20
1 SERVO PARAMETER DETAILS
1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
[Pr. PA04_Function selection A-1 (*AOP1)]
[Pr. PA04.2_Servo forced stop selection]
0: Enabled (the forced stop input EM2 or EM1 is used)
1: Disabled (the forced stop input EM2 and EM1 are not used)
[Pr. PA04.3_Forced stop deceleration function selection]
0: Forced stop deceleration function disabled (EM1 is used)
2: Forced stop deceleration function enabled (EM2 is used)
[Pr. PA06_Electronic gear numerator (*CMX)]
Set the electronic gear numerator.
This servo parameter corresponds to [Motor revolutions (Obj. 6091h: 01h)]. 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.
If the electronic gear is set to a value outside the setting range, noise may be generated during acceleration/deceleration, or
operation may not be performed at the preset speed and/or acceleration/deceleration time constants.
The setting range of the electronic gear ([Pr. PA06]/[Pr. PA07 Electronic gear denominator]) is as follows.
When [Pr. PT01.2 Unit for position data] is set to "2" (degree), the following two conditions must be met as well:
• When the electronic gear (CMX/CDV) is reduced to the lowest terms, its numerator and denominator are 16384 (2
14
) or
less.
• When (CMX × encoder resolution [pulse])/(CDV × 360000) is reduced to the lowest terms, its numerator and denominator
are 2147483647 (2
31
-1) or less.
[Pr. PA07_Electronic gear denominator (*CDV)]
Set the electronic gear denominator.
Refer to the condition range of [Pr. PA06 Electronic gear numerator] for the electronic gear settings.
Page 20 [Pr. PA06_Electronic gear numerator (*CMX)]
This servo parameter corresponds to [Shaft revolutions (Obj. 6091h: 02h)]. 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.
00002000h
Refer to the relevant detail No.
Common
Refer to the relevant detail No.
Initial value
Setting range
Ver.
0h
Refer to the text
A0
Initial value
Setting range
Ver.
2h
Refer to the text
A0
Initial value
Setting range
Setting method
Ver.
1
1 to 2147483647
Each axis
A0
Encoder resolution [pulse]
Setting range (CMX/CDV)
67108864
1/16 to 8388608
Initial value
Setting range
Setting method
Ver.
1
1 to 2147483647
Each axis
A0
