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5. PARAMETERS
Class No. Symbol Name and Function
Initial
value
Unit
Setting
range
24 FFC Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
0 % 0 to 100
25 VCO Override offset
Used to set the offset voltage to analog override.
0 mV 999 to
999
26 TLO Torque limit offset
Used to set the offset voltage to analog torque limit (TLA).
0 mV 999 to
999
27 *ENR
Encoder output pulses
Used to set the encoder pulses (A-phase, B-phase) output by the servo
amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. 58 to choose the output pulse setting or output
division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by 4). Use
this parameter within this range.
For output pulse designation
Set " 0
" (initial value) in parameter No. 58.
Set the number of pulses per servo motor revolution.
Output pulse
set value [pulses/rev]
At the setting of 5600, for example, the actually output A/B-phase pulses are
as indicated below.
4
5600
A B-phase output pulses 1400[pulse]
For output division ratio setting
Set " 1
" in parameter No. 58.
The number of pulses per servo motor revolution is divided by the set value.
Output pulse
[pulses/rev]
Resolution per servo motor revolution
Set value
At the setting of 8, for example, the actually output A/B-phase pulses are as
indicated below.
A
B-phase output pulses 4096[pulse]
8
131072
4
1
4000 pulse/
rev
1
to
65535
28 TL1 Internal torque limit 1
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. When 0 is set, torque is not produced.
100 % 0 to 100
29 TL2 Internal torque limit 2
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. When 0 is set, torque is not produced.
Made valid by switching on the internal torque limit selection (TL2).
100 % 0 to 100
Expansion parameters 1
30 *BKC Backlash compensation
Used to set the backlash compensation made when the command direction is
reversed.
This function compensates for the number of backlash pulses in the opposite
direction to the home position return direction. In the absolute position
detection system, this function compensates for the backlash pulse count in
the direction opposite to the operating direction at power-on.
Note. The setting range differs depending on the software version of servo
amplifiers.
Version A4 or later: 0 to 1600
Version A3 or before: 0 to 1000
0 pulse (Note)
0
to
1600