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Parameter
No.
Name of parameter
(Pr□□)
The 2nd velocity loop
integration gain (the 2nd
32
gain)
The 2nd velocity feed
forward gain
33
(the 2nd gain)
The 2nd speed
detection filter
34
(the 2nd gain)
The 2nd torque limit
35
setting (The 2nd gain)
*1 The value is"180" in case of MBEK083***(750 W)
Gain switching mode
36
selection
37
Gain switching time
38
In-position range
39
Position error set-up
Position error
3A
invalidation
Run-command
3E
selection
40
Homing mode
41
Homing direction
42
Homing speed
43
Homing limit
Homing acceleration/
44
deceleration time
Bumping torque detection
45
value
Bumping detection
46
time
47
Home offset
48
Homing function
Effective
Setting
after
Default
power re-
range
setting
0～10000
500
0～100
0
5～20
13
0～200*1
200*1
0～2
0
0～10000
50
0～16383
20
0～16383
144
0,1
0
0,1
0
○
0～5
0
0,1
0
0～3000
200
0～16383
0
1～30000
200
0～200
50
0～15000
100
-16384～
0
16383
0～2
1
○
Description
You can determine the rigidity of velocity loop.
Setting unit [%]
Use the default setting normally.
You can set the time constant of low-pass filter in
speed feedback.
Upper limit of torque reference is set.
(Use as a guide.)
torque reference :A value based on a rated torque of 100. By calculating the load
factor using this, it aims at the minimum motor burnout protection, and the accu-
racy can not be guaranteed.
0: Fixed at the 1st gain, 1: Fixed at the 2nd gain
2: Automatic switching (In running = the 2nd gain, In
standstill = the 1st gain
When the gain switching mode is set to automatic
switching, after the output of instruction, the 2nd gain
(in running) changes to the 1st gain (in standstill) when
time setting has elapsed.
Setting unit [ms]
In-position signal is turned on when position error
(difference between command position and actual
position) is below setting.
Setting unit [pulse]
Position error occurs when the value of position error
(difference between command position and actual
position) is larger than this parameter × 8 as well as
parameter 3A is effective.
Setting unit [pulse]
0: Effective, 1: Ineffective (Motor does not trip but
keeps on operating.)
You can select the run-command method with this parameter.
0: Command through I/O, 1: Command through RS485
(Command through I/O will be disabled except trip and
sensor input)
Select homing method.
0: Home sensor homing 1, 1:Home sensor homing 2
2: Limit sensor homing, 3: Bumping homing
4: Home resetting, 5: Home sensor homing 3
You can set the detection direction of home.
0: Detecting in + direction
1: Detecting in − direction
You can set the speed in homing action.
Setting unit [r/min]
When the home cannot be detected although the motor
travel distance has exceeded setting, homing error is
found. (Ineffective at 0)
Setting unit [rotation number]
You can set time taken for reaching the homing speed.
Setting unit [ms]
You can limit the torque reference when returning
to bumping home. 100 indicates the rated torque.
You can set the detection time of bumping toque in
returning to bumping home.
Setting unit [ms]
You can set the offset from home detection position.
When the home has been detected, set a value of plus
and minus opposite to the desired travel direction as an
offset. (When you set -100, the position traveling 100
pulses in +direction on the coordinate system is set as
an home.)
Setting unit [pulse]
0: Required, 1: Not required (Position when power is
turned on is the home.)
2: When homing is not completed yet, homing
operation is executed by positioning start signal.
№ SX-DCT00221 -13-
Panasonic Corporation
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