User Constants
7.1.6 Other Constants
• When the motor position moves within this range for the target position, NEAR is set to 1
regardless of whether command distribution is completed.
• Allowable setting range: 0 to 10000 [reference units]
■ Cn-001E: Position Error Overflow Range
• Sets the overflow detection level of the position error counter.
• Allowable setting range: 1 to 65535 [reference units]
• If the number of reference units per motor revolution (no. of encoder pulses X 4 x AM) is
8193 or more, the range is the setting x 128. Therefore, the allowable setting range is 1 to
65535 [ X 128 reference units].
7.1.6 Other Constants
The following user constants are also available.
■ Cn-000C: Torque Reference Mode Switch Level
• Sets the torque reference mode switch level.
• This constant is valid only when torque reference mode switch is selected at Cn-0001 bits
12 and 13.
• Allowable setting range: 0 to maximum motor torque [%]
■ Cn-000E: Acceleration Mode Switch Level
• Sets the acceleration mode switch level.
• This constant is valid only when acceleration mode switch is selected at Cn-0001 bits 12 and
13.
• Allowable setting range: 0 to 3000 x 0.167 r/s2]
■ Cn-000F: Error Pulses Mode Switch Level
• Sets the mode switch level for switching the mode by error pulses.
• This constant is valid only when error pulses mode switch is selected at Cn-0001 bits 12 and
13.
• Unit: encoder pulses
• Allowable setting range: 0 to 10000 [pulses]
■ Cn-0035: Speed Loop Compensation Constant
• The speed loop compensation function compensates for a phase shift resulting from speed
detection in digital control and is effective in reducing vibrations.
• When using this function, set Cn-0035 within a range that does not cause vibrations in the
servo system or abnormal noise in the mechanical system.
• The speed loop compensation function may not be effective in some cases and vibrations may
increase as a result. In that case, do not use the function (set Cn-0035 to 0).
7 -8
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