 800
1%
*3
0 to 800
1%
0 to 100
1 mm/s
0 to 100
1 ms
0 to 300
1 ms
50 to 500
1 ms
1 to 65,535
1 mm
0 to 20,000
1%
0 to 200
1%
0 to 30
1 deg
0 to 10,000
1 mm/s
1 to 65,535
–
–
–
10 to 20,000
0.1 Hz
15 to 51,200 0.01 ms
–
–
–
–
–
–
0 to 20,000
1%
6.3 FT41 Specification
6.3.1 List of Servo Parameters
Continued from previous page.
Default
Applicable
When
Setting
Motors
Enabled
After
0000h
All
restart
Immedi-
0
All
ately
Immedi-
100
Linear
ately
Immedi-
400
Linear
ately
Immedi-
3000
Linear
ately
Immedi-
30
Linear
ately
Immedi-
30
Linear
ately
Immedi-
20
Linear
ately
Immedi-
25
Linear
ately
Immedi-
0
Linear
ately
Immedi-
100
Linear
ately
Immedi-
10
Linear
ately
Immedi-
100
Linear
ately
Immedi-
100
Linear
ately
Immedi-
10
Linear
ately
Immedi-
0
Linear
ately
Immedi-
1000
All
ately
100
All
–
Immedi-
400
All
ately
Immedi-
2000
All
ately
400
All
–
2000
All
–
0
All
–
Immedi-
100
All
ately
Continued on next page.
Classi-
Refer-
fication
ence
*1
Setup
*1
Tuning
*1
Setup
Tuning
–
Tuning
–
*1
Setup
*1
Setup
Tuning
–
Tuning
–
Tuning
–
Tuning
–
Tuning
–
Tuning
–
Tuning
–
Tuning
–
*1
Tuning
Setup
3-18
–
–
Setup
3-18
Setup
3-18
–
–
–
–
–
–
Setup
3-18
6
6-89
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