7. EXPLANATION OF PARAMETERS
7－58
Mode Page
Abbre-
viation
Name and description Standard value
Setting
range
Remarks
4 2 Func Servo function select
• Selectable enabled/ disabled of gain switch
and real time automatic tuning functions.
Normal 4 choices
3 TYPE Control mode
• You can choose a desired control mode from
position, velocity and torque control.
For the switch type, you can specify a desired
control mode from CN1-36 pin or 35 pin.
When
Func3, bit 7 is 0 : 36 pin is enabled.
1 : 35 pin is enabled.
$$$$ : The standard value varies according to
the specifications employed at the time
of shipment.
$$$$ 6 choices ( )
Indication Contents
Normal Gain switching disabled
Real time automatic tuning disabled
Gain_Sel. Gain switching enabled
Real time automatic tuning disabled
Gain_Tun. Gain switching disabled
Real time automatic tuning enabled
Gsel&Gtun Gain switching enabled
Real time automatic tuning enabled
Indication Contents
Position Position control type
Velocity Velocity control type
Torque Torque control type
Velo ↔ Torq Velocity-to-torque switch type
Posi ↔ Torq Position-to-torque switch type
Posi ↔ Velo Position-to-velocity switch type
Note the following for changes to be conducted on Pages 3 to 6 and 8 (system
parameters):
1 Turn off the control power before change.
2 Change is effective only after Func6 bit7 is set at "1" from Screen Mode 2.
3 If the above operation (Func6 bit7 to "1") is ignored, the parameter change is invalid
Changing Func allows switching the servo gain during operation.
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