Omron SMARTSTEP R7D-AP Series User Manual page 198

Operation
Parameter Parameter name
No.
Digit
Pn110 Online autotuning 0
setting
1
2
3
Pn200 Position control 0
setting 1
1
2
3
Pn202 Electronic gear The pulse rate for the command pulses and Servo Servomotor travel dis-
ratio G1 (numera- tance
tor)
0.01 ≤ G1/G2 ≤ 100
Pn203 Electronic gear
ratio G2 (denomi-
nator)
Pn204 Position com- Soft start setting for command pulses (Soft start characteristics are for
mand filter time the primary filter.)
constant 1 (pri-
mary filter)
Pn207 Position control 0
setting 2
1 to 3
Pn208 Position com- Soft start setting for command pulses (Soft start characteristics are for
mand filter time the linear acceleration and deceleration.)
constant 2
(Linear accelera-
tion and deceler-
ation)
Pn304 Jog speed Rotation speed during jog operation
Pn401 Torque com- The constant when filtering the internal torque command
mand filter time
constant
4-16
Description for parameters set with 5 digits
Name Setting
No.
Online autotun- 0
ing selection
1
2
Not used. 1
Adhesive friction 0
compensation
1
selection
2
Not used. 0
Command pulse 0
mode
1
2
3
4
5
6
7
8
9
Deviation counter 0
reset
1
2
3
Deviation counter 0
reset for alarms
and when servo is
turned OFF
1
2
Not used. 1
Selects position 0
command filter.
1
Not used. 0
Default
Description for parameters
with individually set digits
Autotunes initial operations only 0012
after power is turned ON.
Always autotunes.
No autotuning
–
Friction compensation: OFF
Friction compensation: Rated
torque ratio small
Friction compensation: Rated
torque ratio large
–
Feed pulse forward and reverse 1011
signal, positive logic
Forward pulse and reverse
pulse, positive logic
90 ° phase difference (phase
A/B) signal ( × 1), positive logic
90 ° phase difference (phase
A/B) signal ( × 2), positive logic
90 ° phase difference (phase
A/B) signal ( × 4), positive logic
Feed pulses forward and
reverse signal, negative logic
Forward pulse and reverse
pulse, negative logic
90 ° phase difference (phase
A/B) signal ( × 1), negative logic
90 ° phase difference (phase
A/B) signal ( × 2), negative logic
90 ° phase difference (phase
A/B) signal ( × 4), negative logic
Signal high level
Rising edge (low to high)
Signal low level
Falling signal (high to low)
Deviation counter reset when
an alarm occurs and when Ser-
vomotor is OFF.
Deviation counter not reset
when an alarm occurs nor when
Servomotor is OFF.
Deviation counter reset only
when an alarm occurs.
–
4
1
0
Primary filter (Pn204) 0000
Linear acceleration and decel-
eration (Pn208)
–
0
500
40
Chapter 4
Unit Setting Restart?
range
– – Yes
The
power
supply
does not
need to
be
restarted.
for
Pn110.2.
– – Yes
– 1 to 65535 Yes
– 1 to 65535 Yes
× 0.01 ms
0 to 6400 –
– – Yes
× 0.01 ms
0 to 6400 Yes
r/min 0 to 10000 –
× 0.01 ms
0 to 65535 –