User`s manual

Parameter description
6
6-20
6. Parameter description
Parameter
No.
Parameter
name
Setting range
[Default value]
Description
FA-26
Brake operation
start speed
* Valid only for
robot with
mechanical
brake.
0 to maximum
speed
RDX (min
-1
)
RDP (mm/s)
[30]
If the speed becomes lower than the set speed after
the Servo ON command is turned off or an alarm has
tripped, the brake signal (BRK) activates the brake.
If the time set in FA-27 elapses before the speed
becomes lower than the set speed, the BRK signal
also works to activate the brake.
FA-27
Brake operation
start time
* Valid only for
robot with
mechanical
brake.
0, 0.004 to 1.000
(s)
[0]
Sets the maximum time from when the Servo ON
command is turned off or an alarm has tripped until
the brake signal (BRK) works to activate the brake.
The time can be set in 4ms steps. If the speed
becomes lower than the setting in FA-26 after turning
off the Servo ON command, then the BRK signal
activates the brake, regardless of this setting (FA-27).
FA-28
Electronic
thermal level
20 to 105
(%)
[Depends on model]
Sets the electronic thermal level. Change the thermal
level so that it matches the ambient temperature and
robot operating conditions. When this parameter is
changed, the asymptotic line can be moved in parallel
with the operation time as shown below.
Set this parameter to the default value for each
model.
Servo lock
Operation time (s)
1000
20 105
Asymptotic line
Rotating
Torque
FA-80
Position sensor
type selection
inC
AbS
[inC]
When an absolute position sensor is used, this
parameter specifies the position sensor type. Set this
parameter to "inC".
FA-81
Position sensor
selection
Stnd
inCE
AbSE1
AbSE2
AbSA2
AbSA4
[inCE]
This parameter specifies the position sensor type .
Set this parameter to "inCE".
Note 1: A "Mismatch error (E40)" occurs if this
parameter is set incorrectly.
Note 2: This setting is enabled by turning power off
and then back on.
Note 3: This parameter is not reset by user
initialization.
FA-82
Position sensor
resolution
500 to 65535
(pulses)
RDX
[4096]
RDP
[Depends on model]
Sets the number of pulses per rotation of the position
sensor.
Set this parameter to the default value for each
model.
FA-85
Linear scale
accuracy
* Valid only for
RDP.
0.01 to 655.35
(μm)
[1.00]
Sets the machine length equivalent to 1 pulse of
×4 signal on the linear scale. Set this parameter to
"1.00".