B-65395EN/01 APPENDIX B.

PARAMETER LIST

B PARAMETER LIST
Table B (a) Parameter list (in order of classification)
Classification Parameter number Reference
item
Controlled-axis parameter 000 B.1
Coordinate system and 001, 068, 140 to 145, 147,
B.2
stroke limit parameters 154 to 165, 170
021, 040, 041, 043 to 050, 054,
Feedrate parameters B.3
061, 066, 067
Acceleration/deceleration
002, 055 to 060 B.4
parameters
003 to 005, 007, 020, 022 to
Input/output signal
025, 029, 062, 063, 148 to 152,166 to B.5
parameters
169
010 to 014, 016 to 019, 030 to 032,
070 to 075, 078 to 096, 099 to 112,
Servo parameters B.6
115, 116, 118, 119, 125, 130, 135 to
138, 179 to 182

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B.PARAMETER LIST APPENDIX B-65395EN/01

Table B (a) Parameter list (in order of parameter number)

Any parameter with its number column shaded is automatically set by setting bit 0 of parameter No. 012 to
0, then turning the power off and then back on.

No. Description Related item

000 Controlled-axis Appendix B.1
#1 ROTX : Linear axis (0)/Rotation axis (1)
#2 RAB2X : Specification of the sign of the absolute command-based rotation direction
of the rotation axis is disabled (0)/enabled (1).
#6 RABX : The absolute command-based rotation direction of the rotation axis is a
direction in which the distance to a desired point within one revolution is
smaller (0)/a direction determined according to a command-specified sign
(1).
#7 ROAX : The roll-over function of the rotation axis is disabled (0)/enabled (1).
001 Coordinate system and stroke limit Appendix B.2
#1 ZRTN : If a reference position is not set up, an alarm is issued (0)/not issued (1).
#2 HOT : The overtravel direct input signals are disabled (0)/enabled (1).
#3 SSL1 : Stored stroke limit 1 is invalid (0)/valid (1).
#4 N405 : If reference position return cannot be executed correctly, servo alarm No.
405 is issued (0)/not issued (1).
#6 EPEXA
#7 EPEXB : If input external pulses exceed the upper limit for feedrate commands:
EPEXB EPEXA Description
0 0 The feedrate is clamped (pulses at
excessive rates are accumulated).
0 1 Alarm No. 291
1 0 The feedrate is clamped (pulses at
excessive rates are discarded).
1 1 Alarm No. 291

002 Acceleration/deceleration control Appendix B.4

#0 RPDE : The acceleration/deceleration type for rapid traverse is linear or
bell-shaped (0)/exponential (1).
#1 JOGE : The acceleration/deceleration type for jog or cutting feed is linear or
bell-shaped (0)/exponential (1).
#3 CIPC : Switching between effective areas for in-position check is disabled
(0)/enabled (1).
#6 RVF2 : For a rapid traverse override, a feedrate is specified in 4 steps of 100%,
50%, 25%, F0 (0)/100%, F1, F2, F0 (1).
#7 CSMZ : The SMZX signal is disabled (0)/enabled (1).
003 Input/output signals Appendix B.5
#1 NCLP : Clamping/unclamping is used (0)/not used (1).
#2 IGCP : A clamp/unclamp state is checked (0)/ not checked (1).
#5 WAT2 : For a wait command, an ID code cannot be specified (0)/can be specified
(1).
#6 EXPLS : The external pulse function is disabled (0)/enabled (1).
#7 STON : The ST signal is detected on the falling edge (0)/rising edge (1).
004 Input/output signals Appendix B.5
#2 ZRNO : Input of a reference position establishment signal is disabled (0)/enabled
(1).
#3 NEPRM : Writing to EEPROM is performed (0)/not performed (1).

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No. Description Related item

005 Input/output signals Appendix B.5
#0 JNCL : When JOG operation stops, clamping is performed (0)/not performed (1).
#1 CLPSVF : The time from clamping to servo-off is set as the time from the point the
UCPC2 signal turns off (0)/the time from the point the UCPS2 signal
turns off (1).
#2 REFDRC : The direction of high-speed reference position return of the rotation axis
depends on the sign of the result of subtracting the current position from
the reference position (0)/the setting of bit 5 (ZMIX) of parameter No.010
(1).
#4 IOH : Manual handle feed over the I/O Link is disabled (0)/enabled (1).
#5 MP : Setting of a magnification in 4 steps with the MP1/MP2 signal for manual
handle feed is disabled (0)/enabled (1).
#6 LDM : Output of the motor current value to response data is disabled
(0)/enabled (1).
#7 ABSPS : Reading of response data is not synchronized with the host
(0)/synchronized with the host (1).
007 Input/output signals Appendix B.5
#0 ABSV : When coordinates are read, allowance for delays including an
acceleration/deceleration delay and servo delay is not made (0)/made (1).
#1 PSSV : For area signals, allowance for delays including an
acceleration/deceleration delay and servo delay is not made (0)/made (1).
#2 NZRPO : If a reference position is not established, a turret/magazine number or point
number is not output (0)/output (1).
#4 VCTLB : The velocity control type for peripheral equipment control is type A (0)/type
B(1).
#5 ATCR2 : A turret/magazine number is not always output to response data (0)/always
output to response data (1).
010 Servo Appendix B.6
#0 IINP : When the torque is limited, an in-position check is not made (0)/made (1).
#1 IALM : When the torque is limited, a check for an excessive error is not made
(0)/made (1).
#2 IEBL : The torque limit function is disabled (0)/enabled (1).
#5 ZMIX : The initial direction of reference position return and backlash is positive
(0)/negative (1).
#6 ECMR : CMR expansion is disabled (0)/enabled (1).
#7 SVFP : During servo-off, follow-up is not performed (0)/performed (1).
011 Servo Appendix B.6
#0 ABSX : The reference position of the absolute-position detector has not been
established (0)/has been established (1).
#1 SZRN : Scale return is disabled (0)/enabled (1).
#2 DZRN : Reference position return with dogs is disabled (0)/enabled (1).
#6 MVZPFR : When the reference position on a rotation axis is updated, allowance for a
fraction is not made (0)/made (1).
#7 APCX : An absolute-position detector is not provided (0)/provided (1).
012 Servo Appendix B.6
#1 DGPR : Automatic motor settings are made (0)/not made (1).

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B.PARAMETER LIST APPENDIX B-65395EN/01

No. Description Related item

013 Servo Appendix B.6
#0 VCM1
#1 VCM2 : The scale of VCMD output to the check board
VCM2 VCM1 Scale
0 0 5 V corresponds to 3750 min-1.
0 1 5 V corresponds to 234 min-1.
1 0 5 V corresponds to 14.6 min-1.
1 1 5 V corresponds to 0.92 min-1.

#4 TSA1
#5 TSA2 : The scale of TSA output to the check board
TSA2 TSA1 Scale
0 0 5 V corresponds to 3750 min-1.
0 1 5 V corresponds to 234 min-1.
1 0 5 V corresponds to 14.6 min-1.
1 1 5 V corresponds to 0.92 min-1.

014 Servo Appendix B.6

#0 IRS : Items output to DATA0 and DATA1 of the check board are changed to
VCMD, TCMD (0)/IR, IS (1).
Bit 1 (TDOU) of parameter No.014 must be set to 0.
#1 TDOU : Items output to DATA0 and DATA1 of the check board are changed to
VCMD, TCMD (0)/specified acceleration, estimated load torque (1).
Bit 0 (IRS) of parameter No.014 must be set to 0.
016 Servo Appendix B.6
#0 PIIP : The velocity loop is subjected to PI control (0)/IP control (1).
#1 LVMD : Low-velocity integration is disabled (0)/enabled (1).
#4 FFVL : FFVL FFAL Description
#5 FFAL : 1 1 The feed-forward function is enabled.
0 * The feed-forward function is disabled.
1 0 The feed-forward function is disabled.

017 Servo Appendix B.6

#0 HENB : The skip function is disabled (0)/enabled (1).
#1 HEDG : A skip signal is detected on the rising edge (0)/falling edge (1).
#2 SPCO : If no skip signal is input and the end point is reached, skip measurement
data is not updated (0)/contains end point data (1).
018 Servo Appendix B.6
#2 VCMD0 : The function for quick stop at emergency stop is disabled (0)/enabled (1).
#3 TIM0
#4 TIM1 : MCC off timer settings
TIM1 TIM0 MCC off timer
0 0 0 ms
1 0 60 ms
1 1 100 ms

019 Servo Appendix B.6

#2 ACLIM : Current compensation function 11 is disabled (0)/enabled (1).
#3 SQLIM : Current compensation function 12 is disabled (0)/enabled (1).
020 Response data specification Appendix B.5
021 Feedrate command weight N Appendix B.3
022 ECF and EBSY signal minimum output time Appendix B.5
023 PMM allocation rate assumed when reading continuous data with a direct command Appendix B.5

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No. Description Related item

024 Axis name (1st character) Appendix B.5
025 Axis name (2nd character) Appendix B.5
029 Internal variable (ignore this parameter) Appendix B.5
030 Set 0. Set the motor type number in parameter No. 125.
031 Direction of motor rotation (DIRCTL) Appendix B.6
032 Command multiplier (CMR) Appendix B.6
036 Always set 0.
037 Always set 0.
038 Always set 0.
039 Always set 0.
040 Rapid traverse rate Appendix B.3
041 Jog feedrate Appendix B.3
043 Feedrate upper limit Appendix B.3
044 Feedrate specified for feedrate code 1 Appendix B.3
045 Feedrate specified for feedrate code 2 Appendix B.3
046 Feedrate specified for feedrate code 3 Appendix B.3
047 Feedrate specified for feedrate code 4 Appendix B.3
048 Feedrate specified for feedrate code 5 Appendix B.3
049 Feedrate specified for feedrate code 6 Appendix B.3
050 Feedrate specified for feedrate code 7 Appendix B.3
054 FL rate for a reference position return Appendix B.3
055 Linear/bell-shaped/exponential acceleration/deceleration time constant T1 for rapid Appendix B.4
traverse
056 Rapid traverse bell-shaped acceleration/deceleration time constant T2 Appendix B.4
057 Linear/bell-shaped/exponential acceleration/deceleration time constant T1 for jog or Appendix B.4
cutting feed
058 Bell-shaped acceleration/deceleration time constant T2 for jog or cutting feed Appendix B.4
059 Exponential acceleration/deceleration FL rate for jog or cutting feed Appendix B.4
060 FL rate for rapid traverse exponential acceleration/deceleration Appendix B.4
061 F0 rate for rapid traverse override Appendix B.3
062 External pulse input-based axis movement amount ratio setting 1 (M) Appendix B.5
063 External pulse input-based axis movement amount ratio setting 2 (N) Appendix B.5
066 F1 rate for rapid traverse override Appendix B.3
067 F2 rate for rapid traverse override Appendix B.3
068 Number of magazines/turrets Appendix B.2
070 Current loop gain (PK1) Appendix B.6
071 Current loop gain (PK2) Appendix B.6
072 Current loop gain (PK3) Appendix B.6
073 Velocity loop gain (PK1V) Appendix B.6
074 Velocity loop gain (PK2V) Appendix B.6
075 Velocity loop gain (PK4V) Appendix B.6
078 Current compensation 1 (PVPA) Appendix B.6
079 Current compensation 2 (PALPH) Appendix B.6
080 Current limit value (TQLIM) Appendix B.6
081 Overload protection coefficient (POVC1) Appendix B.6
082 Overload protection coefficient (POVC2) Appendix B.6
083 Overload protection coefficient (POVCLM) Appendix B.6
084 Current compensation 3 (AALPH) Appendix B.6
085 Actual current limit (DBLIM) Appendix B.6
086 Current compensation 4 (MGSTCM) Appendix B.6
087 Current compensation 5 (DETQLM) Appendix B.6

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B.PARAMETER LIST APPENDIX B-65395EN/01

No. Description Related item

088 Current compensation 6 (NINTCT) Appendix B.6
089 Current compensation 7 (MFWKCE) Appendix B.6
090 Current compensation 8 (MFWKBL) Appendix B.6
091 VCMD polyline speed (P_VCLN) Appendix B.6
092 Low-speed integration threshold speed (P_LVIN) Appendix B.6
093 Estimated load torque: torque offset (TCPRLD) Appendix B.6,Ⅱ6
094 Estimated load torque: dynamic friction compensation (FRCCMP) Appendix B.6,Ⅱ6
095 Unexpected disturbance torque detection: retract distance (ABVOF) Appendix B.6,Ⅱ6
096 Unexpected disturbance torque detection: alarm threshold (ABTSH) Appendix B.6,Ⅱ6
099 Current compensation 9 (EMFCMP) Appendix B.6
100 Load inertia ratio (LDINT) Appendix B.6
101 Acceleration feedback (PK2VAUX) Appendix B.6
102 Torque command filter (FILTER) Appendix B.6
103 Feed-forward coefficient (FALPH) Appendix B.6
104 Velocity feed-forward coefficient (VFFLT) Appendix B.6
105 Numerator for the number of pulses per motor revolution (SDMR1) Appendix B.6
106 Denominator for the number of pulses per motor revolution (SDMR2) Appendix B.6
107 Position loop gain (LPGINX) Appendix B.6
108 Servo motor torque limit Appendix B.6
109 Backlash amount (BKLCMP) Appendix B.6
110 Positional deviation limit value at a stop Appendix B.6
111 In-position width Appendix B.6
112 Torque constant
115 Model constant
116 Velocity loop gain override during velocity control Appendix B.6
118 Current compensation 10 (PHDLY1) Appendix B.6
119 Current compensation 10 (PHDLY2) Appendix B.6
125 Motor type number Appendix B.6
130 Unexpected disturbance torque detection alarm timer Appendix B.6,Ⅱ6
135 Linear acceleration/deceleration time constant for velocity control Appendix B.6
136 Velocity deviation check limit during velocity control Appendix B.6
137 Effective area for in-position check during cutting feed Appendix B.6
138 Expanded CMR Appendix B.6
140 Machine coordinate for the reference position Appendix B.2
141 Amount of movement per rotation axis revolution Appendix B.2
142 Positive machine coordinate for stored stroke limit 1 Appendix B.2
143 Negative machine coordinate for stored stroke limit 1 Appendix B.2
144 Machine coordinate for the second reference position Appendix B.2
145 Machine coordinate for the third reference position Appendix B.2
147 Workpiece coordinate for the reference position Appendix B.2
148 Servo positional deviation monitor amount Appendix B.5
149 Remaining travel limit for outputting the remaining travel in-range signal (DEN2) Appendix B.5
150 Coordinates (minimum) for point 1 in the operation range of the area signals Appendix B.5
151 Coordinates for point 2 in the operation range of the area signals Appendix B.5
152 Coordinates for point 3 in the operation range of the area signals Appendix B.5
154 Position for point number 1 Appendix B.2
155 Position for point number 2 Appendix B.2
156 Position for point number 3 Appendix B.2
157 Position for point number 4 Appendix B.2
158 Position for point number 5 Appendix B.2
159 Position for point number 6 Appendix B.2

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No. Description Related item

160 Position for point number 7 Appendix B.2
161 Position for point number 8 Appendix B.2
162 Position for point number 9 Appendix B.2
163 Position for point number 10 Appendix B.2
164 Position for point number 11 Appendix B.2
165 Position for point number 12 Appendix B.2
166 Operation completion signal output time Appendix B.5
167 Time between servo-on and unclamping Appendix B.5
168 Time between clamping and servo-off Appendix B.5
169 Time allowed before the next sequence is executed without clamping/unclamping Appendix B.5
170 Index point tolerance Appendix B.2
179 Numerator for the number of pulses per motor revolution (SDMR1, 32768 or greater) Appendix B.6
180 Reference counter capacity Appendix B.6
181 Grid shift amount Appendix B.6
182 Positional deviation limit value during movement Appendix B.6

CAUTION
You must not change any parameters during
operation.

NOTE
1 The increment system in the current CNCs
corresponds to the user-specified unit in this servo
amplifier module. For example, when an amount of
movement is specified in any of the current CNCs,
the weight for a specified value of 1 is determined by
parameter switching. In increment system B, the
weight for a specified value of 1 is 1 µ. This servo
amplifier module does not perform parameter
switching, but requires the user to determine the
weight for a specified value of 1.
2 Do not change the value of a parameter not
included in the parameter list because that
parameter may be used for an internal variable.
For example, parameter No. 029 is used for an
internal variable. Even if this parameter has a
nonzero value, ignore the parameter without
changing the value.

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B.PARAMETER LIST APPENDIX B-65395EN/01

B.1 CONTROLLED-AXIS PARAMETERS

No #7 #6 #5 #4 #3 #2 #1 #0
000 ROAX RABX RAB2X ROTX
[Size] 1 byte (bit type)
[Standard value] 0

ROTX Specifies whether the controlled axis is a linear or rotation axis, as

follows:
0 : Linear axis
1 : Rotation axis

NOTE
For velocity control, set a rotation axis.

RAB2X Specifies whether the specification of the sign of the absolute

command-based rotation direction of the rotation axis is valid, as
follows:
0 : Invalid
1 : Valid

NOTE
For details, see Section 3.6.2, "Rotation axis
rotation direction sign specification function."

RABX Specifies the absolute command-based rotation direction of the rotation

axis for movement within one revolution, as follows:
1 : Direction of the smallest distance to a desired point
0 : Direction determined according to a command-specified sign

NOTE
This parameter is valid only when ROAX = 1.

ROAX Specifies whether the roll-over function of the rotation axis is valid, as
follows:
0 : Invalid
1 : Valid

NOTE
For velocity control, enable the roll-over function of
the rotation axis.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

B.2 COORDINATE SYSTEM AND STROKE LIMIT

PARAMETERS

No #7 #6 #5 #4 #3 #2 #1 #0
001 EPEXB EPEXA N405 SSL1 HOT ZRTN
[Size] 1 byte (bit type)
[Standard value] 0

ZRTN Specifies whether an alarm is to be issued if a reference position is not

set up, as follows:
0 : An alarm is issued.
1 : An alarm is not issued.

HOT Specifies whether the overtravel direct input signals (*+OT and *-OT)
are valid, as follows:
0 : Invalid
1 : Valid

SSL1 Specifies whether stored stroke limit 1 is valid, as follows:

0 : Invalid
1 : Valid

NOTE
This parameter is invalid until reference position
return is completed.

N405 Specifies whether a servo alarm is to be issued if reference position

cannot be executed correctly, as follows:
0 : A servo alarm is issued. (No. 405)
1 : A servo alarm is not issued.

NOTE
If a value in the range of 4 to 96 is set for parameter
No. 032 (CMR), servo alarm No. 405 may be issued
during reference position return. In this case,
prevent the alarm from being issued by setting N405
to "1".

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B.PARAMETER LIST APPENDIX B-65395EN/01

EPEXA, EPEXB Specify the operation that is to occur if the axis movement rate
determined according to external pulses exceeds the feedrate upper
limit specified in parameter No. 043.

EPEXB EPEXA Description

The feedrate is clamped to the parameter-specified
value, and the excessive pulses are treated as
0 0 accumulated pulses.
If the number of accumulated pulses exceeds 99999999,
the excessive pulses are discarded.
0 1 Alarm 291 is issued, leading to deceleration and stop.
The feedrate is clamped to the parameter-specified
1 0
value, and the excessive pulses are discarded.
1 1 Alarm 291 is issued, leading to deceleration and stop.

No
068 Number of magazines/turrets
[Size] 2-byte
[Valid data range] 1 to 9999
[Standard value] 0
[Description] Sets up the number of magazines/turrets.

No
140 Machine coordinate of the reference position
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 0
[Description] Sets up the machine coordinate for the reference position.
When setting of the reference position, either without dogs or externally,
is completed, the machine coordinate is preset to the value specified in
the parameter.

No
141 Amount of movement per rotation axis revolution
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] Specifies an amount of movement per revolution for the rotation axis. If
0 is specified, the amount of movement is assumed to be 36000.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

CAUTION
The amount of motor revolution corresponding to
the amount of movement per rotation axis revolution
must be 2500 revolutions or less. If the amount of
motor revolution corresponding to the amount of
movement per rotation axis revolution exceeds
2500 revolutions, reduce the amount of motor
revolution to 2500 or below, by reducing the gear
reduction ratio or by other means.

No
142 Positive machine coordinate for stored stroke limit 1

No
143 Negative machine coordinate for stored stroke limit 1
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 99999999 (positive machine coordinate),
-99999999 (negative machine coordinate)
[Description] Sets up the positive and negative machine coordinates for stored stroke
limit 1. Areas outside the specified ranges are forbidden areas.

No
144 Machine coordinate for the second reference position

No
145 Machine coordinate for the third reference position
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 0
[Description] Sets up the machine coordinates for the second and third reference
positions.

No
147 Workpiece coordinate for the reference position
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 0
[Description] Sets up the workpiece coordinate for the reference position. When
setting the reference position, either without dogs or externally, is
completed, the workpiece coordinate of the reference position is preset
to the value specified in the parameter. This parameter is fixed to 0 for
the rotation axis.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
154 Position for point number 1
: :
165 Position for point number 12
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 0
[Description] Specify positions for point numbers 1 to 12 for point positioning.

No
170 Index point tolerance
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] When the 1-pitch rotation of ATC/turret control is specified, the index
point is preserved if the machine deviates from the index point during
clamping/ unclamping, as long as the absolute value for the movement
amount is equal to or less than this value. For example, when the
machine is to move from index point 1 to 2, it can move to the position
of point 2 even if it has deviated from the position of point 1 in the
direction opposite from the direction of movement, as long as the
movement amount is within the value specified in this parameter.
In ATC/turret control, this parameter is also used to specify a tolerable
magazine range when a turret/magazine number is always output to
response data.

NOTE
When bit 5 of parameter No.007 is 1 (a
turret/magazine number is always output to
response data), set a tolerable magazine range in
this parameter.

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B.3 FEEDRATE PARAMETERS

No
021 Feedrate command weight N
[Size] 1 byte
[Unit of data]
[Valid data range] 0 to 8
[Standard value] 3
[Description] Sets up a weight for feedrate parameter Nos. 040, 041, 043 to 050, 054,
059 to 061. Supposing 3 is specified, the feedrate is assumed to be a
parameter-specified feedrate multiplied by 103 (= 1000).

No
040 Rapid traverse rate
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 4000
[Description] Specifies a rapid traverse rate. (N is specified in parameter No. 021.)

No
041 Jog feedrate
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (4 user-specified units/MIN or greater)
[Standard value] 2000
[Description] Specifies the feedrate for job feed when the feedrate override value is
100%. (N is specified in parameter No. 021.)

No
043 Feedrate upper limit
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535
[Standard value] 4000
[Description] Specifies the upper limit for the feedrate to be specified. If an attempt is
made to specify a value larger than the upper limit, the actual feedrate is
clamped to the upper limit. (N is specified in parameter No. 021.)

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
044 Feedrate specified for feedrate code 1

045 Feedrate specified for feedrate code 2

046 Feedrate specified for feedrate code 3

047 Feedrate specified for feedrate code 4

048 Feedrate specified for feedrate code 5

049 Feedrate specified for feedrate code 6

050 Feedrate specified for feedrate code 7

[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (4 user-specified units/MIN or greater)
[Standard value] 2000
[Description] Specify the feedrates corresponding to feedrate codes 1 to 7 for
command data 1 for a function code command. (N is specified in
parameter No. 021.)

No
054 FL rate for a reference position return
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 100
[Description] Specifies a rate of movement to the next grid point during setting of the
reference position. (N is specified in parameter No. 021.)

No
061 F0 rate for rapid traverse override
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 10
[Description] Specifies the F0 rate for rapid traverse override. (N is specified in
parameter No. 021.)

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No
066 F1 rate for rapid traverse override
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 10
[Description] Specifies the F1 rate for rapid traverse override. (N is specified in
parameter No. 021.)

NOTE
This parameter is valid when bit 6 (RVF2) of
parameter No. 002 is 1.

No
067 F2 rate for rapid traverse override
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 10
[Description] Specifies the F2 rate for rapid traverse override. (N is specified in
parameter No. 021.)

NOTE
This parameter is valid when bit 6 (RVF2) of
parameter No. 002 is 1.

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B.PARAMETER LIST APPENDIX B-65395EN/01

B.4 ACCELERATION/DECELERATION CONTROL

PARAMETERS

No #7 #6 #5 #4 #3 #2 #1 #0
002 CSMZ RVF2 CIPC JOGE RPDE
[Size] 1 byte (bit type)
[Standard value] 0

NOTE
In the explanation below, cutting feed means a feed
type that is neither rapid traverse nor jog feed.

RPDE Specifies the acceleration/deceleration type for rapid traverse, as

follows:
0 : Linear or bell-shaped acceleration/deceleration
NOTE
Bell-shaped acceleration/deceleration is selected if
rapid traverse bell-shaped
acceleration/deceleration time constant T2 is
specified.

1: Exponential acceleration/deceleration

JOGE Specifies the acceleration/deceleration type for jog or cutting feed, as

follows:
0 : Linear or bell-shaped acceleration/deceleration
NOTE
Bell-shaped acceleration/deceleration is selected if
jog or cutting feed rapid traverse bell-shaped
acceleration/deceleration time constant T2 is
specified.

1: Exponential acceleration/deceleration

CIPC Specifies whether to enable switching between effective areas for

in-position check, regardless of whether a direct command specifies
rapid traverse or cutting feed for the next block, as follows:
0 : Disabled.
1 : Enabled.

RVF2 For a rapid traverse override, a feedrate is specified in 4 steps of:

0 : 100%, 50%, 25%, F0.
1 : 100%, F1, F2, F0.
The table below lists override values determined by the rapid traverse
override signals ROV1 and ROV2.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

Override value
ROV2 ROV1
RVF2=0 RVF2=1
0 0 100% 100%
0 1 50% F1
1 0 25% F2
1 1 F0 F0

NOTE
For F0, F1, and F2, set actual feedrates in
parameters No. 061, No. 066, and No. 067,
respectively.

CSMZ Specifies whether to enable the output signal SMZX (Yy+7#5) of a

direct command, as follows:
0 : Disabled.
1 : Enabled.

No
Rapid traverse linear acceleration/deceleration time constant or
055 rapid traverse bell-shaped acceleration/deceleration time constant
T1
Rapid traverse exponential acceleration/deceleration time constant
[Size] 2-byte
[Unit of data] msec
[Valid data range] 0 to 4000
[Standard value] 100
[Description] Specifies a rapid traverse acceleration/deceleration time constant. The
acceleration/deceleration time constant to be used is determined
depending on whether bit 0 of parameter No. 002 (RPDE) and rapid
traverse bell-shaped acceleration/deceleration time constant T2 are set.

No
Rapid traverse bell-shaped acceleration/deceleration time constant
056
T2
[Size] 2-byte
[Unit of data] msec
[Valid data range] 0 to 512
[Standard value] 100
[Description] Specifies rapid traverse bell-shaped acceleration/deceleration time
constant T2.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
Linear acceleration/deceleration time constant or bell-shaped
057 acceleration/deceleration time constant T1 for jog feed or feed
based on feedrate codes 1 to 7
Exponential acceleration/deceleration time constant for jog feed or
feed based on feedrate codes 1 to 7
[Size] 2-byte
[Unit of data] msec
[Valid data range] 0 to 4000
[Standard value] 100
[Description] Specifies an acceleration/deceleration time constant for jog feed or feed
based on feedrate codes 1 to 7. The acceleration/deceleration time
constant to be used is determined depending on whether bit 1 of
parameter No. 002 (JOGE) and bell-shaped acceleration/deceleration
time constant T2 for jog feed or feed based on feedrate codes 1 to 7 are
set.

No
Bell-shaped acceleration/deceleration time constant T2 for jog feed
058
or feed based on feedrate codes 1 to 7
[Size] 2-byte
[Unit of data] msec
[Valid data range] 0 to 512
[Standard value] 100
[Description] Specifies bell-shaped acceleration/deceleration time constant T2 for jog
feed or feed based on feedrate codes 1 to 7.

No
Exponential acceleration/deceleration FL rate for jog feed or feed
059
based on feedrate codes 1 to 7
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 10
[Description] Specifies the exponential acceleration/deceleration time constant FL
rate for jog feed or feed based on feedrate codes 1 to 7. (N is specified in
parameter No. 021.)

No
060 FL rate for rapid traverse exponential acceleration/deceleration
[Size] 2-byte
[Unit of data] 10N User-specified unit/MIN
[Valid data range] 1 to 65535 (7500 user-specified units/MIN or greater)
[Standard value] 10
[Description] Specifies the FL rate for rapid traverse exponential
acceleration/deceleration. (N is specified in parameter No. 021.)

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B-65395EN/01 APPENDIX B.PARAMETER LIST

B.5 INPUT/OUTPUT SIGNALS PARAMETERS

No #7 #6 #5 #4 #3 #2 #1 #0
003 STON EXPLS WAT2 IGCP NCLP
[Size] 1 byte (bit type)
[Standard value] 1 only for NCLP

NCLP Specifies whether to use clamping/unclamping, as follows:

0 : Clamping/unclamping is used.
1 : Clamping/unclamping is not used.

IGCP Specifies whether to check a clamp/unclamp state (UCPS2) before

proceeding to the next sequence, as follows:
0 : A clamp/unclamp state is checked.
1 : A clamp/unclamp state is not checked.

WAT2 Indicates whether an ID code can be specified for a wait function, as

follows:
0 : An ID code cannot be specified.
1 : An ID code can be specified.

EXPLS Indicates whether an axis movement function based on external pulses

(pulses from a manual pulse generator) is valid, as follows:
0 : Invalid.
1 : Valid.

STON Specifies whether an automatic operation is started at the rising (off to

on) or falling (on to off) edge of the automatic operation start (ST)
signal, as follows:
0 : Falling edge (on to off)
1 : Rising edge (off to on)

No #7 #6 #5 #4 #3 #2 #1 #0
004 NEPRM ZRNO
[Size] 1 byte (bit type)
[Standard value] 0

ZRNO Specifies whether to enable input of a reference position establishment

signal, as follows:
0 : Disabled.
1 : Enabled.

NEPRM Specifies whether to perform writing to the EEPROM (memory for

storing parameter settings) when rewriting parameters using peripheral
device control or a direct command, as follows:
0 : Writing is performed.
1 : Writing is not performed.

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B.PARAMETER LIST APPENDIX B-65395EN/01

CAUTION
1 There is a limit to the number of writes to the
EEPROM (memory for storing parameter settings)
(tens of thousands of writes). For this reason, set
NEPR to 1 if parameters are to be rewritten
frequently using peripheral device control or a direct
command.
2 Those parameters that were rewritten to values
different from their initial values when NEPRM was
"1" must not be rewritten when NEPRM is "0."
Otherwise, an EEPROM parity mismatch occurs,
with the result that a parity error occurs and
standard settings are loaded when the power is
turned OFF and then ON again.
If parameters are rewritten from the MDI using the
power mate CNC manager (PMM), writing to the
EEPROM is performed regardless of the value of
NEPRM. Consequently, a parity error also occurs if
those parameters that were rewritten using the
ladder when NEPRM was "1" are rewritten from the
MDI.
(Example)
A parity error occurs and standard settings are
loaded if the following is performed:

"3" is set for parameter No. 020 at power on.

↓
a) Set "1" for parameter No. 020 using the
ladder when NEPRM is "1."
↓
b) Set "2" for parameter No. 020 using the
ladder when NEPRM is "0."
Alternatively,
c) Set "2" for parameter No. 020 from the MDI
using the PMM.
↓
Turn the power OFF and then ON again.
↓
Standard settings are loaded.

* If b) or c) is not performed, a parity error is

not issued.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No #7 #6 #5 #4 #3 #2 #1 #0
005 ABSPS LDM MP IOH REFDRC CLPSVF JNCL
[Size] 1 byte (bit type)
[Standard value] 0

JNCL Specifies whether to use clamping when JOG operation stops, as

follows:
0 : Clamping is performed.
1 : Clamping is not performed. (The unclamp state is preserved.)

CLPSVF The time from clamping to servo off (parameter No. 168) is:
0 : Time from the point the unclamping instruction signal (UCPC2)
turns off
1 : Time from the point the clamping/unclamp state output signal
(UCPS2) turns off.

REFDRC The direction of the high-speed origin return of the rotation axis
depends on:
0 : Sign of the result of subtracting the current position from the
reference position.
1 : Setting of ZMIX (bit 5 of parameter No. 010).

IOH Specifies whether to enable manual handle feed over the I/O Link, as
follows:
0 : Disabled.
1 : Enabled.

NOTE
When this parameter is set to 1, bit 6 (EXPLS) of
parameter No. 003 must be set to 0.

MP Specifies whether to enable setting of a magnification in 4 steps with

the MP1/MP2 signal for input manual handle pulses for manual handle
feed, as follows:
0 : Disabled.
1 : Enabled.

LDM Specifies whether the output of the motor current value is valid to the
response data (Xx+3 to Xx+6), as follows:
0 : Invalid.
1 : Valid.

ABSPS Specifies whether the host and a servo amplifier module are to be
synchronized with each other in the response data read function, as
follows:
0 : Not synchronized.
1 : Synchronized. (This makes it possible for the host to read the
correct position even during axis movement.)

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B.PARAMETER LIST APPENDIX B-65395EN/01

NOTE
1 For details, see Part II, Section 3.8, "Upgrading the
Response Data Read Function."
2 When bit 5 of parameter No.007 is 1 (a
turret/magazine number is always output to
response data), set this parameter to 1.

No #7 #6 #5 #4 #3 #2 #1 #0
007 ATCR2 VCTLB NZRPO PSSV ABSV
[Size] 1 byte (bit type)
[Standard value] 0

ABSV Specifies whether to make allowance for delays including an

acceleration/deceleration delay and servo delay when coordinates are
read from the host to the servo amplifier module, as follows:
0 : Positions where allowance for delays is not made are read.
1 : Positions where allowance for delays is made (actual motor
positions) are read.

NOTE
1 This parameter is valid when coordinates are read
as described below.
(1) Machine coordinates or workpiece coordinates
are output to response data for peripheral
equipment control.
(2) A direct command is used to specify any of the
following:
• Reading of absolute positions (function code
0x30)
• Reading of machine positions (function code
0x31)
• Reading of absolute positions or machine
positions using a continuous data read
command (function code 0x41)
2 Due to a delay, for example, in data exchange over
the FANUC I/O Link, coordinate positions that are
read have a maximum delay of 30 to 40 msec.

PSSV Specifies whether to make allowance for delays including an

acceleration/deceleration delay and servo delay when area signals are
input, as follows:
0 : Area signals are input at positions where allowance for delays is
not made.
1 : Area signals are input at positions where allowance for delays is
made (actual motor positions).

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B-65395EN/01 APPENDIX B.PARAMETER LIST

NZRPO Specifies whether to output a turret/magazine number or point number

when ATC/turret control or point positioning control is performed, if a
reference position is not established, as follows:
0 : Not output.
1 : Output.

CAUTION
When an incremental pulse coder is used with bit 2
(NZRPO) of parameter No. 007 set to 1, be sure to
set a coordinate system to establish a relationship
between the machine and absolute coordinates,
before performing ATC operation or point
positioning. If ATC operation or point positioning is
performed before a coordinate system is set,
positioning to correct machine positions may not
occur. A turret/magazine number or point number
that is then output may not be correct.
This affects all types of positioning, not only ATC
operation and point positioning.

NOTE
1 This parameter is valid when parameter No. 020 is
set to 1.
2 This parameter is also valid when bit 5 of parameter
No. 007 is 1 (a turret/magazine number is always
output to response data).

VCTLB Specifies the velocity control type for peripheral equipment control, as
follows:
0 : Type A (the torque limit value cannot be specified).
1 : Type B (the torque limit value can be specified).

ATCR2 Specifies when to output a turret/magazine number, as follows:

0 : A turret/magazine number is output when ATC/turret control is
performed. (Conventional method)
1 : A turret/magazine number is always output. (New method)

CAUTION
In the new method, even if a function code for other
than ATC/turret control (function code 2) is
specified, the turret/magazine number and MINP,
+MOR, and -MOR signals corresponding to the
current position are always output to response data.
Note that, for example, if point positioning is
performed, a point number and the MINP, +MOR,
and -MOR signals corresponding to the point
number are not output to response data.

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B.PARAMETER LIST APPENDIX B-65395EN/01

NOTE
1 To enable the new method, the following conditions
must also be satisfied.
- Set parameters as described below to enable
ATC/turret control (function code 2).
Select a rotation axis (bit 1 of parameter No.000
is 1).
Enable the roll-over function (bit 7 of parameter
No.000 is 1).
Set the number of magazines/turrets (parameter
No. 068).
Set an index point tolerance (parameter No. 170).
- Set parameter No.020 to 1 (an ATC and point
number are output to response data).
- Set bit 7 of parameter No.005 to 1 (the host and a
servo amplifier module are synchronized with
each other in the response data read function).
2 In the new method, response data must be read in a
synchronous manner. The response data retained
is thus based on a position when the logic of
ABSWT (XX+1#0) is reversed, and the data is not
updated until the next time the ABSWT logic is
reversed.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
020 Response data specification (PHOUT)
[Size] 1 byte
[Standard value] 3

PHOUT Specifies whether or what to output as response data (Xx+3 to Xx+6),

as follows:
0 : Nothing is output.
1 : An ATC and point No. are output if an ATC cycle and point
positioning are involved.
2 : Machine coordinates are output in real time.
3 : Workpiece coordinates are output in real time.
4 : The motor current value is output. The motor current value is
6554, which is the maximum current value for the amplifier.
5 : Measurement data (workpiece coordinates) obtained when a skip
signal is input is output.
6 : An actual feedrate is output in real time.
[Unit of data] 10NUser-specified unit/MIN (N:Parameter No. 021)
7 : An actual speed is output in real time.
[Unit of data] min-1
8 : A torque command is output in real time. The maximum value of
a torque command is 6554.
The least significant bit is a signal indicating whether the torque
limit is reached.
Least significant bit =
0: The torque limit is not reached.
1: The torque limit is reached.

NOTE
1 An ATC and point number are not output until a
reference position is established. When bit 2
(NZRPO) of parameter No. 007 is set to 1, however,
an ATC and point number are output even if a
reference position is not established.
2 If the motor current value is output as response
data, set LDM (bit 6 of parameter No. 005) to "1"
and set "4" for parameter No. 020.
3 When bit 5 of parameter No. 007 is 1 (a
turret/magazine number is always output to
response data), set this parameter to 1.
4 The value of an actual speed is output with a sign.
While the motor is being stopped, the motor current
may drift, causing the sign to be unstable.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
022 ECF and EBSY signal minimum output time
[Size] 1 byte
[Unit of data] 8msec
[Valid data range] 0 to 127
[Standard value] 5
[Description] Specifies the minimum output time for the ECF and EBSY signals
(direct command interface control flag 2). This is valid when the power
mate CNC manager is used.

No
PMM allocation rate assumed when reading continuous data with a
023
direct command
[Size] 1 byte
[Valid data range] 0 to 100
[Standard value] 50
Do not change the parameter from its standard value.

No
024 Axis name (1st character)

No
025 Axis name (2nd character)
[Size] 1 byte
[Valid data range] 0, 32 (“ ” space)
48 (“0”) to 57 (“9”)
65 (“A”) to 90 (“Z”)
[Description] Set an axis name using two characters (parameters No. 024 and No.
025).
If a setting is out of range, “ ” (space) is displayed.
When parameter No. 024 is set to 0, an axis name is 1, regardless of the
setting of parameter No. 025.
Displayed Displayed Displayed Displayed
Setting Setting Setting Setting
character character character character
0 Space 56 8 73 I 83 S
32 Space 57 9 74 J 84 T
48 0 65 A 75 K 85 U
49 1 66 B 76 L 86 V
50 2 67 C 77 M 87 W
51 3 68 D 78 N 88 X
52 4 69 E 79 O 89 Y
53 5 70 F 80 P 90 Z
54 6 71 G 81 Q
55 7 72 H 82 R

Example)
To set X3 as an axis name:
Set parameter No. 024 to 88 and parameter No. 025 to 51.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
029 Internal variable
[Size] 1 byte
Do not change the value of the parameter.

NOTE
1 Even if this parameter has a nonzero value, ignore
the parameter without changing the value.
2 There is no problem even if this parameter is
rewritten when all parameters are written at once.

No
External pulse input-based axis movement amount ratio setting 1
062
(M)
External pulse input-based axis movement amount ratio setting 2
063
(N)
[Size] 2-byte
[Valid data range] 1 to 32767
[Standard value] 1
[Description] Specify a ratio M/N for an axis movement amount based on an external
pulse input.

No
148 Servo positional deviation monitor amount
[Size] 4-byte
[Unit of data] Detection unit
[Valid data range] 0 to 99999999
[Standard value] 99999999
[Description] Specifies the servo positional deviation monitor amount. The SVERX
signal becomes 1 when the servo positional deviation amount becomes
larger than the value specified in this parameter.

No
Remaining travel limit for outputting the remaining travel in-range
149
signal (DEN2)
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] Specifies the absolute value of a remaining travel value used as a limit
to output the remaining travel in-range signal (DEN2).

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
Coordinates (minimum) for point 1 in the operation range of the area
150
signals

151 Coordinates for point 2 in the operation range of the area signals

152 Coordinates for point 3 in the operation range of the area signals
[Size] 4-byte
[Unit of data] User-specified unit
[Valid data range] 0 to ±99999999
[Standard value] 0
[Description] Specify the points for the output range of the area signals using machine
coordinates. Area signals PSG1 and PSG2 are output according to the
result of comparison between the machine coordinate and a
parameter-specified value. The output conditions are listed below.
ABSMT represents the current machine coordinate.

Condition PSG2 PSG1

ABSMT < point 1 0 0
Point 1 ≤ ABSMT < point 2 0 1
Point 2 ≤ ABSMT < point 3 1 0
Point 3 ≤ ABSMT 1 1

NOTE
When bit 1 (PSSV) of parameter No. 007 is 1, area
signals can be input at actual motor position where
allowance for delays including an
acceleration/deceleration delay and motor delay is
made.

No
166 Operation completion signal output time
[Size] 4-byte
[Unit of data] 8msec
[Valid data range] 0 to 99999999
[Standard value] 5
[Description] Specifies the output time for operation completion signals OPC1 to
OPC4.

NOTE
If 0 is set, no operation completion signal is not
output.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
167 Time between servo-on and unclamping
[Size] 4-byte
[Unit of data] 8msec
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] Specifies a time interval from the time the servo system is switched on
until the machine is unclamped if clamping/unclamping is used.

No
168 Time between clamping and servo-off
[Size] 4-byte
[Unit of data] 8msec
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] Specifies a time interval from the time the machine is clamped until the
servo system is switched off if clamping/unclamping is used.

No
Time allowed before the next sequence is executed without
169
clamping/unclamping
[Size] 4-byte
[Unit of data] 8msec
[Valid data range] 0 to 99999999
[Standard value] 0
[Description] Specifies a time interval from the time the clamp/unclamp command
(UCPC2) is issued until the next sequence is started, if the
clamp/unclamp state signal (UCPS2) is not to be checked. Whether to
check the clamp/unclamp state signal (UCPS2) is specified using bit 2
of parameter No. 003 (IGCP).

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B.PARAMETER LIST APPENDIX B-65395EN/01

B.6 SERVO PARAMETERS

No #7 #6 #5 #4 #3 #2 #1 #0
010 SVFP ECMR ZMIX IEBL IALM IINP
[Size] 1 byte (bit type)
[Standard value] 1 for SVFP only

IINP Specifies whether to make in-position check when the torque is limited,
as follows:
0 : In-position check is not made.
1 : In-position check is made.

NOTE
This parameter is valid, when parameter No.0108 is
not 0 and IEBL = 1.

IALM Specifies whether to check for a stop- and movement-time excessive

error when the torque is limited, as follows:
0 : An error check is not made.
1 : An error check is made.

NOTE
This parameter is valid, when parameter No.0108 is
not 0 and IEBL = 1.

IEBL Specifies whether to enable the torque limit function, as follows:

0 : Disable
1 : Enable

ZMIX Specifies the initial direction of backlash and grid movement in a

reference position return without dogs, as follows:
0 : Positive direction
1 : Negative direction

ECMR Specifies whether to enable expansion of the setting range for the
command multiplier, as follows:
0 : Disabled. (The setting of parameter No. 032 is valid for the
command multiplier.)
1 : Enabled. (The setting of parameter No. 138 is valid for the
command multiplier.)

SVFP Specifies whether to perform follow-up, as follows:

0 : Follow-up is not performed.
1 : Follow-up is performed.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No #7 #6 #5 #4 #3 #2 #1 #0
011 APCX MVZPFR DZRN SZRN ABSX
[Size] 1 byte (bit type)
[Standard value] 1 only for APCX

ABSX Indicates whether the absolute position detector has been associated
with the machine position, as follows:
0 : Has not been associated
1 : Has been associated

SZRN Specifies the type of positioning to a grid to be performed for a manual

reference position return if the feed axis and direction selection signal
(+X, -X, or I/O link signal from the host) is 1 for reference position
return without dogs, as follows:
0 : Positioning to a grid is performed only once.
1 : Positioning to a grid is performed each time the feed axis and
direction selection signal becomes 1.

DZRN Specifies whether the reference position return function with dogs is
valid, as follows:
0 : Invalid. (The reference position return function without dogs is
selected.)
1 : Valid

CAUTION
When DZRN = 1, the high-speed interlock signal
(*RILK) is invalid.

MVZPFR On a rotation axis where the absolute-position detector is used, when

the reference position is updated and the value of the amount of
movement has a fractional part:
0 : The reference position is updated, making allowance for the
fractional part.
1 : The reference position is updated, without making allowance for
the fractional part.

NOTE
Set this parameter to 1 only when a rotation axis
uses the absolute-position detector, and a positional
error may occur, as described in the notes on
parameter No. 032. Otherwise, this parameter must
be set to 0.

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B.PARAMETER LIST APPENDIX B-65395EN/01

LIMITATIONS
When this parameter is used, the limits below are
imposed on the settings of the amount of movement
per rotation axis revolution (parameter No. 141),
command multiplier (CMR) (parameter No. 032),
and denominator for the number of pulses per motor
revolution (SDMR2) (parameter No. 106). If any of
the limits is exceeded, this parameter cannot be
used.

Amount of movement per rotation axis revolution

(parameter No. 141) × K
× Denominator for the number of pulses per motor
revolution (parameter No. 106) ≤ 247 - 1
where
User-specified unit
K= Detection unit

• When K ≥ 1, CMR = 2 × K (1 ≤ K ≤ 48).

(When expanded CMR (parameter No. 138) is
used, however, 1 ≤ K ≤ 200.)
• When K < 1, CMR = 1/K + 100 (1/2 ≤ K ≤ 1/27).
If K ≥ 1, the above conditional expression applies.
If K < 1, the conditional expression does not
require the K term, and is set as follows.
Amount of movement per rotation axis revolution
(parameter No. 141)
× Denominator for the number of pulses per
motor revolution (parameter No.106) ≤ 247 - 1

APCX Indicates whether a detector for an absolute pulse coder is available.

0 : Unavailable
1 : Available

No #7 #6 #5 #4 #3 #2 #1 #0
012 DGPR
[Size] 1 byte (bit type)
[Standard value] 0

DGPR Specifies whether to set motor-specific servo parameters when the

power is switched on.
0 : Set.
1 : Do not set.

After a motor type (parameter No. 30) is specified, resetting this bit to 0
automatically sets up the standard values for the motor when the power
is turned on. At the same time, the bit is set to 1 again.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No #7 #6 #5 #4 #3 #2 #1 #0
013 TSA2 TSA1 VCM2 VCM1
[Size] 1 byte (bit type)
[Standard value] 0

When bits 0 and 1 of parameter No. 14 are 0 and 0, the following signals
are output to the servo check board.
DATA0 VCMD (velocity command)
DATA1 TCMD (torque command)
DATA2 TSA (actual speed)
These parameters determine the scale of data on DATA0 and DATA2,
as listed below:

VCM2 VCM1 DATA0

0 0 For VCMD, 5 V corresponds to 3750 min-1.
0 1 For VCMD, 5 V corresponds to 234 min-1.
1 0 For VCMD, 5 V corresponds to 14.6 min-1.
1 1 For VCMD, 5 V corresponds to 0.92 min-1.

TSA2 TSA1 DATA2

0 0 For TSA, 5 V corresponds to 3750 min-1.
0 1 For TSA, 5 V corresponds to 234 min-1.
1 0 For TSA, 5 V corresponds to 14.6 min-1.
1 1 For TSA, 5 V corresponds to 0.92 min-1.

No #7 #6 #5 #4 #3 #2 #1 #0
014 TDOU IRS
[Size] 1 byte (bit type)
[Standard value] 0

IRS Setting this bit to 1 causes the following current to flow in check board
DATA0 and DATA1.
Bit 1 of parameter No. 014 must be set to 0.

DATA0 R-phase actual current (4 V corresponds the maximum

current.)
DATA1 S-phase actual current (4 V corresponds the maximum
current.)

TDOU Setting this bit to 1 causes a specified acceleration and an estimated

load torque to be output to DATA0 and DATA1 of the check board.
Bit 0 of parameter No. 014 must be set to 0.

DATA0 Specified acceleration

DATA1 Estimated load torque

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B.PARAMETER LIST APPENDIX B-65395EN/01

No #7 #6 #5 #4 #3 #2 #1 #0
016 FFAL FFVL LVMD PIIP
[Size] 1 byte (bit type)
[Standard value] 0

PIIP 0: Specifies that the velocity loop be subject to PI control.

1: Specifies that the velocity loop be subject to IP control.

LVMD 0: Disables the low-velocity integration function.

1: Enables the low-velocity integration function.

FFVL, FFAL Specify whether to enable the feed-forward function.

The feed-forward function is enabled only when FFVL and FFAL are 1.

FFVL FFAL Description

1 1 The feed-forward function is enabled.
0 * The feed-forward function is disabled regardless of
whether FFAL is 1.
1 0 The feed-forward function is disabled.

No #7 #6 #5 #4 #3 #2 #1 #0
017 SPCO HEDG HENB
[Size] 1 byte (bit type)
[Standard value] 0

HENB Specifies whether to use the skip function.

0 : The skip function is not used.
1 : The skip function is used.

HEDG When a skip signal is used with the skip function:

0 : The skip signal is handled as an input signal on the rising edge (0
→ 1).
1 : The skip signal is handled as an input signal on the falling edge(1
→ 0).

SPCO During execution of the skip function, if a skip signal (HDI) is not input
and the end point is reached:
0 : The data on the last skip measurement is retained.
1 : Specified coordinates of the end point are recorded as skip
measurement data.

No
030 Set 0. Set the motor type number in parameter No. 125.
Set parameter No. 030 to 0, and set the motor type number in parameter
No. 125.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
031 Direction of motor rotation (DIRCTL)
[Size] 1 byte
[Standard value] 111
The direction of motor rotation is specified, as follows:
111: Normal connection (clockwise rotation as viewed from the
detector side)
-111: Reverse connection (counterclockwise rotation as viewed from
the detector side)

No
032 Command multiplier (CMR)
[Size] 1 byte
[Valid data range] 2 to 96, 102 to 127

NOTE
Only even numbers in the range of 2 to 96 can be
set.

[Standard value] 2

This parameter is used to set up a ratio of the user-specified unit to the

detection unit.
Let K be the user-specified unit divided by the detection unit, then
enter:
CMR = 2 × K if K ≥ 1
CMR = 1/K + 100 if K < 1
where K is a value from 1 to 48 or from 1/2 to 1/27.

Example 1)
If the least command increment is 10 µm, and the detection
increment is 5 µm:
CMR＝10/5×2＝4

Example 2)
If the least command increment is 10 µm, and the detection
increment is 20 µm:
CMR = 1/(1/2) + 100 = 102
because K = 10/20 < 1

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B.PARAMETER LIST APPENDIX B-65395EN/01

CAUTION
On an axis where the absolute-position detector is used, the reference position is
stored using the coordinates of the absolute-position detector. On a rotation axis, to
preserve the positional relationship between the coordinates of the absolute-position
detector and the reference position, the coordinates of the absolute-position detector
that correspond to the reference position must be shifted each time movement is
performed by the amount of movement per rotation axis revolution specified for
position parameter No. 141. (See the figure below.)
Coordinates of the absolute–coordinate detector

Amount of
movement
Old reference position New reference position

Shift
Because the reference position is stored using the coordinates of the
absolute-position detector, the reference position is shifted in the absolute-position
detector pulse units corresponding to one revolution.
The formula for converting the amount of movement per rotation axis revolution into
the movement amount of the absolute-position detector (Lp) is as follows:
Lp ＝ Amount of movement per rotation axis revolution (parameter No. 141) × K
× Denominator for the number of pulses per motor revolution (parameter No. 106)×216
÷ Numerator for the number of pulses per motor revolution (parameter No. 105)
Currently, if either of the following two conditions is satisfied during the above
conversion, Lp contains a fractional part. Because the servo amplifier module rounds
off Lp to the nearest integer value, fractional parts are accumulated if revolution in one
direction continues, possibly causing a positional error the next time the power is
turned on.
(Condition 1) If K is less than 1, the "amount of movement per rotation axis revolution
(parameter No. 141) × K" contains a fractional part.
(Condition 2) Lp contains a fractional part.
If either of the conditions is satisfied and the use of the servo amplifier module involves
continuous revolution in one direction, you can set bit 6 (MVZPFR) of parameter No.
011 to 1. Even if a fractional part exists, this parameter setting makes allowance for
the fractional part, and can prevent a positional error from occurring. However, you
should see the description of bit 6 (MVZPFR) of parameter No. 011 because there are
limitations on the use of the parameter.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

NOTE
1 If K is equal to or greater than 2, servo alarm No.
405 may be issued during reference position return.
In this case, set N405 (bit 4 of parameter No. 0001)
to "1" to prevent the alarm from being issued.
2 When K > 48, bit 6 (ECMR) of parameter No. 010 to
1, and set the expanded command multiplier
(EXCMR) in parameter No. 138. Up to 200 can be
specified for K.

No
070 Current loop gain (PK1)
[Size] 2-byte
[Valid data range] 1 to 32767
Do not change the standard setting.

No
071 Current loop gain (PK2)
[Size] 2-byte
[Valid data range] -1 to -32768
Do not change the standard setting.

No
072 Current loop gain (PK3)
[Size] 2-byte
[Valid data range] -1 to -32768
Do not change the standard setting.

No
073 Velocity loop gain (PK1V)
[Size] 2-byte
[Valid data range] 1 to 32767

No
074 Velocity loop gain (PK2V)
[Size] 2-byte
[Valid data range] -1 to -32768

No
075 Velocity loop gain (PK4V)
[Valid data range] -1 to -32768
Do not change the standard setting.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
078 Current compensation 1 (PVPA)
[Size] 2-byte
[Valid data range] -1 to -32768
Do not change the standard setting.

No
079 Current compensation 2 (PALPH)
[Size] 2-byte
[Valid data range] -1 to -32768
Do not change the standard setting.
No
080 Current limit value (TQLIM)
[Size] 2-byte
[Valid data range] 0 to 7282
Do not change the standard setting.

No
081 Overload protection coefficient (POVC1)
[Size] 2-byte
[Valid data range] 0 to 32767
This is a coefficient for an alarm used to protect the motor and servo
amplifier from overload.
Do not change the standard setting.

No
082 Overload protection coefficient (POVC2)
[Size] 2-byte
[Valid data range] 0 to 32767
This is a coefficient for an alarm used to protect the motor and servo
amplifier from overload.
Do not change the standard setting.

No
083 Overload protection coefficient (POVCLM)
[Size] 2-byte
[Valid data range] 0 to 32767
This is a coefficient for an alarm used to protect the motor and servo
amplifier from overload.
Do not change the standard setting.

No
084 Current compensation 3 (AALPH)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
085 Actual current limit (DBLIM)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
086 Current compensation 4 (MGSTCM)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.
No
087 Current compensation 5 (DETQLM)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
088 Current compensation 6 (NINTCT)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
089 Current compensation 7 (MFWKCE)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
090 Current compensation 8 (MFWKBL)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
091 VCMD polyline speed (P_VCLN)
[Size] 2-byte
[Unit of data] 0.01min-1
[Valid data range] 0 to 32767
Setting the parameter to a positive value enables the VCMD polyline
function.
If the actual speed of the motor is lower than the speed specified in this
parameter, the position loop gain is doubled, thus accelerating
positioning.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
092 Low-speed integration threshold speed (P_LVIN)
[Size] 2-byte
[Unit of data] 0.01min-1
[Valid data range] 0 to 32767
When the low-velocity integration function is enabled, and an actual
motor speed becomes higher than the speed set with this parameter, the
integration term of the velocity loop becomes 0.

No
093 Estimated load torque: torque offset compensation
[Size] 2-byte
[Unit of data] Torque command unit
[Valid data range] -7282 to 7282 (7282 is the maximum current value of the amplifier)
The setting is added to an estimated load torque, thereby eliminating an
effect of stationary torque including gravity.

No

094 Estimated load torque: dynamic friction compensation coefficient

[Size] 2-byte
[Unit of data] Torque command unit
[Valid data range] 0 to 7282 (7282 is the maximum current value of the amplifier)
[Setting value] An estimated load torque at 1000 min-1 is measured and set.
The compensation proportional to the speed is added to the estimated
load torque, thereby eliminating an effect of dynamic friction.

No
095 Unexpected disturbance torque detection: retract distance
[Size] 2-byte
[Unit of data] Detection unit
[Valid data range] 0 to 65535
[Setting value] Set approximately 3 mm.

No
096 Unexpected disturbance torque detection: alarm threshold value
[Size] 2-byte
[Unit of data] Torque command unit
[Valid data range] 0 to 7282 (7282 is the maximum current value of the amplifier)
Set a limit (threshold) value at which an unexpected disturbance torque
detection alarm is issued. If the setting is 0, processing for unexpected
disturbance torque detection is disabled, and alarm detection and
calculation of an estimated load torque are not performed.
First set bit 1 (TDOU) of parameter No. 014 to 1 (bit 0 of parameter
No.014 must be 0), and observe load torque. Then, set parameter No.
096 to a value greater than the maximum torque value.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
099 Current compensation 9 (EMFCMP)
[Size] 2-byte
[Valid data range] -32768 to 32767
Do not change the standard setting.

No
100 Load inertia ratio (LDINT)
[Size] 2-byte
[Valid data range] 0 to 32767
[Setting value] The standard setting range is 0 to 1024.
This parameter specifies the ratio of the machine load inertia to the
motor inertia using a value calculated with the following formula as a
guideline:

Machine load inertia

Load inertia ratio ＝ ─────────────── × 256
Motor inertia

Setting this value causes speed loop gains PK1V and PK2V to be
multiplied by: 1+ LDINT/256
Setting the parameter to a larger value makes response to speed
commands quicker and servo rigidity higher. If the parameter is set to
an excessively large value, the servo system may vibrate, and noise may
arise, during machine movement.
Usually, the parameter should not be set to more than 500.
If the machine vibrates at a high frequency, the torque command filter
parameter (No.102) can be used to solve this.

No
101 Acceleration feedback (PK2VAUX)
[Size] 2-byte

This parameter can be used to suppress vibration. If used, it should be

set to a value from -10 to -20.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
102 Torque command filter (FILTER)
[Size] 2-byte
[Valid data range] 0 to 2500
[Standard value] 0
This parameter can be used to remove the high-frequency noise induced
by a torque command. If the machine vibrates at a high frequency, the
use of this parameter may suppress the vibration. The following table
lists the relationships between the values specified for the parameter
and the corresponding cut-off frequencies.

Cut-off frequency (Hz) Parameter value

200 1166
150 1596
100 2185
80 2478

The lower the cut-off frequency (the larger the parameter-specified

value), the stronger the filter effect. Specifying a filter with an
excessively strong effect leads to unstable position control.
First, try a 150 Hz filter (set the parameter to 1596). If this does not
suppress high-frequency vibration effectively, increase the parameter
value by about 200 and note the effect. Repeat this until the desired
effect is obtained, but do not exceed 2500.

No
103 Feed-forward coefficient (FALPH)
[Size] 2-byte
[Unit of data] ％
[Valid data range] 0 to 100
[Standard value] 0
This is a feed-forward coefficient parameter. 100 specified in the
parameter corresponds to a coefficient of 1 (100%).

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
104 Velocity feed-forward coefficient (VFFLT)
[Size] 2-byte
[Valid data range] 0 to approximately 400
[Standard value] 0
This is a velocity feed-forward coefficient parameter. For a motor with
no load, 100 specified in the parameter corresponds a coefficient of 1
(100%).
If a load inertia is added, set the parameter to a proportionally larger
coefficient.

Example)
If the load inertia is doubled:
To set velocity feed-forward to 100%: 100 × (1 + 2) = 300
To set velocity feed-forward to 50%: 50 × (1 + 2) = 150

No
105 Numerator for the number of pulses per motor revolution (SDMR1)
[Size] 2-byte
[Valid data range] 0 to 32767
[Standard value] 10000
This parameter specifies the number of pulses per motor revolution for
a detection increment, together with parameter No. 106. To be specific,
this parameter is used as a numerator.

NOTE
To set the number of pulses per motor revolution to
a value greater than 32767, set this parameter to 0,
and specify that number in parameter No. 179. Up
to 8388607 pulses can be specified.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
Denominator for the number of pulses per motor revolution
106
(SDMR2)
[Size] 2-byte
[Valid data range] 1 to 32767
[Standard value] 1
This parameter is used as a denominator for the number of pulses per
motor revolution detection increment. The number of pulses (after
CMR) per motor revolution is represented as:
(No. 0105)
(No. 0106)
If the number of pulses per motor revolution is an integer, set parameter
No. 0106 to 1.
Example 1)
If a detection increment is set to 1µ in a 10 mm/revolution ball
screw machine:
Set parameter No. 105 to 10000, and parameter No. 106 to 1,
because the number of pulses per motor revolution is
10 mm/1µ = 10000.
Example 2)
If the detection increment is 0.1° for a motor coupled directly to
the rotation axis:
Set parameter No. 105 to 360°, and parameter No. 106 to 1,
because the number of pulses per motor revolution is
360° /0.1° = 3600.
NOTE
If the number of pulses per motor revolution (parameter No. 105/parameter No.
106) is remarkably small, a position gain overflow occurs, issuing an illegal
parameter setting alarm (417). Check that the number of pulses per motor
revolution is greater than the applicable lower limit given in the table below.
Value set for the position gain (No.0107) Lower limit on the number of pulses per motor revolution
20 41
30 62
40 82
Formula) (Position gain)/(Number of pulses per motor revolution) < 0.488
If the number of pulses per motor revolution is below the applicable lower limit,
increase the number of pulses per motor revolution to the lower limit or above, using
the procedure below. In this case, the user unit is equal to 1/E and, therefore, the
other parameters set with the user unit must be multiplied by E.
(Procedure)
Multiply CMR and the number of pulses per revolution by integer value E, so that
the number of pulses per revolution is greater than the lower limit.
No. 032×E
No. 105×E ≥ Lower limit

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B-65395EN/01 APPENDIX B.PARAMETER LIST

(Setting example)
If the position gain (parameter No. 107) is 30, CMR (parameter
No. 32) is 2, and the number of pulses per motor revolution (Nos.
105 and 106) is 50/1, the lower limit is 62, causing an overflow to
occur. Multiply CMR and the denominator for the number of
pulses per motor revolution (No. 105) by two to change parameter
32 to 4 and parameter 105 to 100. (The user unit becomes 1/2.)

No
107 Position loop gain (LPGINX)
[Size] 2-byte
[Valid data range] 1 to 32767
[Standard value] 30
This parameter is related to a position loop time constant. The larger the
value set for this parameter, the more quickly the NC responds to
commands, and the less time is required for positioning. If the
parameter is set to an excessively large value, however, hunting (at 5 to
15 Hz) may occur during movement, or overshoot may occur at a stop.
Setting parameter No. 100 (load inertia ratio) to a larger value increases
the range of the position loop gain values that can be set up.

No
108 Servo motor torque limit
[Size] 2-byte
[Valid data range] 0 to 7282
[Standard value] 0
Applying a torque limit to the servo motor enables positioning in
reference to a mechanical stopper. Setting bit 2 of parameter No. 010
(IEBL) validates a torque limit based on this parameter. If 0 is specified
for this parameter, 100% (7282) is assumed. Calculate the necessary
setting, using:
7282
Value in parameter No. 108 = torque limit value [%] ×
100

NOTE
This parameter is invalid during velocity control. To
limit the torque during peripheral equipment control,
use type B (bit 4 (VCTLB) of parameter No. 007 is
1).

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
109 Backlash amount (BKLCMP)
[Size] 2-byte
[Unit of data] User-specified unit
[Valid data range] 0 to 32767(Detection unit)
[Standard value] 0
The parameter sets up a backlash amount (User unit). The range will be
in the detection increment resulting from multiplying the user unit by
the command multiplier (parameter No. 032).

No
110 Positional deviation limit value at a stop
[Size] 2-byte
[Valid data range] 0 to 32767
[Standard value] 500
This parameter sets a positional deviation limit value used when the
motor is at a stop (detection increment). Alarm 410 is raised if the
positional deviation limit is exceeded when the motor is at a stop.

No
111 In-position width
[Size] 2-byte
[Valid data range] 0 to 32767
[Standard value] 10
If the positional deviation becomes lower than the value specified in
this parameter after the related block ends, an in-position signal is
returned to the host.

No
112 Torque constant
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
115 Model constant
[Size] 2-byte
[Valid data range] 0 to 32767
Normally, the standard setting need not be changed. The setting should
be adjusted only when an estimated load torque is correctly calculated
during use of the unexpected disturbance torque detection function.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
116 Velocity loop gain override during velocity control (%)
[Size] 2-byte
[Standard value] 0 (overriding not performed)
Set this parameter if the system is switched between position control
and velocity control.

When the system enters velocity control mode, the velocity loop
proportional gain and the integral gain that are used in position control
are multiplied by the above override.
The relationships among the velocity loop proportional gain, integral
gain, load inertia ratio, and the velocity loop gain override during
velocity control are explained using the following example:
Assume the following:
Integral gain = 100
Proportional gain = -500
Load inertia ratio = 128
Velocity loop gain override during velocity control = 200%
[Gain during position control]
Integral gain = 100 × (1+128/256) = 150
Proportional gain = -500 × (1+128/256) = -750
[Gain during velocity control]
Integral gain = 100 × (1+128/256) 200/100 = 300
Proportional gain = -500 × (1+128/256) 200/100 = -1500
Thus, the gain with the load inertia ratio taken into consideration is
multiplied by the gain override during velocity control.

No
118 Current compensation 10 (PHDLY1)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

No
119 Current compensation 10 (PHDLY2)
[Size] 2-byte
[Valid data range] 0 to 32767
Do not change the standard setting.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
125 Motor type number
[Size] 2-byte
[Valid data range] 1 to 350
Set the type number of a motor to use.
Ensure that parameter No.30 is 0.

The models, drawing numbers, and type numbers of the motors that can
be used with the βi SVM are listed below.

SVM1-4i
Motor model β0.2/5000is β0.3/5000is
Motor
0111 0112
specification
Motor type number 260 261

SVM1-20i
Motor model α1/5000i β2/4000is α2/5000i β4/4000is β8/3000is
Motor
0202 0061 0205 0063 0075
specification
Motor type number 252 253 255 256 258
Motor model α2/5000is α4/5000is αC4/3000i αC8/2000i β0.4/5000is
Motor
0212 0215 0221 0226 0114
specification
Motor type number 262 265 271 276 280
Motor model β0.5/5000is β1/5000is αC12/2000i
Motor
0115 0116 0241
specification
Motor type number 281 282 291

SVM1-40i
Motor model β12/3000is α4/4000i β22/2000is α8/3000i αC22/2000i
Motor
0078 0223 0085 0227 0246
specification
Motor type number 272 273 274 277 296

SVM1-80i
Motor model α8/4000is α12/4000is α12/3000i α22/3000i αC30/1500i
Motor
0235 0238 0243 0247 0251
specification
Motor type number 285 288 293 297 301

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
130 Unexpected disturbance torque detection alarm timer
[Size] 2-byte
[Unit of data] msec
[Valid data range] 0 to 32767 (200 msec if 0 is set)
Set the time from when an unexpected disturbance torque is detected to
when a servo alarm is issued. A fraction smaller than 8 msec is rounded
up.
Example) Setting of 30: assumed to be 32 msec

No
135 Linear acceleration/deceleration time constant for velocity control
[Size] 2-byte
[Unit of data] ms
[Valid data range] 8 to 4000
Specify the time required to reach 4000 min-1.
Example)
If the value specified for velocity is 2000 min-1, and the time
required to reach 2000 min-1 is to be 1000 msec, the value to be set
is calculated as follows:
Value to be set = (4000/2000) × 1000 = 2000

No
136 Velocity deviation check limit during velocity control
[Size] 2-byte
[Unit of data] min-1
[Valid data range] 0 to 4000
[Standard value] 0 (velocity deviation check not performed)
Set the limit on the velocity deviation check to be performed in velocity
control mode.
In velocity control mode, alarm No. 447 is issued if the deviation of the
actual velocity from the specified velocity exceeds the value set for this
parameter.

No
137 Effective are for in-position check during cutting feed
[Size] 2-byte
[Valid data range] 0 to 32767
[Standard value] 10
Set an effective area for in-position check during cutting feed.
This parameter is valid when bit 3 (CIPC) and bit 7 (CSMZ) of
parameter No.002 are 1, and RPD is 0 and SMZX is 1 for function code
0x61 or 0x62.

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B.PARAMETER LIST APPENDIX B-65395EN/01

No
138 Expanded command multiplier (EXCMR)
[Size] 2-byte
[Valid data range] 2 to 400
[Standard value] 0
Specify a ratio of the user-specified unit to the detection unit.

K ＝ User-specified unit (K ≥ 1)
Detection unit
EXCMR = 2 × K
Enter an EXCMR value according to the above formula. Note that K
can be a value of 1 to 200.

NOTE
1 Always set an even number for EXCMR.
2 When K < 1, set bit 6 (ECMR) of parameter No. 010
to 0, and set the command multiplier in parameter
No. 032.
3 See the notes on parameter No. 032 because they
are also related to this parameter.
4 When bit 6 (ECMR) of parameter No. 010 is 1, read
parameter No. 032 in this manual as parameter No.
138.

No
179 Numerator for the number of pulses per motor revolution
[Size] 4-byte
[Valid data range] 0 to 8388607
[Standard value] 0
For the numerator for the number of pulses per motor revolution, the
setting of parameter No. 179 is valid when parameter No. 105 is 0.
When parameter No. 105 is a nonzero value, the value of parameter No.
105 is valid.
For the denominator for the number of pulses per motor revolution, the
setting of parameter No. 106 is always valid.

NOTE
1 If parameter No. 105 is 0 and parameter No. 179 is
greater than 8388607, an illegal parameter setting
alarm (417) is issued.
2 If parameter No. 105 is 0 and parameter No. 179 is
smaller than parameter No. 106, an illegal
parameter setting alarm (417) is issued.
3 See the notes on parameter No.105 because they
are also related to this parameter.
4 When this parameter is valid (parameter No. 105 is
0), read parameter No. 105 in this manual as
parameter No. 179.

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B-65395EN/01 APPENDIX B.PARAMETER LIST

No
180 Reference counter capacity
[Size] 4-byte
[Valid data range] 1 to 99999999
[Standard value] 10000
This parameter specifies a reference counter capacity.
Reference counter capacity = number of pulses per motor revolution
(detection increment)

No
181 Grid shift amount
[Size] 4-byte
[Valid data range] 0 to ±99999999
[Standard value] 0
A grid position can be shifted by the amount specified in this parameter
so that the reference position can be shifted. The unit of shift is a
detection increment. The maximum grid shift amount that can be
specified is half or less than the reference counter capacity.

No
182 Positional deviation limit value during movement
[Size] 4-byte
[Valid data range] 0 to 99999999
[Standard value] 3333
This parameter specifies a positional deviation limit value used when
the motor is rotating. Alarm No. 411 is raised, if this value is exceeded,
leading to deceleration and stop.

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B.PARAMETER LIST APPENDIX B-65395EN/01

B.7 DIGITAL SERVO STANDARD PARAMETER TABLE

March, 2004
α1 β2 α2 β4 β8 β0.2 β0.3 α2
Motor model
5000i 4000is 5000i 4000is 3000is 5000is 5000is 5000is
Motor specification 0202 0061 0205 0063 0075 0111 0112 0212
Symbol Motor ID No. 252 253 255 256 258 260 261 262
BITPRM 19 00001000 00001100 00001000 00001100 00001100 00000000 00000000 00001000
PK1 70 620 360 760 400 650 123 210 530
PK2 71 -3034 -1920 -3743 -1920 -3831 -510 -970 -2543
PK3 72 -1256 -1237 -1283 -1253 -1299 -1069 -1146 -1251
PK1V 73 64 76 74 109 160 4 4 38
PK2V 74 -580 -681 -664 -984 -1441 -35 -32 -341
PK4V 75 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
PPMAX 76 21 21 21 21 21 21 21 21
PDDP 77 1894 1894 1894 1894 1894 1894 1894 1894
PVPA 78 0 -10250 -12298 -7694 -5140 0 0 -10250
PALPH 79 0 -1000 -1275 -2800 -3200 0 0 -2000
TQLIM 80 7282 6554 7282 7282 7282 7282 7282 7282
POVC1 81 32692 32652 32635 32532 32385 32583 32583 32650
POVC2 82 948 1455 1664 2945 4788 2312 2312 1475
POVCLMT 83 2812 4317 4941 8758 14271 6869 6869 4379
AALPH 84 20480 16384 12288 20480 16384 20480 20480 20480
DBLIM 85 0 0 0 0 0 0 0 0
MGSTCM 86 32 1048 32 780 1807 1 1 32
DETQLM 87 10260 11600 10280 7790 7930 7710 7700 8995
NINTCT 88 1188 1172 1276 796 1442 379 852 1137
MFWKCE 89 1667 2500 2000 3000 3500 0 3000 1000
MFWKBL 90 3858 3358 3862 3392 1298 0 3880 3851
EMFCMP 99 -5130 0 -10 0 -2570 0 0 0
PK2VAUX 101 0 0 0 0 0 0 0 0
TRQCST 112 72 119 109 146 226 7 14 117
MDLCST 115 1088 1856 951 1284 877 18132 19686 1844
PHDLY1 118 7690 7192 7693 8992 3858 7700 7695 7690
PHDLY2 119 12840 8990 12840 12864 8990 12825 12840 12840

α4 αC4 β12 α4 β22 αC8 α8 β0.4

Motor model
5000is 3000i 3000is 4000i 2000is 2000i 3000i 5000is
Motor specification 0221 0078 0223 0085 0226 0227 0114
Symbol Motor ID No. 265 271 272 273 274 276 277 280
BITPRM 19 00001000 00001000 00001100 00000000 00001100 00001000 00000000 00000000
PK1 70 420 1240 402 993 1184 1276 787 100
PK2 71 -1748 -6415 -2217 -4260 -6800 -6288 -4184 -430
PK3 72 -1276 -1309 -1304 -1311 -1331 -1326 -1325 -2463
PK1V 73 63 113 166 104 236 146 110 7
PK2V 74 -560 -1009 -1494 -931 -2121 -1310 -985 -59
PK4V 75 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
PPMAX 76 21 21 21 21 21 21 21 21
PDDP 77 1894 1894 1894 1894 1894 1894 1894 1894
PVPA 78 -8974 -5915 -5140 -11789 -3612 -3854 -6420 0
PALPH 79 -3641 -1500 -3500 -180 -3000 -1236 -2000 0
TQLIM 80 7282 7282 7282 8010 7282 7282 8010 4660
POVC1 81 32373 32590 32491 32610 32428 32434 32579 32640
POVC2 82 4942 2225 3465 1979 4249 4170 2363 1603
POVCLMT 83 14731 6612 10311 5879 12656 12420 7020 4759
AALPH 84 12288 12288 16384 8192 16384 8192 8192 20480
DBLIM 85 0 0 0 15000 0 0 15000 0
MGSTCM 86 8 1289 1814 32 0 1552 776 30
DETQLM 87 10295 3900 7930 5130 2866 3880 3870 10290
NINTCT 88 646 2544 1194 1443 2459 2380 2103 400
MFWKCE 89 1667 5000 3000 2000 5000 4500 3500 0
MFWKBL 90 3847 1812 2056 3338 562 1550 1815 0
EMFCMP 99 0 0 0 -5130 -5130 0 0 -12850
PK2VAUX 101 0 0 0 0 0 0 0 0
TRQCST 112 127 190 418 201 692 277 369 22
MDLCST 115 1127 626 845 678 596 482 641 10651
PHDLY1 118 7690 3855 5138 6670 3350 3860 0 7690
PHDLY2 119 12840 8995 8990 8980 8979 8990 0 12820

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B-65395EN/01 APPENDIX B.PARAMETER LIST

β0.5 β1 α8 α12 αC12 α12 αC22 α22

Motor model
5000is 5000is 4000is 4000is 2000i 3000i 2000i 3000i
Motor specification 0116 0235 0238 0241 0243 0246 0247
Symbol Motor ID No. 281 282 285 288 291 293 296 297
BITPRM 19 00000000 00000000 00001000 00001000 00000000 00000000 00001000 00000000
PK1 70 88 318 550 570 1875 1701 2320 1750
PK2 71 -818 -1819 -3449 -3358 -9137 -6391 -10593 -6000
PK3 72 -2415 -2388 -1307 -1319 -1339 -1315 -1347 -1345
PK1V 73 6 6 32 51 273 188 264 194
PK2V 74 -57 -51 -287 -454 -2445 -1681 -2368 -1733
PK4V 75 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
PPMAX 76 21 21 21 21 21 21 21 21
PDDP 77 1894 1894 1894 1894 1894 1894 1894 1894
PVPA 78 0 -11525 -7685 -5898 -1804 -8199 -2597 -5136
PALPH 79 0 -500 -2000 -3000 -2500 -747 -1942 -2800
TQLIM 80 5826 6554 7282 7282 7282 7282 8010 7282
POVC1 81 32674 32695 32690 32653 32317 32552 32348 32542
POVC2 82 1178 915 978 1435 5644 2702 5248 2820
POVCLMT 83 3497 2714 2901 4259 16838 8031 15648 8384
AALPH 84 20480 20480 0 0 8192 8192 4096 12288
DBLIM 85 0 0 0 0 15000 15000 0 15000
MGSTCM 86 30 30 519 521 0 32 1548 1291
DETQLM 87 10290 10290 7268 6174 2168 0 2600 0
NINTCT 88 1009 1763 2106 1592 4150 2388 3695 3272
MFWKCE 89 0 0 4000 2000 12000 2000 4000 4500
MFWKBL 90 0 0 2580 2575 1044 2568 1046 1301
EMFCMP 99 -12850 -12850 0 0 0 0 0 0
PK2VAUX 101 0 0 0 0 0 0 0 0
TRQCST 112 42 89 562 696 350 517 680 929
MDLCST 115 11014 12232 2197 1389 258 376 267 364
PHDLY1 118 7690 11560 5150 6174 5150 0 2070 0
PHDLY2 119 12820 12880 8990 8990 8990 0 9000 0

αC30
Motor model
1500i
Motor specification
Symbol Motor ID No. 301
BITPRM 19 00001000
PK1 70 2238
PK2 71 -13330
PK3 72 -1347
PK1V 73 162
PK2V 74 -1451
PK4V 75 -8235
PPMAX 76 21
PDDP 77 1894
PVPA 78 -1545
PALPH 79 -1300
TQLIM 80 7282
POVC1 81 32632
POVC2 82 1704
POVCLMT 83 5058
AALPH 84 8192
DBLIM 85 0
MGSTCM 86 2059
DETQLM 87 2148
NINTCT 88 6680
MFWKCE 89 14000
MFWKBL 90 539
EMFCMP 99 0
PK2VAUX 101 0
TRQCST 112 1630
MDLCST 115 435
PHDLY1 118 1054
PHDLY2 119 9000

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