1 SERVO PARAMETER DETAILS
1.11 Positioning extension setting servo parameters group ([Pr. PV_ _ ])
181
1
[Pr. PV19_Speed reached 2 - Output range - Extension setting
(SA2RE)]
Set the speed range in which the speed reached 2 turns on in the profile velocity mode (pv).
If the state where the error between the command speed and the servo motor speed is within the setting value of this servo
parameter continues for the time set in [Pr. PC73 Speed reached 2 - Output filtering time] or longer, bit 10 (Target velocity
reached) of [Statusword (Obj. 6041h)] turns on.
The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data].
This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr.
PC72 Speed reached 2 - Output range] are mutually exclusive.
This function corresponds to [Velocity window (Obj. 606Dh)].
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.
[Pr. PV20_Zero speed 2 level extension setting (ZSP2LE)]
Set the speed level at which the zero speed 2 turns on in the profile velocity mode (pv).
If the state where the absolute value of the servo motor speed exceeds the setting value of this servo parameter continues for
the time set in [Pr. PC66 Zero speed 2 filtering time] or longer, bit 12 (Speed) of [Statusword (Obj. 6041h)] turns off.
The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data].
This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr.
PC65 Zero speed 2 level] are mutually exclusive.
This function corresponds to [Velocity threshold (Obj. 606Fh)].
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.
[Pr. PV21_Speed limit extension setting (VLMTE)]
Set the speed limit value of the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous
operation to torque control mode (ct).
The unit can be changed to 0.001 degrees/s or pulses/s with [Pr. PT01.2 Unit for position data].
This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1". This function and [Pr.
PV67 Speed limit] are mutually exclusive.
This function corresponds to [Velocity limit value (Obj. 2D20h)].
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.
20000 [Refer to the text below for the
unit.]
0 to 65535
Each axis
A5
Initial value
Setting range
Setting method
Ver.
20 [Refer to the text below for the
unit.]
0 to 65535
Each axis
A5
Initial value
Setting range
Setting method
Ver.
2147483647 [Refer to the text below
for the unit.]
0 to 4294967295
Each axis
A5
