4. Parameters
4-12
Signal Name
Input
Signal
Alwa
ys
Alloc
ated
CN1 Pin Default Allocation Number No
Allo
cati
on
Input
Signal
Definition
Default
setting
Parameter
Allocation
48 18 19 20 46 17 21 22 23 47
Servo ON
[P2-00].Set Digit 1
SVON F A 9 8 7 6 5 4 3 2
10
[P2-00] 0x4321
Multi-speed 1
[P2-00]. Set Digit 2
SPD1 F A 9 8 7 6 5 4 3
21 0
Multi-speed 2
[P2-00]. Set Digit 3
SPD2 F A 9 8 7 6 5 4
3 2 1 0
Multi-speed 3
[P2-00]. Set Digit 4
SPD3 F A 9 8 7 6 5
4 3 2 1 0
Alarm reset
[P2-01]. Set Digit 1
ALMRST F A 9 8 7 6
5 4 3 2 1 0
[P2-01] 0x8765
Select rotation
direction
[P2-01]. Set Digit 2
DIR F A 9 8 7 6 5 4 3 2 1 0
Forward rotation
prohibited
[P2-01]. Set Digit 3
CCWLIM F A 9 8 7 6 5 4 3 2 1 0
Reverse rotation
prohibited
[P2-01]. Set Digit 4
CWLIM F A 9 8 7 6 5 4 3 2 1 0
Emergency stop
[P2-02]. Set Digit 1
EMG F A
9 8 7 6 5 4 3 2 1 0
[P2-02] 0x00A9
Stop
[P2-02]. Set Digit 2
STOP F
A 9 8 7 6 5 4 3 2 1 0
Electronic gear
ratio 1
[P2-02]. Set Digit 3
EGEAR1 F A 9 8 7 6 5 4 3 2 1 0
Electronic gear
ratio 2
[P2-02]. Set Digit 4
EGEAR2 F A 9 8 7 6 5 4 3 2 1
0
P control action
[P2-03]. Set Digit 1
PCON F A 9 8 7 6 5 4 3 2 1
0
[P2-03] 0x0000
Select gain 2
[P2-03]. Set Digit 2
GAIN2 F A 9 8 7 6 5 4 3 2 1
0
Error pulse clear
[P2-03]. Set Digit 3
P_CLR F A 9 8 7 6 5 4 3 2 1
0
Torque limit
[P2-03]. Set Digit 4
T_LMT F A 9 8 7 6 5 4 3 2 1
0
Change operation
modes
[P2-04]. Set Digit 1
MODE F A 9 8 7 6 5 4 3 2 1
0
[P2-04] 0x0000
Absolute encoder
data request
[P2-04]. Set Digit 2
ABS_RQ F A 9 8 7 6 5 4 3 2 1 0
Zero clamp
[P2-04]. Set Digit 3
ZCLAMP F A 9 8 7 6 5 4 3 2 1
0
Reset absolute
encoder data
[P2-04]. Set Digit 4
ABS_RS
T
F A 9 8 7 6 5 4 3 2 1 0
NOTE 1) CN1 connector pin is not allocated when the default value is "0".
NOTE 2) For ABS_RST Signal, hold “High” for 500ms or longer in order to reset absolute encoder data.
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