Specifications

App - 6
(4) Expansion parameter of the MR-H10A servo amplifier (For details, refer to the
instruction manual.)
(The expansion parameters of the demonstration machine are the initial values.)
Setting value
Initial
value
Pr No.
abbr.
Name
Setting range Unit
Function description
0001 0001
20
OP1
*
Function selection 2
0000 to 1C12h
First digit: Auto tuning selection 0.1.2
Second digit : Restart after instantaneous power failure Valid/Invalid
Third digit : Auto tuning response 0 to C
Fourth digit : Speed control servo lock Invalid/Valid
0000 0000
21
OP2
*
Function selection 3
0000 to 2124h
First digit: Low acoustic noise selection 0.3
Second digit: Command pulse input form
(0: CW/CCW 1: Signed 2: A phase/B phase)
Third digit: Command pulse input logic
(0: Positive logic 2: Negative logic Fourth digit: 0)
0000 0000 22
OP3
*
Function selection 4
000 to 0010
Specifies sudden stop (0) or slow stop (1) (by PARA No.8) when the
limit switch (stroke end) operates in second digit.
0 0 23
FFC
Feed forward gain
0 to 100 %
Droop pulse is 0 at constant speed operation when set to 100%.
Used when the auto tuning is invalid.
1 1
24
CM1
Command pulse
multiplying factor
numerator 2
1 to 50000
1 1
25
CM2
Command pulse
multiplying factor
numerator 3
1 to 50000
1 1
26
CM3
Command pulse
multiplying factor
numerator 4
1 to 50000
Sets to or more, 50 or less
when electronic gear switching
function is valid in PARA No.41.
1
50
Dl1 Dl2
Electronic gear
numerator
ON OFF CM1
OFF ON CM2
ON ON CM3
OFF OFF PARA-No.4
80 80 27
ERZ
Excessive error alarm
level
1 to 1000 KPLS
For alarm output of excessive droop pulse
28
29
30
31
32
33
Not used for
positioning
STD Second acceleration time constant
STE Second deceleration time constant
SC4 Internal command speed 4
SC5 Internal command speed 5
SC6 Internal command speed 6
SC7 Internal command speed 7
50 50 34
ZSP
Zero speed
0000 to 10000 rpm
Operating range of zero speed output
Not used for
positioning
35
36
37
38
Spare
VCM Rotation speed at 10V command
VCA* VC speed command average
TLC Torque control command full-scale value
1 1
39
ENR
*
Encoder output of servo
amplifier
1 to 32768
The following selection can be made with second digit of PARA No.43.
1) Output division ratio setting
=
(P/R)
4 ENR setting value
Cumulative feedback pulse per motor rotation
Servo amplifie
r
output
2) Output pulse setting
Servo amplifier output = ENR setting value/4 (P/R)
100 100 40
TLL
Torque limit value
(Internal)
0 to 100 %
Max. torque is 100%. When external torque limit is valid, limits nearer
one. Monitor output 8V at this setting level.
0000 0000
41
IP1
*
Input signal selection 1
0000 to 1111h
1234
1) Second acceleration/deceleration selection
(Select with CR=ON)
0: Invalid
1: Valid (PARA No. 28, 29)
2) Clear signal (CR)
0: Leading
1: Shortened
3) Internal speed 7 (D10 D11 D12)
0: Invalid
1: PARA No. 30 to 33 Valid
4) Electronic gear 4-stage switching
0: Invalid
1: PARA No.24, 25 Valid