PA1_01 Control mode selection································································· 4-4
PA1_02 INC/ABS system selection ···························································· 4-7
PA1_03 Command pulse input method and form selection ······························ 4-8
PA1_04 Rotation direction selection ························································· 4-11
PA1_05 Number of command input pulses per revolution······························ 4-12
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear ··· 4-12
PA1_08 Number of output pulses per revolution·········································· 4-14
PA1_09 Numerator of electric gear for output pulses···································· 4-14
PA1_10 Denominator of electric gear for output pulses································· 4-14
PA1_11 Output pulse phase selection at CCW rotation································· 4-14
PA1_12 Z-phase position offset ······························································· 4-15
PA1_13 Tuning mode selection ······························································· 4-15
PA1_14 Load inertia ratio ······································································· 4-18
PA1_15 Auto tuning gain 1 ····································································· 4-18
PA1_16 Auto tuning gain 2 ····································································· 4-19
PA1_20 to 23 Easy tuning settings ··························································· 4-20
PA1_25 to 26 Max. rotation speed ··························································· 4-20
PA1_27 Forward rotation torque limit, PA1_28 Reverse rotation torque limit······ 4-21
PA1_29 Speed coincidence range ··························································· 4-21
PA1_30 Zero speed range ····································································· 4-22
PA1_31 Deviation unit selection ······························································ 4-22
PA1_32 Zero deviation range/In-position range··········································· 4-22
PA1_33 to 35 In-position output signals····················································· 4-22
PA1_36 to 40 Acceleration time and deceleration time settings ······················ 4-24
PA1_41 to 47 Manual feed speed/speed limit for torque control ······················ 4-25
4.3 Control Gain and Filter Setting Parameter································· 4-27
4.3.1 List (PA1_) ·································································· 4-27
4.3.2 Description of Each Parameter·············································· 4-28
PA1_51 to 53 Command filter settings ······················································ 4-28
PA1_54 Position command response time constant ····································· 4-29
PA1_55 to 57 Response to disturbance settings·········································· 4-29
PA1_58 Feed forward gain 1··································································· 4-29
PA1_59 Torque filter time constant for position and speed control··················· 4-30
PA1_60 Torque filter time constant for torque control······································ 4-30
PA1_61 to 67 Second gain settings ·························································· 4-30
PA1_68 Acceleration compensation gain for position control·························· 4-31
PA1_70 to 76 Notch filter settings ···························································· 4-31
PA1_77 to 86 Vibration suppressing settings ·············································· 4-33
PA1_87 Model torque filter time constant··················································· 4-35
PA1_88 and 89 Position loop integration time constant, position loop integration limiter · 4-35
ix
