Product specifications
Chapter 6 Setting up parameters
HA-680_V04 - 74 -
Chapter 6 Setting up parameters
All operations such as parameter setting, display, and adjustment can be performed using dedicated
communication software PSF-520. This chapter describes details of the parameters. For information on
how to use the software, refer to a separate document, “PSF-520 User’s Manual.”
6-1 Parameter list
No. Parameter name Setting range
00 Position loop gain 10~9999
01 Speed loop proportional gain 10~9999
02 Speed loop integral gain 10~9999
03 Speed loop derivative gain 0~9999
04 Speed feed-forward factor 0~9999
05 Acceleration feed-forward factor 0~9999
06 Torque command filter 0~9999
07 Speed step correction 0~9999
08 Torque step correction 0~9999
Gain-related
09 Step correction switch range 0~9999
10 Control mode 0~5
11 Input function assignment 0~20
12 Output function assignement 0~20
13 Input pin logical setting 0~31
14 Output pin logical setting 0~15
15 Control input filter time costant 0~99
16 Speed limiting 0~*1
17 FWD current limiting 0~*2
18 REV current limiting 0~*2
19 Regenerative brake ON/OFF 0,1
Operation setting
general
20 Rotaty direction 0,1
21 Allowable position deviation 0~32767
22 In-position ready range 0~9999
23 Command pulse input factor-numerator 1~999
24 Command pulse input factor-denominator 1~999
25 Command pulse input form 0~2
26 Multiplication at 2-phase input 1,2,4
27 Servo-on deviation clear 0,1
28 Angle correction 0,1
Position control-
related
29 Auto gain setting at positioning 0,1
30 Speed command input factor 1~*1
31 Attained speed determination value 1~*1
32 Internal speed command value 0~*1
33 Acceleration time constant 1~9999
34 Deceleration time constant 1~9999
35 Analog command A/D value (Mid) 0~8192
36 Analog command A/D value (Max) 0~8192
37 Analog command A/D value (Min) 0~8192
38 Zero clamp 0,1
Speed control-
related
39 Reserved for the system *3
40 Internal command input factor 0~*2 Torque control-
related
41 Torque command input factor 0~*2
42 Reserved for the system *3
43 JOG operation acceleration/deceleration time constant 1~9999
44 JOG operation feed pulse count 1~9999
45 JOG operation S-shape selection 0,1
JOG-related
46 JOG operation speed 0~*1
47 Communication setting 0,1
48 CAN ID *3
Communication-
related
49 CAN communication speed *3
*1: This is the maximum rotation speed of the applicable actuator x reduction ratio.
*2: The setting varies depending on the applicable actuator.
*3: This area is reserved for the system. Do not perform any setting.