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69
PRM
No.
Explanation
Setting
range
Unit
Factory
setting
Parameter name
Cn-0b
Rotational speed for motor
rotation detection
20
r/min
1 to 4,500
Setting for rotational speed for
motor rotor detection output.
Cn-0C P control switching (torque
commands)
200
%
0 to maxi-
mum torque
If a torque command exceeds
this value, the mode switches
from PI to P control.
Cn-0d
P control switching (speed
commands)
0
r/min
0 to 4,500
If a speed command exceeds
this value, the mode switches
from PI to P control.
Cn-0E P control switching (accel-
eration commands)
0
10
(r/min)/s
0 to 3,000
If an acceleration command
exceeds this value, the mode
switches from PI to P control.
Cn-0F
P control switching (devi-
ation pulse)
10
Command
units
0 to 1,000
If the deviation pulse exceeds
this value, the mode switches
from PI to P control.
Cn-10
Jog speed
500
r/min
0 to 4,500
Setting for manual rotational
speed
Cn-11
Number of encoder pulses
(See notes 2 and 3.)
2,048
Pulses/
revolution
2,048
Setting for number of pulses
for encoder used.
Cn-12
Brake timing 1
0
10 ms
0 to 50
Delay time setting from brake
command until servo turns off.
Cn-15
Brake command speed
100
r/min
0 to 4,500
Sets rotational speed for out-
putting brake commands.
Cn-16
Brake timing 2
50
10 ms
10 to 100
Waiting time from servo-off to
brake command output.
Cn-17
Torque command filter
time constant
4
100
µ
s
0 to 250
Setting for torque command fil-
ter time constant (6.4 to
398 Hz).
Cn-18
Forward rotation external
current limit
100
%
0 to maxi-
mum torque
Output torque for when for-
ward rotation current limit is in-
put (compared to rated
torque).
Cn-19
Reverse rotation external
current limit
100
%
0 to maxi-
mum torque
Output torque for when re-
verse rotation current limit is
input (compared to rated
torque).
Cn-1A Position loop gain
40
1/s
1 to 500
For position loop response ad-
justment.
Cn-1b
Positioning completion
range
3
Command
units
0 to 250
Sets the range for the position-
ing completion signal output.
Cn-1C Bias rotational speed
0
r/min
0 to 450
Sets the bias for position con-
trol.
Cn-1d
Feed-forward amount
0
%
0 to 100
Position control feed-forward
compensation.
Cn-1E Deviation counter overflow
level
1,024
×
256
commands
1 to 32,767
Sets the level for detection of
deviation counter overflow.
Cn-1F
No. 1 internal speed set-
ting
100
r/min
0 to 4,500
Rotational speed, no. 1 inter-
nal setting
Cn-20
No. 2 internal speed set-
ting
200
r/min
0 to 4,500
Rotational speed, no. 2 inter-
nal setting
Cn-21
No. 3 internal speed set-
ting
300
r/min
0 to 4,500
Rotational speed, no. 3 inter-
nal setting
Operation
Chapter 3
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