Beijing RichAuto S&T Co., Ltd.
Forging ahead and determined to win 59
2.
Parameter setting
Para.
No.
Function
Value
Description
*Pr0.00
Setting the direction
of rotation
0
If the motor rotation direction opposite to the
actual needs, set 1.
*Pr0.01
Select control mode
0
0:Position mode,1
：
velocity mode,2
：
torque mode
*Pr0.05
Selection
of
command pulse input
0
0:Photo-coupler input
（
PULS1,PULS2,SIGN1,SIGN2
）
1:Exclusive input for line driver
（
PULSH1,PULSH2,SIGNH1,SIGNH2)
*Pr0.07
Command pulse input
mode setup
3
Set command pulse input mode:command
pulse+command direction,negative ligic.
*Pr0.08
Command pulse No.
per motor circle
0
When it is set to ―0‖,parameters Pr0.09 and
Pr0.10 are valid
Pr0.09
1st numerator of
command pulse
frequency
multiplication
Need
calculatio
n
Range:0~
2
30
Z1
=
Encoder resolution
Z2
=
Pulse equivalent×Screw pitch×Transmission
ratio
e.g. Pulse equivalent 1000
，
Screw pitch 10mm,
Encoder resolution 10000
，
Transmission ratio 1
Z1/Z2= 10000/1000×10×1=1/1
set Pr0.09=1,set Pr0.10=1
.
The value of Pr0.09
and Pr0.10 must be integer,range: 0~230 .
Pr0.10
Denominator of the
command pulse
frequency
multiplication
Need
calculatio
n
Range:0~
2
30
*Pr4.05
Function setting for
digital input pin SI6
8618883
Bit1,0 :Set 83,servo on all the time.
NOTES
：
1. ALM+
：
pin-37
，
ALM-
：
pin-36
，
normally closed.