3-16
6. Repeat steps 1 through 5 above as required to set other parameters.
Note 1. Settings can also be made by pressing only the Up and Down Keys in stead of using steps 1.
and 2. This will enable setting digits higher than the one that is blinking. Use whichever meth-
od is faster for the number of digits that need to be set.
Note 2. The Down Key can be pressed when all digits higher than the blinking one are zeros to set the
minimum value in the setting range.
Note 3. The fifth digit (i.e., the leftmost digit) cannot be made to blink by pressing the Left Key. The fifth
digit can be set from the fourth digit. For example, to set “10000,” press the Left Key to make
the fourth digit blink and then press the Up Key again once the fourth digit reaches “9.” The
fifth digit will change to “1” and the fourth digit will change to “0.”
D
Making Settings with Mounted-type (R88A-PR03U)
1. Using the Up and Down Keys, set the data. If the keys are held down, the numbers will change 10 at
a time. If the keys are held down even longer, the numbers will change 100 and then 1,000 at a time.
2. Press the MODE/SET Key (or the DATA Key). The parameter will be set and the display will blink.
3. Pressing the DATA Key again will bring back the parameter number display.
4. Repeat steps 1 through 4 above as required to set other parameters.
3-5-2 User Parameter Chart
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Explanation
Cn-00
System check mode
---
---
---
Refer to system check mode
explanation.
Cn-01
Setup parameter no. 1
---
---
---
Refer to setup parameter no. 1
explanation.
Cn-02
Setup parameter no. 2
---
---
---
Refer to setup parameter no. 2
explanation.
Cn-04
Speed loop gain
(See note 1.)
80
Hz
1 to 2,000
Adjusts speed loop response.
Cn-05
Speed loop integration
constant
20
ms
2 to 10,000
Speed loop integration const.
With the HA/LA/V/W Models,
the units can be set with bit b
of Cn-02. Bit b=0: 1-ms units
Bit b=1: 0.01-ms units
Cn-06
Emergency stop torque
Maximum
torque
%
0 to maxi-
mum torque
Deceleration torque when ab-
normality occurs (compared to
rated torque).
Cn-07
Software start acceleration
time
0
ms
0 to 10,000
Acceleration time setting for
software start.
Cn-08
Forward torque limit
Maximum
torque
%
0 to maxi-
mum torque
Output torque for rotation in
forward direction (compared to
rated torque).
Cn-09
Reverse torque limit
Maximum
torque
%
0 to maxi-
mum torque
Output torque for rotation in re-
verse direction (compared to
rated torque).
Cn-0A Encoder divider rate (See
note 2.)
1,000
Pulses/
revolution
16 to 2,048
Setting for number of output
pulses from Servo Driver.
Operation
Chapter 3
