Appendix A

Parameter list
Setting
Parameter Name and description Unit Default remarks
range

Uses servo ON input signal （/S-ON）or not

Pn000 — 0~1 0
[0] Uses servo ON input (/S-ON).
[1] Does not use servo ON input (/SON)

Uses forward rotation prohibited input （P-OT）

or not
Pn001 — 0~1 0
[0] Uses forward rotation prohibited input (P-OT).
[1] Does not use forward rotation prohibited input
(P-OT).
Uses reverse rotation prohibited input signal

（N-OT） or not

Pn002 — 0~1 0
[0] Uses reverse rotation input（N-OT）

[1] Does not use reverse rotation prohibited input

(N-OT).
Operation performed at recovery from power
loss
[0] Resets servo alarm status at power recovery from

Pn003 its momentary power loss. （ALM） — 0~1 0

[1] Remains in servo alarm status at power recovery

from momentary power loss.（ALM）

How to stop when Servo OFF or overtravel

occurs
[0] Stops the motor by applying dynamic brake (DB)
and then release the brake
Pn004 [1] Coast to a stop — 0~5 0
[2] Performs DB when S-off; apply plug braking
when overtravel,S-off after motor stops
[3] Motor coasts to stop when S-off, apply plug
braking when overtravel, S-off after motor stops

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 Setting
Parameter Name and description Unit Default remarks
range
[4] Performs DB when S-off, apply plug braking
when overtravel, zero clamp after motor stops
[5] Motor coasts to stop when S-off, apply plug
braking when overtravel ,zero clamp after motor
stops

if the error counter cleared when S-OFF

Pn005 [0] clear the error counter when S-OFF — 0~1 0
[1]: does not clear the error counter when S-OFF
Rotation Direction Selection
[0] Forward rotation is defined as counterclockwise
rotation when viewed from the drive end.
Pn006 (Standard setting) — 0~1 0
[1] Forward rotation is defined as clockwise rotation
when viewed from the drive end. (Reverse
rotation mode)
Doesn’t or does use analog speed limit function
Pn007 [0] Does not use analog speed limit function — 0~1 0
[1] Uses analog speed limit function
Reference pulse form
[0] Sign + Pulse
[1] CW+CCW

[2] A-phase + B-phase（x1 multiplication）

Pn008 — 0~4 0

[3] A-phase + B-phase（x2 multiplication）

[4] A+B（x4 multiplication)

Reference pulse form

[0] does not invert PULS reference pulse logic, does
not invert SIGN reference pulse logic
[1] does not invert PULS reference pulse logic,
Pn009 inverts SIGN reference pulse logic — 0~3 0
[2] inverts PULS reference pulse logic, does not
invert SIGN reference pulse logic
[3] inverts PULS reference pulse logic, inverts SIGN
reference pulse logic
uses analog current limit function or not
Pn010 — 0~1 0
[0] Does not use analog current limit function

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 Setting
Parameter Name and description Unit Default remarks
range
[1] Uses analog current limit function

use torque feed-forward function or not

Pn011 [0] Does not use torque feed-forward function — 0~1 0
[1] Uses torque feed-forward function
Pn012 Speed reference gain (r/min)/V 0~2000 150
Pn013 Speed loop gain Hz 1~2000 16
Pn014 Speed loop integration time constant ms 1~5120 20
Pn015 Position loop gain 1/s 1~1000 40
Pn016 Speed bias r/min 0~300 0
Pn017 Position feed forward % 0~100 80
Pn018 Torque reference filter time constant 0.1ms 0~250 4
Pn019 Soft start accelerating time ms 0~10000 0
Pn020 Soft start decelerating time ms 0~10000 0
Pn021 PG dividing ratio P/R 1~2500 2500
Pn022 Electronic gear A — 1~65535 1
Pn023 Electronic gear B — 1~65535 1
Pn024 Smoothing 0.1ms 0~32767 0
Pn025 Feed-forward filter 0.1ms 0~640 0
Pn026 Forward rotation torque limit % 0~300 300
Pn027 Reverse rotation torque limit % 0~300 300
Pn028 Forward external current limit % 0~300 100
Pn029 Reverse external current limit % 0~300 100
Pn030 plug braking stop torque % 0~300 300
0.1V/100
Pn031 Torque reference gain 33~100 33
%
Pn032 Zero-Speed Level r/min 1~2000 20
Pn033 Zero clamp speed r/min 0~2000 10
Pn034 Speed Coincidence Signal Output Width r/min 0~100 10
Reference
Pn035 Positioning Complete Range 0~500 10
unit
256
Pn036 error counter overflow reference 1~32767 1024
unit
Pn037 JOG speed r/min 0~2000 500
Pn038 SPEED1 r/min 0~2000 100
Pn039 SPEED2 r/min 0~2000 200
Pn040 SPEED3 r/min 0~2000 300
Control mode selection
Pn041 [0] Speed control (analog reference) — 0~13 0
[1] Position control (pulse train reference)

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 Setting
Parameter Name and description Unit Default remarks
range
[2] Torque control (analog reference)
[3]Speed control (contact reference) Speed control
(0 reference)
[4] Speed control (contact reference) Speed control
(analog reference)
[5] Speed control (contact reference) Position
control (pulse train reference)
[6] Speed control (contact reference) Torque
control (analog reference)
[7] Position control (pulse train reference) Speed
control (analog reference)
[8] Position control (pulse train reference) Torque
control (analog reference)
[9] Torque control (analog reference) Speed
control (analog reference)
[10] Speed control (analog reference) Zero clamp
control
[11] Position control (pulse train reference) Position
control (inhibit)
[12] position control ( parameter reference)
[13] speed control ( parameter reference)
[14] electric knife frame function
Pn042 Speed limit in torque control mode r/min 0~6000 1500
Time delay from servo ON signal till Servo actually
Pn043 ms 0~20 200
ON
Time delay from the time a brake signal is
Pn044 10ms 0~500 0
output until servo OFF status occurs
Pn045 Speed level for brake signal output during operation r/min 0~2000 100
Pn046 Time delay from brake signal until servo OFF 10ms 10~100 50
Position error pulse overflow alarm
Pn047 [0] no alarm output － 0~1 0
[1] alarm output
Pn048 Speed when parameter speed reference functions r/min 0~2000 500
Rotation direction when parameter speed reference
function
Pn049 — 0~1 0
[0] Forward
[1] Reverse
Select cycle run
Pn050 [0] multi- points cycle run — 0~1 0
[1] multi- points single run
Use /P-CON signal as step changing signal or not
Pn051 — 0~1 0
[0] delay step changing

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 Setting
Parameter Name and description Unit Default remarks
range
[1] use P-CON as step changing signal

Program method
Pn052 [0] incremental — 0~1 0
[1] absolute
Pn053 Select output signals 1CN-7,8 functions 0~4 0
Pn054 Select output signals 1CN-1,2 functions 0~4 1
Pn055 Select output signals 1CN-5,6 functions 0~4 2
Pn056 The second electronic gear numerator B2 1-65535 1
Pn057 Dynamic electronic gear on 0~1
Pn058 Dynamic electronic gear switching 0~1
4
10 referen
Pn059 Moving distance 0 -9999~9999 0
ce pulse
1reference
Pn060 Moving distance 0 -9999~9999 0
pulse
104referen
Pn061 Moving distance 1 -9999~9999 0
ce pulse
1reference
Pn062 Moving distance 1 -9999~9999 0
pulse
4
10 referen
Pn063 Moving distance 2 -9999~9999 0
ce pulse
1reference
Pn064 Moving distance 2 -9999~9999 0
pulse
104referen
Pn065 Moving distance 3 -9999~9999 0
ce pulse
1reference
Pn066 Moving distance 3 -9999~9999 0
pulse
4
10 referen
Pn067 Moving distance 4 -9999~9999 0
ce pulse
1reference
Pn068 Moving distance 4 -9999~9999 0
pulse
104referen
Pn069 Moving distance 5 -9999~9999 0
ce pulse
1reference
Pn070 Moving distance 5 -9999~9999 0
pulse
4
10 referen
Pn071 Moving distance 6 -9999~9999 0
ce pulse
1reference
Pn072 Moving distance 6 -9999~9999 0
pulse
104referen
Pn073 Moving distance 7 -9999~9999 0
ce pulse

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