CHAPTER 4 PARAMETER

PA1_12 Z-phase position offset

No.

Name

Setting range

Default

value

Change

12

Z-phase position 20-bit PG：0 to 1048575 [pulses]

offset

18-bit PG：0 to 262143 [pulses]

0

Power

The Z-phase output position shifts. The Z-phase output position shifts in the CCW direction by the

specified pulse amount. For servomotors having "HB2" at the end of the model name (18-bit encoder),

the maximum value is 262143 pulses.

This parameter is irrelevant to the rotation direction selection (parameter PA1_04).

The Z-phase used for homing is also the position that is offset with this parameter.

 Z-phase output position (20-bit encoder)

 If the Z-phase position offset is 0

 If the Z-phase position offset is 262144

4

Z-phase position *

262144 pulses

1048576 pulses/rev

= 0.25 rev

Z-phase position *

Motor shaft

* The position of the key is not always the Z-phase position.

Motor shaft

The Z-phase shifts 0.25

revolutions in the CCW

direction.

The position of the key is supposed to be the Z-phase position in this explanation.

■ In the case of GYB motor,at speed of 100r/min or less after the power turned on,the output of first

Z phase will happen within 1 rotation after the motor becomes over 12-degree as worst.

PA1_13 Tuning mode selection

No.

Name

Setting range

Default

value

Change

10: Auto tuning

11: Semi-auto tuning

13

Tuning mode selection

12: Manual tuning

13: Interpolation operation mode

14: Trace operation mode

15: Shorter cycle time operation mode

10 Always

This parameter is enabled under position and speed control.

Select the tuning method of the servo amplifier. Refer to the following description to select the mode.

 Auto tuning (default value)

In this mode, the ratio of moment of inertia of the load of the machine is always assumed inside the

amplifier and the gain is automatically adjusted to the best one. "0" is entered, too, in case of easy

tuning.

 Semi-auto tuning

Use this mode if the ratio of moment of inertia of the load of the machine has relatively large

fluctuation or the ratio of moment of inertia of the load is not estimated correctly inside the

amplifier.

Basic Parameters 4-15