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5. Type R Interface <br />
4 Adjustment Parameters<br />
<br />
Command Code3220h<br />
Data Length4 bytes<br />
Power LimitPower Down<br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT1 Stop status 07Fh 7Fh Set current (A)Setting value(d)/255× Rated current<br />
during SON<br />
DAT2 During 0FFh FFh Set current (A)Setting value(d)/255× Rated current<br />
operation<br />
DAT3 SOFF status 07Fh 7Fh Set Current (A)Setting value(d)/255× Rated current<br />
DAT4 Don’t Care <br />
Sets the Power Limit value (motor excitation current limit) for each status of amplifier.<br />
DAT Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0<br />
NO<br />
DAT1<br />
P.Limit Positioning completion (Idle) Current during servo ON status.<br />
DAT2<br />
P.Limit Current upper limit value during operation.<br />
DAT3<br />
P.Limit Current limit for ALM / STOP status.<br />
DAT4<br />
Don’t Care<br />
When STOP input in Teaching Mode, it will be non-excited state, regardless of DAT3 setting value.<br />
<br />
Command Code3321h Data Length1 byte<br />
Gain 1 <br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT1 Gain 0Fh 0 <br />
Sets the normalized servo parameter.<br />
Refer to Section 5.5 for details about the adjustment method.<br />
Gain<br />
Setting value Proportion Integral Gain Setting value Proportion Integral Gain<br />
Gain<br />
Gain<br />
0 4 1 8 20 20<br />
1 6 10 9 22 1<br />
2 8 20 A 24 10<br />
3 10 1 B 26 20<br />
4 12 10 C 28 1<br />
5 14 20 D 30 10<br />
6 16 1 E 32 20<br />
7 18 10 F 34 1<br />
536
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