– B35 –
– B34 –
Parameters for Sequence
4. Parameter
Parameters for Velocity/Torque control
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
50
51
52
53
54
55
56
74
75
76
77
57
58
59
5A
5B
5C
5D
5E
5F
10 to 2000
0 to 1
–
2047 to 2047
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
–
20000 to 20000
0
to 6400
0 to 5000
0 to 5000
0 to 500
0 to 1
10 to 100
0 to 1
0 to 500
0 to 500
500
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
30
0
<500>
*
3
<500>
*
3
(r/min)/V
–
0.3mV
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
0.01ms
2ms
–
–
%
%
S, T
S
S, T
S
S
S
S, T
S
S
S
S
S, T
S
S
S
T
T
T
all
P, S, F
Input gain of speed command
Input reversal of speed command
Offset of speed command
1st speed of speed setup
2nd speed of speed setup
3rd speed of speed setup
4th speed of speed setup
5th speed of speed setup
6th speed of speed setup
7th speed of speed setup
8th speed of speed setup
Setup of speed command filter
Setup of acceleration time
Setup of deceleration time
Setup of sigmoid acceleration/deceleration time
Selection of torque command
Input gain of torque command
Input reversal of torque command
Setup of 1st torque limit
Setup of 2nd torque limit
2ms/
(1000r/min)
2ms/
(1000r/min)
0.1V /
rated torque
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
60
61
62
63
64
65
66
*
1
67
68
69
6A
6B
6C
*
1
6D
*
1
6E
6F
70
71
72
73
0 to 32767
10 to 20000
10 to 20000
0 to 3
–
0 to 1
0 to 2
0 to 9
0 to 3
0 to 9
0 to 100
0 to 100
0 to 3
35 to 1000
0 to 500
–
0 to 32767
0 to 100
0 to 500
0 to 20000
131
50
1000
0
–
1
0
0
0
0
0
0
35
0
–
25000
0
0
0
Pulse
r/min
r/min
–
–
–
–
–
–
–
2ms
2ms
–
2ms
–
–
256Pulse
0.1V
%
r/min
P, F
all
S, T
P, F
–
all
all
all
all
all
all
all
all
all
all
–
P, F
S, T
all
all
In-position (positioning complete) range
Zero speed
At-speed (arrived speed)
Setup of in-position output
(For manufacturer's use)
Selection of LV-trip at main power off
Sequence at run-prohibition
Sequence at main power off
Sequence at alarm
Sequence at servo-off
Setup of mechanical brake action at stall
Setup of mechanical brake action in motion
Selection of external regenerative resister
Detection time of main power shut-off
Setup to torque at emergency stop
(For manufacturer's use)
Excess setup of positional deviation
Excess setup of analog input
Setup of over-load level
Setup of over-speed level
A, B-frame : 3,
C,D,E-frame : 0
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
*3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
48
49
4A
4B
4C
4D
*
1
4E
4F
0 to 10000
0 to 10000
0 to 17
1 to 10000
0 to 7
0 to 31
0 to 2
–
0
0
0
10000
1
0
1
–
–
–
–
–
–
–
–
–
P, F
P, F
P, F
P, F
P, F
P, F
P, F
–
1st numerator of electronic gear
2nd numerator of electronic gear
Multiplier for numerator of electronic gear
Denominator of electronic gear
Setup of smoothing filter for primary delay
Setup of FIR smoothing
Counter clear input mode
(For manufacturer's use)
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
Parameters for Full-Closed Control
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
78
*
1
79
*
1
7A
*
1
7B
*
1
7C
*
1
7D
7E
7F
0 to 32767
0 to 17
1 to 32767
1 to 10000
0 to 1
–
–
–
0
0
10000
100
0
–
–
–
–
–
–
–
–
–
–
F
F
F
F
F
–
–
–
Numerator of external scale division
Numerator multiplier of external scale division
Denominator of external scale division
Excess setup of hybrid deviation
Reversal of direction of external scale
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
16 X external
scale pulses
