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13. Setup of Parameter and Mode
List of Parameters
[Class 6] Special setting
Parametr
No.
Class No.
Analog torque feed forward conversion
6
00*
gain
6
02
Velocity deviation excess setup
6
04
JOG trial run command speed
6
05* Position 3rd gain valid time
6
06
Position 3rd gain scale factor
6
07
Torque command additional value
Positive direction torque compensation
6
08
value
Negative direction torque compensation
6
09
value
6
10
Function expansion setup
6
11
Current response setup
6
13
Current response setup
6
14
Emergency stop time at alarm
6
15
2nd over-speed level setup
For manufacturer's use
6
16
6
17
Front panel parameter writing selection
6
18* Power-up wait time
6
19
Encoder Z phase setup
6
20
Z-phase setup of external scale
Serial absolute external scale Z phase
6
21
setup
A, B phase external scale pulse output
6
22
method selection
6
23
Disturbance torque compensating gain
6
24* Disturbance observer filter
6
27
Alarm latch time selection
6
31
Real time auto tuning estimation speed
6
32
Real time auto tuning custom setup
6
33
For manufacturer's use
6
34* Hybrid vibration suppression gain
6
35* Hybrid vibration suppression filter
6
37* Oscillation detecting level
6
38
Alarm mask setup
6
39
For manufactuer's use
* Definition of symbols under "Attribute" - INI: turning on of power supply is required, RO: read only
* Definition of symbols under "Related mode" - P: position control, S: velocity control, T: torque control, F: full closed control
The symbol " * " attached to a parameter No. indicates that the digits of setting unit will
Caution
change if the parameter is set by using the setup support software PANATERM.
Note
Parameter describes of this page is P.4-51 to P.4-57.
2-48
Title
Range
0 to 100
0
to
0 to 500
0 to 10000
50 to 1000
−100 to 100
−100 to 100
−100 to 100
0 to 63
50 to 100
0 to 10000
0 to 1000
0 to 20000
0 to 1
0 to 100
0 to 32767
0 to 400
0 to 2
0 to 1
−100 to 100
10 to 2500
0 to 10
0 to 3
−32768 to 32767
0 to 30000
0 to 6400
0 to 1000
−32768 to 32767
Default
Unit
A,B
C
D,E,F
-frame
-frame
-frame
0
0.1V/100%
20000
0
r/min
300
r/min
0
0.1ms
100
%
0
%
0
%
0
%
0
−
100
%
250
%
200
1ms
0
r/min
−
0
−
0
−
0
0.1s
0
pulse
0
μs
0
pulse
28
0
−
0
%
53
0.01ms
5
s
1
−
0
−
−
1000
−
0
0.1/s
10
0.01ms
0
0.1%
4
−
−
0
−
Related
Attribute
Control Mode Detail
page
P
S
T
F
INI RO
P
S
T
F
P
S
T
F
P
S
T
F
4-51
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
4-52
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
4-53
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
4-54
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
4-55
P
S
T
F
P
S
T
F
P
S
T
F
P
S
T
F
4-57
P
S
T
F
P
S
T
F
P
S
T
F
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