7-83
Pn321 Number of Pulse of Return to Origin Offset
【
5-4-7
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 pulse
-32767~32767:8192ppr, 15bit
-131071~131071:17bit
-8388607~8388607:23bit
-- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
031BH/031CH - - O O O -- --
Setting Description: Return to Origin Offset Position =Pn320 (Number of Revolutions) x Number of Pulses in One
Revolution of Encoder +Pn321(Number of Pulses)
Pn322 Internal Position Command S-type Acceleration / Deceleration Smoothing
Constant (TSL)
【
5-4-4
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 0.4ms 0 ~ 5000 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
031DH - - O -- O -- --
Setting Description: The Position S-type Smoother is suitable for the Control Mode of the Internal Position Command
Input, and provides the smoothing process of the motion command. The generated speed and
acceleration are continuous, and the jerkiness of the acceleration is smaller, which can improve the
characteristics of acceleration / deceleration of the Motor, and more smooth in mechanical structure
operations.
2
T
SL
2
T
SL
2
T
SL
2
T
SL
ACC
T
ACC
T
SLACC
TT
SLACC
TT
SLACC
TT
Pn323 Internal Position Command S-type Acceleration / Deceleration Constant
(TACC)
【
5-4-4
】
Initial Value Unit Setting Range Effective Cn029 Reset
1 0.4ms 1 ~ 5000 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
031EH - - O -- O -- --
Setting Description: Please refer to Pn322 description.
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