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15. SERVO AMPLIFIER CONNECTION
15.6 Device Range that Can Be Set
The following shows correspondences between virtual
devices for servo amplifier and data of the servo
amplifier used with the GOT.
(a) Servo amplifier request
(b) Operation mode selection
(c) Instruction demand (for test operation)
(d) Basic parameter/expansion parameter
*1 For the parameters prefixed by an asterisk (*), setting
becomes effective when the power is turned off once and
back on after setting the parameter data.
(e) Gain filter parameter
*1 For the parameters prefixed by an asterisk (*), setting
becomes effective when the power is turned off once and
back on after setting the parameter data.
Device
name
Item Symbol
SP0 Status display data clear ―
SP1 Current alarm clear ―
SP2 Alarm history clear ―
SP3 External input signal prohibited ―
SP4 External output signal prohibited ―
SP5 External input signal resumed ―
SP6 External output signal resumed ―
Device
name
Item Symbol
OM0 Normal mode (not test operation mode) ―
OM1 JOG operation ―
OM2 Positioning operation ―
OM3 Motorless operation ―
OM4 Output signal (DO) forced output ―
Device
name
Item Symbol
TMB1 Temporary stop command ―
TMB2
Test operation (positioning operation) start
command
―
TMB3 Forward rotation direction ―
TMB4 Reverse rotation direction ―
TMB5 Restart for remaining distance ―
TMB6 Remaining distance clear ―
Device name Item
Symbol
*1
PA1, PA1001 Control mode *STY
PA2, PA1002 Regenerative brake option *REG
PA3, PA1003
Absolute position detection
system
*ABS
PA4, PA1004 Function selection A-1 *AOP1
PA5, PA1005
Number of command input
pulses per revolution
*FBP
PA6, PA1006
Electronic gear numerator
(command pulse multiplying
factor numerator)
CMX
PA7, PA1007
Electronic gear denominator
(command pulse multiplying
factor denominator)
CDV
PA8, PA1008 Auto tuning mode ATU
PA9, PA1009 Auto tuning response RSP
PA10, PA1010 In-position range INP
PA11, PA1011 Forward torque limit TLP
PA12, PA1012 Reverses torque limit TLN
PA13, PA1013 Command pulse input form *PLSS
PA14, PA1014 Rotation direction selection *POL
PA15, PA1015 Encoder output pulses *ENR
PA16 to PA18,
PA1016 to PA1018
For manufacturer setting ―
PA19, PA1019 Parameter block *BLK
Device name Item
Symbol
*1
PB1, PB1001
Adaptive tuning mode
(Adaptive filter II)
FILT
PA2, PB1002
Vibration suppression control filter
tuning mode
(Advanced vibration suppression
control)
VRFT
PB3, PB1003
Position command acceleration/
deceleration time constant
(position smoothing)
PST
PB4, PB1004 Feed forward gain FFC
PB5, PB1005 For manufacturer setting ―
PB6, PB1006
Ratio of load inertia moment to
servo motor inertia moment
GD2
PB7, PB1007 Model control gain PG1
PB8, PB1008 Position loop gain PG2
PB9, PB1009 Speed loop gain VG2
PB10, PB1010 Speed integral compensation VIC
PB11, PB1011 Speed differential compensation VDC
PB12, PB1012 For manufacturer setting ―
PB13, PB1013
Machine resonance suppression
filter 1
NH1
PB14, PB1014 Notch form selection 1 NHQ1
PB15, PB1015
Machine resonance suppression
filter 2
NH2
PB16, PB1016 Notch form selection 2 NHQ2
PB17, PB1017 For manufacturer setting ―
PB18, PB1018 Low-pass filter setting LPF
PB19, PB1019
Vibration suppression control
vibration frequency setting
VRF1
PB20, PB1020
Vibration suppression control
resonance frequency setting
VRF2
PB21 to PB22,
PB1021 to PB1022
For manufacturer setting ―
PB23, PB1023 Low-pass filter selection VFBF
PB24, PB1024
Slight vibration suppression
control selection
*MVS
PB25, PB1025 Function selection B-1 *BOP1
PB26, PB1026 Gain changing selection *CDP
PB27, PB1027 Gain changing condition CDL
PB28, PB1028 Gain changing time constant CDT
PB29, PB1029
Ratio of load inertia moment to
servo motor inertia moment at
changing gain
GD2B
PB30, PB1030
Position loop gain at changing
gain
PG2B
PB31, PB1031 Speed loop gain at changing gain VG2B
PB32, PB1032
Speed integral compensation at
changing gain
VICB
PB33, PB1033
Vibration suppression control
vibration frequency setting for
changing gain
VRF1B
PB34, PB1034
Vibration suppression control
vibration resonance setting for
changing gain
VRF2B
PB35 to PB45,
PB1035 to PB1045
For manufacturer setting ―
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