NSK EDD Megatorque Motor, User Manual, Page: 280 / 398

9. Details of Command and Parameter
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P FW : Fin Width

This parameter sets the notice mode of the output IPOS (In-position).

Refer to “7.2.6. In-position: IPOS” for details.

For the output IPOS, there are three notice modes set by the parameter FW (Fin width).
1) CFIN mode
After starting a positioning operation, the output IPOS opens for a time set by the parameter
FW at earliest. After completion of a positioning, the Driver Unit holds the signal for
completion of a positioning.
2) IPOS mode
After completion of a positioning, the System outputs the completion signal
depending on the state of position error.
3) FIN mode
After completion of a positioning, the System outputs the pulsing completion signal. The time
width of the completion signal is specified by the parameter FW.
Category Parameter
Format
FW data
Data range 1
–0.1 to –10 000.0 [ms]
: CFIN mode
Data range 2 0.0 : IPOS mode
Data range 3 0.1 to 10 000.0 [ms] : FIN mode
Shipping set
–1.0

P FZ : Feedback Phase Z Configuration

The parameter sets the output signal format of Phase Z of the position feedback signal.

Refer to “7.2.8. Position Feedback Signal” for details.
Category Parameter
Format
FZ data
Data range
0 : Phase Z format
1 : MSB format
Shipping set 0
P GP : Gain Switching Point

The parameter sets the threshold of position error for the automatic gain switching function.

Refer to “8.5.4. Automatic Gain Switching” for details.

It switches the gain for Motor stationary level when the position error is less or equal to the setting of
parameter GP for a time set by the parameter GT (Switching gain timer).
Category Parameter
Format
GP data
Data range 1 0 : Gain switching function is off.
Data range 2 1 to 2 621 439 [pulse] : Position error threshold for gain switching
Shipping set 0