Appendix

P04 group: position control parameters

ES2 Series Servo User Manual Lite V1.0

Function

code

P04 00

Name

Main

position

command A source

Setting range

0-low speed pulse

command

2-step amount given

4-multi-segment

position command

given

5-given

through

communication

Min.

unit

1

Default

setting

0

P04 01 Reserved parameter

1

0

P04 02 Step amount

-9999 command units

~ 9999 command 1Unit

units

50Unit

P04

03

Position command

smoothing filter

0.0ms～6553.5ms

0.1ms 0.0ms

P04

04

Position

FIR filter

command

0.0ms～128.0ms

0.1ms 0.0ms

Number of

P04

05

instruction unit

required for one

round (32-bit)

16 Unit/Turn

1073741824

Unit/Turn

～

1Unit

0Unit

P04

07

Electronic gear

numerator (32 bit)

1

1～1073741824

1

4

P04

09

Electronic gear 1

denominator (32 bit)

1～1073741824

1

1

P04

11

Electronic gear

numerator (32 bit)

2

1～1073741824

1

4

P04

13

Electronic gear 2

denominator (32 bit)

1～1073741824

1

1

P04 21 Pulse shape

0-pulse + direction,

positive logic.

(Defaults)

1-direction + pulse,

negative logic

2-A phase + B

phase orthogonal

1

0

pulse, positive logic

3-A phase + B

phase orthogonal

pulse, negative

logic

Effective

time

Type

Mode

Effective

immediate

ly

Settin

g after

motor

stop

P

Reser

N/A

ved

param

P

eter

Effective

immediate

ly

Settin

g after

motor

stop

P

Effective

immediate

ly

Settin

g after

motor

stop

P

Effective

immediate

ly

Settin

g after

motor

stop

P

Re-power

Settin

g after

motor

P

stop

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Set

when

runnin

g

P

Re-power

Settin

g after

motor

P

stop

46