4.3 Self Configuration
4.3.4 Parameters Written during Self Configuration
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4.3.4
Parameters Written during Self Configuration
The SERVOPACK parameters are written to the SERVOPACK EEPROM or RAM during self-
configuration as shown below. The Servo Section parameters are also written to the Controller
Section’s setting parameters.
Writing Parameters to the Servo Section
The following settings are written regardless of the setting of bit A (SERVOPACK Parameter
Auto-Write) in fixed parameter No. 01.
Writing Parameters to the Controller Section
The following settings are written when bit A (SERVOPACK Parameter Auto-Write) in fixed
parameter No. 01 is set to 0 (Enable).
Servo Section parameters and Controller Section parameters may be overwritten when self con-
figuration is executed.
Controller Section
Servo Section
Fixed Values
Servo Common Parameters
Name
Setting
No.
Description
P-OT Signal Mapping
Disabled
→
25. Bit 0
Limit Setting, P-OT
N-OT Signal Mapping
Disabled
→
25. Bit 1
Limit Setting, N-OT
Forward Servo Software Limit
Disabled
→
25. Bit 4
Limit Setting, P-SOT
Reverse Servo Software Limit
Disabled
→
25. Bit 5
Limit Setting, N-SOT
Servo Electronic Gear Ratio Numerator
1
→
21
Electronic Gear Ratio
Numerator
Servo Electronic Gear Ratio Denomina-
tor
1
→
22
Electronic Gear Ratio
Denominator
Fixed Monitor Selection
1
→
87
Fixed Monitor Selection 1
Fixed Monitor Selection
0
→
88
Fixed Monitor Selection 2
The above settings are not written for axes that are already defined.
Controller Section
Servo Section
Setting Parameters
Servo Common Parameters
Name
Register
Number
No.
Description
Position Loop Gain
OW
2E
←
63
Position Loop Gain
Speed Loop Gain
OW
2F
←
61
Speed Loop Gain
Speed Feedforward Compensa-
tion
OW
30
←
64
Feedforward Compensation
Position Loop Integral Time Con-
stant
OW
32
←
65
Position Loop Integration Con-
stant
Speed Loop Integral Time Con-
stant
OW
34
←
62
Speed Loop Integration Constant
Filter Time Constant
OW
3A
←
82
Average Movement Time
Important
Information
