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6-15
D
Parameter Units
Specification
Model
Handy type
R88A-PR02U
Mounted type
R88A-PR03U
D
Encoder Cables
Specification
Model
Connectors at both ends
3 m
R88A-CRUD003C
5 m
R88A-CRUD005C
10 m
R88A-CRUD010C
15 m
R88A-CRUD015C
20 m
R88A-CRUD020C
Cable only
1-m units
R88A-CRU001
D
Power Cables (Cables Only)
Specification
Model
For standard motor (no brake)
1-m units
R88A-CAU001
For motor with brake
1-m units
R88A-CAU01B
D
General-purpose Control Cables
Specification
Model
For general-purpose controller,
d
1 m
R88A-CPU001S
g
,
connector at one end
2 m
R88A-CPU002S
6-4
Parameter Setting Forms
j
User Parameters
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Setting
Cn-04
Speed loop gain (see note 1)
80
Hz
1 to 2,000
Cn-05
Speed loop integration constant
20
ms
2 to 10,000
Cn-12
Brake timing
0
10 ms
0 to 50
Cn-17
Torque command filter time constant
4
100
µ
s
0 to 250
Cn-1A
Position loop gain
40
1/s
1 to 500
Cn-1b
Positioning completion range
3
Command
units
0 to 250
Cn-24
Electronic gear ratio G1 (numerator)
(see note 2)
4
---
1 to 65,535
Cn-25
Electronic gear ratio G2 (denominator)
(see note 2)
1
---
1 to 65,535
Cn-26
Position command acceleration/decel-
eration time constant
0
×
0.1 ms
0 to 640
Supplementary Materials
Chapter 6
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