— 8-64 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
8.2. Parameter List
Parameter setting of ESB25 Driver Unit (1/2)
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
Table 8-4a: Parameter setting for ESB25 Driver Unit (1/2)
Parameter
Name
Password
Sipping set
Data range
Current setting*
PG
Position gain
–
0.1
0.010 – 1.000
VG
Velocity gain
–
1.0
0.1 – 255.0
VGL
Velocity gain, lower
–
1.0
0.1 – 255.0
VI
Velocity integrator frequency
–
1.00
0.10 – 63.00
VIL
Velocity integrator frequency, lower
–
1.00
0.10 – 63.00
VM
Velocity integrator mode
ü
1 0,
1
LG
Lower gain
–
50
0 – 100
TL
Torque limit rate
ü
100
0 – 100
GP
Gain switching point
ü
0
0, 1 – 1 000
GT
Switching gain timer
–
5
0 – 1 000
FO
Low pass filter off velocity
–
0
0, 0.01 – 3.00
FP
Low pass filter, primary
–
0
0, 10 – 500
FS
Low pass filter, secondary
–
0
0, 10 – 500
NP
Notch filter, primary
–
0
0, 10 – 500
NS
Notch filter, secondary
–
0
0, 10 – 500
NQ
Notch filter, Q parameter
–
0.25
0.10 – 5.00
DBP
Dead band, position loop
ü
0
0, 1 – 4 095
DBA
Dead band, analog command
ü
0
0 – 2 047
ILV
Integration limit
ü
100.0
0 – 100.0
FF
Feed forward gain
ü
0
0 – 1.0000
FC
Friction compensation
ü
0
0 – 2 047
CO
Position error counter over limit
–
50 000
1 – 99 999 999
IN
In-position
–
100
0 – 99 999 999
IS
In-position stability counter
–
0
0, 0.3 – 100.0
FW
FIN width
–
1.0
- 0.3 – - 100.0, 0, 0.3 – 100.0
VO
Velocity error over limit
ü
2 730
1 – 5 461
VW
Velocity error over limit width
ü
100
0 – 1 000
OR
Criterion, overrun alarm
ü
409 600
204 800 – 819 200
ＣＥ
Brake-on position error
ü
1 000
1 – 99 999 999
CR
Circular resolution
ü
× 1
× 1, × 2, × 4, 360 000, 36 000, 3 600
PC
Pulse command
ü
0
0 – 4
(RR)
Resolver resolution
ü
- 3
- 3, 1
FD
Feedback direction mode
ü
0
0,
1
FZ
Feedback phase Z configuration
ü
0
0,
1
(FR)
Feedback signal resolution
ü
1
1
PS
Position scale select
ü
1
0, 1, 2 – 99
DI
Direction inversion
ü
0
0,
1
OTP
Over travel limit switch position
ü
0
- 99 999 999 – 99 999 999
OTM
Over travel limit switch position
ü
0
- 99 999 999 – 99 999 999
MV
Move velocity
–
1.0000
0.0001 – 3.0000
MA
Move acceleration
–
1.00, 1.00
0.01 – 1 280.00
JV
Jog velocity
–
0.1000
0.0001 – 3.0000
JA
Jog acceleration
–
1.00
0.01 – 1 280.00
HV
Home Return velocity
–
0.2000
0.0001 – 3.0000
HA
Home Return acceleration
–
1.00
0.01 – 1 280.00
HZ
Home Return near zero velocity
–
0.0100
0.0001 – 0.2000
MD
Move deceleration
–
0
0.01 – 1 280.00
CS
Acceleration pattern select
–
1,1
1 – 5
CY
Criterion to function CS
ü
1.00
0.01 – 1 280.00
CX
Setting CS function
ü
1
0,
1
