NSK EDD Megatorque Motor, User Manual, Page: 281 / 398

9. Details of Command and Parameter
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P GT : Switching Gain Timer

The parameter is the stability timer for position error to switch the gain in 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 (Gain switching point) for a time set by the parameter GT.
Parameter Parameter
Format
GT data
Data range 0.0 to 10 000.0 [ms]
Shipping set 0.0
P HA : Home Return Acceleration

Sets the acceleration for Home Return operation.

Refer to “8.8. Home Return” for details.
Category Parameter
Format
HA data
Data range 0.1 to 800.0 [s
-2
]
Shipping set 1.0
P HB : Home Return Deceleration

Sets the deceleration for Home Return.

Refer to “8.8. Home Return” for details.
Category Parameter
Format
HB data
Data range 1 0.0 : Use the same value as the parameter HA.
Data range 2 0.1 to 800.0 [s
-2
]
Shipping set 0.0

P HD : Home Return Direction

Sets the direction of Home Return.

Refer to “8.8. Home Return” for details.
Category Parameter
Format
HD data
Data range
0 : Home Return starts in the plus direction
1 : Home Return starts in the minus direction
Shipping set 1

Setting of the parameter HD will be effective for the next Home Return operation.