1 SERVO PARAMETER DETAILS
1.4 Extension setting servo parameters group ([Pr. PC_ _ ])
83
1
[Pr. PC31_Vertical axis freefall prevention compensation amount
(RSUP1)]
Set the compensation amount of the vertical axis freefall prevention function.
Set the compensation amount in either the servo motor rotation amount unit or linear servo motor travel distance unit.
When a positive value is set, the compensation is performed to the command address increasing direction. When a negative
value is set, compensation is performed to the command address decreasing direction.
The vertical axis freefall prevention function is performed when all of the following conditions are met.
• The control mode is set for the position mode or positioning mode.
• The setting value of this servo parameter is other than "0".
• The forced stop deceleration function is enabled.
• An alarm has occurred or EM2 has turned off when the servo motor rotates at the zero speed or less. Or, the Quick stop
command was issued.
• MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07 Output device selection 1] to [Pr. PD09 Output device
selection 3] while the base circuit shut-off delay time was set in [Pr. PC02 Electromagnetic brake sequence output].
[Pr. PC38_Excessive error warning trigger level (ERW)]
Set the excessive error warning trigger level.
The unit can be changed with [Pr. PC06.3 Excessive error alarm trigger level/excessive error warning trigger level - Unit
selection].
If using a rotary servo motor or direct drive motor, set the level in units of rev. If 200 rev or higher is set, the value will be
clamped to 200 rev.
If using a linear servo motor, set the level in units of mm.
When "0" is set, [AL. 09B Excessive error warning] does not occur.
If an error reaches the set value, [AL. 09B] occurs. If the error later becomes less than the setting value, the warning will be
automatically canceled. The minimum pulse width of the warning signal output is 100 [ms].
Set as follows: [Pr. PC38 Excessive error warning trigger level] < [Pr. PC01 Excessive error alarm trigger level]. When set as
[Pr. PC38]
≥
[Pr. PC01], [AL. 052 Excessive error] occurs before the warning.
Initial value
Setting range
Setting method
Ver.
0 [0.0001 rev], [0.01 mm]
-25000 to 25000
Each axis
A0
Initial value
Setting range
Setting method
Ver.
0 [rev], [mm]
0 to 1000
Each axis
A0
