User`s manual

Parameter description
6
6-22
6. Parameter description
(2) Operation constant parameters
Parameter
No.
Parameter name
Setting range
[Default value]
Description
Fb-04
Speed
acceleration time
0.00 to 99.99
(s)
[10.00]
Sets the acceleration/deceleration time to perform
return-to-origin.
Set the time needed to accelerate from 0 to
the maximum motor speed (or time needed to
decelerate from maximum motor speed to 0).
Fb-05
Speed
deceleration time
Fb-07
Torque limit value 1
0 to
maximum torque
(%)
[Depends on model]
Sets the torque limit value for each quadrant. Torque
limit values 1, 2, 3, and 4 correspond to the first
quadrant through fourth quadrant. Set an absolute
value for all quadrants. Movement direction is same
for Fb-07 to Fb10.
Fb-08
Fb-09
Fb-07
Fb-10
Torque (Forward direction: CCW)
Speed
(CCW)
Second
quadrant
First
quadrant
Third
quadrant
Fourth
quadrant
Fb-08
Torque limit value 2
Fb-09 Torque limit value 3
Fb-10 Torque limit value 4
Fb-11 Torque bias value
±0 to ±300
(%)
[0]
When setting the torque bias to a fixed value,
specify it with this parameter. In this case, FA-18
must be set to "CnS".
Set the bias value in the ratio to the rated torque
defined as 100%.
Fb-12
Homing speed 1
(Fast)
RDX
1 to maximum
speed
*1
(min
-1
) [60]
RDP
1 to 100
(mm/s) [20]
Sets the fast speed to perform return-to-origin.
Fb-13
Homing speed 2
(Slow)
RDX
1 to 999
(min
-1
) [6]
RDP
1 to 20
(mm/s) [5]
Sets the slow speed to perform return-to-origin.
Fb-14
Offset position
(H/L) at return-to-
origin (homing)
±0 to ±19999
*2
(pulses)
[0]
Sets the offset position to perform return-to-origin.
Ten-digit data consisting of high-order digits
specified by Fb-14 and lower-order digits specified
by Fb-15 is used to determine the offset position
during return-to-origin.
Fb-15
0 to 99999
(pulses)
[0]
*1: This is the maximum speed of the robot. Check the robot specifications.
*2: Methods for displaying and entering these parameter values (–10000 to –19999) differ from other
methods. For the operation method, refer to "(3) Special display" in section 6.1.2, "Operating the digital
operator".