8
Control Block Diagrams
8.2.1
Motion Parameters for Phase Control
8-6
8.2 Phase Control
8.2.1 Motion Parameters for Phase Control
: These parameters are ignored.
( 1 ) Fixed Parameters
( 2 ) Setting Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode
－
1 0 to 5
1 Function Selection 1
－
0000h Bit setting
2 Function Selection 2
－
0000h Bit setting
4 Command Unit
－
0 0 to 3
5 Number of Decimal Places
－
3 0 to 5
6 Command Units per Revolution Reference unit 10000
1 to 2
31
−
1
8 Gear Ratio (Motor)
－
1 1 to 65535
9 Gear Ratio (Load)
－
1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000
1 to 2
31
−
1
12 Forward Software Limit Reference unit
2
31
−
1
−
2
31
to 2
31
−
1
14 Reverse Software Limit Reference unit
−
2
31
−
2
31
to 2
31
−
1
16 Backlash Compensation Reference unit 0
−
2
31
to 2
31
−
1
30 Encoder Type
－
0 0 to 3
34 Rated Speed
min
−
1
3000 1 to 32000
36 Encoder Resolution pulse 65536
1 to 2
31
−
1
38 Max. Revolution of Absolute Encoder Rev 65534
0 to 2
31
−
1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32
No. Name Setting Unit Default Value Setting Range
OW
00
RUN Commands
－
0000h Bit setting
OW
01
Mode 1
－
0000h Bit setting
OW
02
Mode 2
－
0000h Bit setting
OW
03
Function 1
－
0011h Bit setting
OW
04
Function 2
－
0033h Bit setting
OW
05
Function 3
－
0000h Bit setting
OW
08
Motion Command
－
0 0 to 26
OW
09
Motion Command Options
－
0000h Bit setting
OW
0A
Motion Subcommand
－
0 0 to 65535
OL
0C
Torque Reference Depends on torque unit. 0
−
2
31
to 2
31
−
1
OW
0E
Speed Limit at Torque Reference 0.01% 15000
−
32768
～
32767
OL
10
Speed Reference Depends on speed unit. 3000
−
2
31
to 2
31
−
1
OL
14
Positive Side Limiting Torque Setting at the Speed
Reference
Depends on torque unit. 30000
−
2
31
to 2
31
−
1
OL
16
Secondary Speed Compensation Depends on speed unit. 0
−
2
31
to 2
31
−
1
OW
18
Speed Override 0.01% 10000 0 to 32767
OL
1C
Position Reference Setting Reference unit 0
−
2
31
to 2
31
−
1
OL
1E
Positioning Completed Width Reference unit 100 0 to 65535
OL
20
Positioning Completed Width 2 Reference unit 0 0 to 65535
OL
22
Deviation Abnormal Detection Value Reference unit
2
31
−
1 0 to 2
31
−
1
OW
26
Position Complete Timeout ms 0 0 to 65535
OL
28
Phase Compensation Reference unit 0
−
2
31
to 2
31
−
1
OL
2A
Latch Zone Lower Limit (for External Positioning) Reference unit
−
2
31
−
2
31
to 2
31
−
1
OL
2C
Latch Zone Upper Limit (for External Positioning) Reference unit
2
31
−
1
−
2
31
to 2
31
−
1
OW
2E
Position Loop Gain 0.1/s 300 0 to 32767
OW
2F
Speed Loop Gain Hz 40 1 to 2000
OW
30
Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW
31
Speed Amends 0.01% 0
−
32768 to 32767
OW
32
Position Integration Time Constant ms 0 0 to 32767
OW
34
Speed Integration Time Constant 0.01 ms 2000 15 to 65535
OL
36
Linear Acceleration Time
Depends on acceleration/
deceleration speed unit.
0
0 to 2
31
−
1
OL
38
Linear Deceleration Time
Depends on acceleration/
deceleration speed unit.
0
0 to 2
31
−
1
OW
3A
S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW
3C
Home Return Type
－
0 0 to 19
OW
3D
Home Window Reference unit 100 0 to 65535
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