Parameters; D.1. Parameters - Omron XTRADRIVE User Manual

XtraDrive User Manual

D.1. Parameters

The following list shows parameters and their settings.
Parameter
Category
Number
Pn000*
Pn001*
Pn002*
Pn003
Pn006
Pn007
Pn100
Pn101
Pn102
Pn103
Pn109
Pn110*
* After changing this parameter, cycle the main circuit and control power supplies to enable the new
settings.
** The multi-turn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to "2". The value will
be processed in the range of "+32767 to -32768" for other settings even if the value is changed. There is no need to
change the multi-turn limit except for in special cases. Be careful not to change the setting unless necessary.
Parameter
Category
Number
Pn190*
Pn191*
Pn192*
Pn193*
Pn199*
Pn1A0
Pn1A2
Pn1A4
Pn1A5
Pn1A7
Pn1A9
Pn1AA
Pn1AB
Name
Function Selection Basic
Switches
Function Selection
Application
Switches 1**
Function Selection
Application
Switches
Function Selection
Application
Switches 3
Function Selection
Application
Switches 3
Function Selection
Application
Switches 3
Speed Loop Gain
Speed Loop Integral Time
Constant
Position Loop Gain
Inertia Ratio
Feed-Forward (Speed
control)
Online Autotuning Switches
Name
Motor selection switch
Motor selection switch
Pulses number of A quad B
encoder (Low)
Pulses number of A quad B
encoder (High)
Encoder counts per Scale
Pitch of linear motor
Global gain factor (Tightness) %
Speed feedback filter
Torque filter (low pass)
Torque filter (second order)
Integral mode switch
Integral feedback gain
Proportional feedback gain
Supplementary proportional
feedback gain
D-2
Appendix D: List of Parameters
Setting Default
Unit
Range Setting
— —
— —
— —
— —
— —
— —
Hz 1 to 2000
15 to
0.01ms
51200
-1
s 1 to 2000
% 0 to 10000
% 0 to 100
— —
Setting
Unit
Range
-- --
-- --
Pulses/rev 0-9999
Pulse*100
0-419
00/Rev
Counts/Sc
1-256
ale Pitch
0-500
0.01ms 30-3200
0.01ms 0-2500
0.1% 0-1000
-- --
Hz 0-500
Hz 0-500
Hz 0-500
Reference
5.1.1,
0x00D0
5.3.5
5.1.2,
0000 5.4.2,
5.5.7
5.2.8,
0000 5.2.9,
5.7.2
0002 6.4
0000 6.4
0000 6.4
40
6.2.2,
6.2.7,
2000
6.2.10
40 6.2.10
6.2.6,
300 6.3.1,
6.3.5
0 6.2.2
0010 6.3.4
Default
Reference
Setting
0000 5.8
0000 5.8
2048 5.8
0 5.8
1
60 6.3.3
40 6.3.5
20 6.3.5
0 6.3.5
1121 6.3.8
40 6.3.5
40 6.3.3
30 6.3.3