LIST OF USER CONSTANTS
402
For Speed/Torque Control (SGDA-jjjS)
List of User Constants (User Constant Setting)
Category User
Constant
No.
Code Name Unit Lower
Limit
Upper
Limit
Factory
Setting
Remarks
Cn-00 Not a user constant. (Cn-00 is used to select special mode for digital operator.)
Cn-01 Memory switch (see on page 404.) See note 1
Cn-02 Memory switch (see on page 405.) See note 1
Gain Related
Constants
Cn-03 VREFGN Speed reference
gain
(r/min)/V 0 2162 500
Cn-04 LOOPHZ Speed loop gain Hz 1 2000 80 See note 2
Cn-05 PITIME Speed loop
integration time
constant
ms 2 10000 20 See note 2
Cn-1A POSGN Position loop gain 1/s 1 500 40 See note 2
and 3
Torque
Related
Constants
Cn-13 TCRFGN Torque reference
gain
(0.1
V/rated
torque)
10 100 30
Cn-06 EMGTRQ Emergency stop
torque
% 0 Maximum
torque
Maximum
torque
Cn-08 TLMTF Forward rotation
torque limit
% 0 Maximum
torque
Maximum
torque
Cn-09 TLMTR Reverse rotation
torque limit
% 0 Maximum
torque
Maximum
torque
Cn-14 TCRLMT Speed limit for
torque control I
r/min 0 Maximum
speed
Maximum
speed
Cn-17 TRQFIL Torque reference
filter time
constant
100 µs
0 250 4
Cn-18 CLMIF Forward external
torque limit
% 0 Maximum
torque
100
Cn-19 CLMIR Reverse external
torque limit
% 0 Maximum
torque
100
Sequence
Related
Cn-07 SFSACC Soft start time
(acceleration)
ms 0 10000 0 See note 4
Constants
Cn-23 SFSDEC Soft start time
(deceleration)
ms 0 10000 0 See note 4
Cn-0B TGONLV Zero-speed level r/min 1 Maximum
speed
20
Cn-0F ZCLVL Zero-clamp level r/min 0 16383 10
Cn-12 BRKTIM Time delay from
brake reference
until servo OFF
10 ms 0 50 0
Cn-15 BRKSPD Speed level for
brake reference
output during
motor operation
r/min 0 Maximum
speed
100
Cn-16 BRKWAI Output timing of
brake reference
during motor
operation
10 ms 10 100 50
D
SGDA-jjjS
Speed/Torque