4-4 Communication Function 4 Functions 4-201 Register No. Function name Function code R/W Monitor and setting parameters Resolution 160Ch V2 control mode selection P012 R/W 0: ASR 1: APR 2: APR2 3: HAPR 160Dh Pulse train mode selection P013 R/W 0: Mode 0 1: Mode 1 2: Mode 2 160Eh Orientation stop position P014 R/W 0 to 4095 1 160Fh Orientation speed setting P015 R/W Starting frequency to 1st max. frequency (upper limit: 12000) 0.01 [Hz] 1610h Orientation direction setting P016 R/W 0: Forward 1: Reverse 1611h Position ready range setting P017 R/W 0 to 10000 1 1612h Position ready delay time setting P018 R/W 0 to 999 0.01 [s] 1613h Electronic gear setting position selection P019 R/W 0:
Feedback side 1: Command side 1614h Electronic gear ratio numerator P020 R/W 1 to 9999 1615h Electronic gear ratio denominator P021 R/W 1 to 9999 1616h Position control feedforward gain P022 R/W 0 to 65535 0.01 1617h Position loop gain P023 R/W 0 to 10000 0.01 1618h Position bias amount P024 R/W -2048 to 2048 1619h Secondary resistance compensation enable/ disable selection P025 R/W 0: Disabled 1:
Enabled 161Ah Overspeed error detection level P026 R/W 0 to 1500 0.1 [%] 161Bh Speed deviation error detection level P027 R/W 0 to 12000 0.01 [Hz] 161Ch Motor gear ratio numerator P028 R/W 1 to 9999 1 161Dh Motor gear ratio denominator P029 R/W 1 to 9999 1 161Eh Not used 161Fh Acceleration/deceleration time input type P031 R/W 0: Digital Operator 1: Option 1 2: Option 2 1620h Orientation stop position input type P032 R/W 0: Digital Operator 1: Option 1 2: Option 2