4-69
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Default: [ ]
Pr6.07
Torque command additional value
Range
Unit
Default
Related
control mode
−100 to 100
%
0
P S
F
• Set up the offset load compensation value usually added to the torque command in a
control mode except for the torque control mode.
• Update this parameter when the vertical axis mode for real time auto-tuning is valid.
Pr6.08
Positive direction torque compensation
value
Range
Unit
Default
Related
control mode
−100 to 100
%
0
P
F
• Set up the dynamic friction compensation value to be added to the torque command when
forward positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Pr6.09
Negative direction torque compensation
value
Range
Unit
Default
Related
control mode
−100 to 100
%
0
P
F
• Set up the dynamic friction compensation value to be added to the torque command when
negative direction positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Pr6.10
Function expansion setup
Range
Unit
Default
Related
control mode
-32768 to 32767
—
16
P S T F
Set up the function in unit of bit.
Function
Setup value
[0]
1
bit 0
Not used
Fixed to 0.
bit 1
Load fluctuation control funtion
Invalid
Valid
bit 2
Not used
Fixed to 0.
bit 3
Inertia ratio switching
Invalid
Valid
bit 4
Current response improvement
Invalid
Valid
bit 5
Analog torque FF
Invalid
Valid
bit 6 to 8
Not used
Fixed to 0.
bit 9
For manufacturer's use
Fixed to 0.
bit 10
Positional deviation of falling
prevention function during alarm
Invalid (hold)
Valid (clear)
bit 11
Encoder overheat abnormality
protectiondetection
Invalid
Valid
*1
bit 12
Not used
Fixed to 0.
bit 13
For manufacturer's use
Fixed to 0.
bit 14
Load variation suppression
functionautomatic adjustment setting
Invalid
Valid
bit 15
Slow stop function.
Invalid
Valid
*2
*
The least significant bit is considered as bit0.
*1 When the encoder overheat alarm is generated, Err15.1 "Encoder overheat
abnormality protection" is generated together.
*2 Valid only when position control setting (Pr0.01 = 0) and block operation setting
is invalid (Pr6.28 = 0).
1. Details of parameter
[Class 6] Special setting
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