Owner manual

301
INTELLIGENT ACTUATOR
Appendix
Appendix
Axis-Specific Parameters
No Parameter name
Default value
(Reference)
Input range Unit Remarks
61 FF gain 0 0 to 500 %
62 Synchro FB gain 77 0 to 1000
63 Stop special output range 0 0 to 9999 Pulse Invalid if “0” is set.
64 Stop special output value 0 0 to 999 DRVVR
65 Mating synchro-axis
number
0 0 to 8 Must be input for both axes. (Of the axis pair, the axis with the smaller
axis number becomes the master axis. Both axes must have the same
resolution characteristics. Commands cannot be issued to the slave
axis.) (Invalid if “0” is set)
66 Mode selection for
rotational movement axis
0 0 to 5 0: Normal, 1: Index mode
67 Short-cut control selection
for rotational movement
axis
0 0 to 5 0: Do not select, 1: Select (Valid only in the index mode AND when an
incremental encoder is used)
68 Mode selection for linear
movement axis
0 0 to 5 0: Normal, 1: Infinite-stroke mode (Note: Positioning boundary applies.
This setting can be specified only when an incremental encoder is
used.)
69 (For expansion) 0
a
70 DRVVR value at
maximum motor speed
32767 Reference only DRVVR For adjustment by the manufacturer
71 DRVVR value at 3x motor
torque
32767 Reference only DRVVR For adjustment by the manufacturer
72 DRVVR + offset 1 Reference only DRVVR For adjustment by the manufacturer
73 DRVVR – offset 0 Reference only DRVVR For adjustment by the manufacturer
74 DRVVR MAX 32436 Reference only DRVVR For adjustment by the manufacturer
75 DRVVR MIN -32435 Reference only DRVVR For adjustment by the manufacturer
76 Home-adjustment
parameter set selection
1 Reference only (Change prohibited)
0: P21 = Phase-Z evacuation distance at incremental home return
P12 = Ideal phase-Z position coordinate
1: P33 = Automatically loaded even when “0”; set to “actual distance”
when P33 = “0”
P21 = Offset travel distance at home return
P12 = Coordinates after offset travel at home return
P26 is invalid.
(For simplification of adjustment)
77 Synchro S pulse 3 0 to 99999 Pulse
78 Maximum takeoff
command amount
0 -3000 to 3000 0.001 mm Maximum lift command amount before brake unlock (Input with sign)
(Suppression of momentary drop upon servo ON when a heavy object is
placed)
* Important: Input using the same sign as the rising coordinate direction.
(0.100 mm to 0.500 mm in absolute value as a guideline)
* The servo-ON check time (axis-specific parameter No. 30) must also
be extended (approx. 1000 to 1500 msec) to provide a sufficient time
for rise-direction torque to follow. (This setting is valid only when a
brake is equipped.)
79 Actual takeoff check
distance
5 0 to 3000 0.001 mm Absolute value input
80 Maximum forced-feed
range
0 0 to 9999 0.001 mm For reduction of settling time. (Invalid range if “0” is set) (Approx. 1.000
mm as a guideline)
81 Minimum forced-feed
range
200 0 to 9999 0.001 mm
82 Medium forced-feed
range
600 0 to 9999 0.001 mm
83 Absolute synchro slave-
axis initialization
cancellation
0 0 to 5 Valid only with a synchro slave axis.
84 Maximum synchronization
correction speed of
synchro slave axis
5 0 to 100 mm/sec Maximum travel speed for synchronization position correction of slave
axis. Valid only with a synchro slave axis.
* Note: Not limited by the safety speed.
85 Home-return acceleration/
deceleration
15 1 to 300 0.01 G
86 Zone 1 MAX 0 -99999999 to
99999999
0.001 mm Valid only when MAX > MIN. * Must be inside the range for at least 3
msec.