1 SERVO PARAMETER DETAILS
1.6 Extension setting 2 servo parameters group ([Pr. PE_ _ ])
117
1
[Pr. PE49_Lost motion compensation timing (LMCD)]
Set the lost motion compensation timing in units of 0.1 ms.
The timing to perform the lost motion compensation function can be delayed by a set time.
This function is enabled in the position mode and positioning mode.
[Pr. PE50_Lost motion compensation dead band (LMCT)]
Set the lost motion compensation dead band. When the fluctuation of droop pulses is equal to or less than the setting value,
the speed is recognized as 0. The setting unit can be changed with [Pr. PE48 Lost motion compensation function selection].
Set the servo parameter per encoder unit.
This function is enabled in the position mode and positioning mode.
[Pr. PE51_Load-side encoder resolution setting (**EDV2)]
Set the resolution of the load-side encoder.
When the resolution set in this servo parameter is either less than 2
12
or greater than 2
26
, [AL. 037 Parameter error] occurs.
This servo parameter is enabled when all of the following conditions are met.
• Fully closed loop control mode or the scale measurement function are enabled
• An A/B/Z-phase differential output rotary encoder is used on the load-side
When an A/B/Z-phase differential output type encoder is connected, the value set to this servo parameter is used to determine
whether it is a rotary encoder or a linear encoder.
0: Linear encoders
Other than 0: Rotary encoders
[Pr. PE53_Maximum torque limit 1 (TLMX1)]
The torque or thrust generated by the servo motor can be limited.
When [Pr. PC78.1 Maximum torque limit 1 selection] is set to "0" (the maximum torque limit 1 is disabled)
The torque limit function using this servo parameter or [Max torque (Obj. 6072h)] is disabled.
The setting value of this servo parameter does not match the setting value of [Max torque (Obj. 6072h)].
[Max torque (Obj. 6072h)] returns the maximum torque of the servo motor.
When [Pr. PC78.1] is set to "1" (the maximum torque limit 1 is enabled)
The torque limit function using this servo parameter or [Max torque (Obj. 6072h)] is enabled.
Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %).
If this servo parameter is set to "0.0", the servo motor does not generate torque or thrust.
This servo parameter corresponds to [Max torque (Obj. 6072h)].
When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller
overwrites the servo parameter values written with engineering tools.
Initial value
Setting range
Setting method
Ver.
0 [0.1 ms]
0 to 30000
Each axis
A0
Initial value
Setting range
Setting method
Ver.
0 [pulse], [kpulse]
0 to 65535
Each axis
A0
Initial value
Setting range
Setting method
Ver.
0 [pulse]
0 to 4294967295
Each axis
B2
Initial value
Setting range
Setting method
Ver.
0.0 [%]
0.0 to 1000.0
Each axis
A5
