Parameter Setting OMRON R7D-BP04H

Index Description Drive Value Default Range Units

Pn00 Unit No. Setting 1 1 to 15

Pn01 Default Display 1 0 to 15

Pn02 Control Mode Selection 2 0 to 2

Pn04 Drive Prohibit Input Selection 1 0 to 1

Pn06 Zero Speed Designation/Torque Limit Switch 1 0 to 2

Pn09 Warning Output Selection 2 0 to 6

Pn10 Position Loop Gain (RT) 40 0 to 32767 x 1/s

Pn11 Speed Loop Gain (RT) 60 1 to 3500 Hz

Pn12 Speed Loop Integration Time Constant (RT) 20 1 to 1000 ms

Pn13 Speed Feedback Filter Time Constant (RT) 0 0 to 5

Pn14 Torque Command Filter Time Constant (RT) 1,00 0,00 to 25,00 ms

Pn15 Speed Feed-forward Amount (RT) 30,0 -200,0 to 200,0

Pn16 Feed-forward Filter Time Command (RT) 1,00 0,00 to 64,00 ms

Index Description Drive Value Default Range Units

Pn18 Position Loop Gain 2 (RT) 20 0 to 32767 x 1/s

Pn19 Speed Loop Gain 2 (RT) 80 1 to 3500 Hz

Pn1A Speed Loop Integration Constant 2 (RT) 50 1 to 1000 ms

Pn1B Speed Feedback Filter Time Constant 2 (RT) 0 0 to 5

Pn1C Torque Command Filter Time Constant 2 (RT) 1,00 0,00 to 25,00 ms

Pn1D Notch Filter 1 Frequency 1500 100 to 1500 Hz

Pn1E Notch Filter 1 Width 2 0 to 4

Pn20 Inertia Ratio (RT) 300 0 to 10000

Pn21 Realtime Autotuning Mode Selection 0 0 to 7

Pn22 Realtime Autotuning Machine Rigidity Selection 2 0 to 15

Pn25 Autotuning Operation Setting 0 0 to 7

Pn26 Overrun Limit Setting 1,0 0,0 to 100,0 Rotation

Pn2B Vibration Frequency 0,0 0,0 to 500,0 Hz

Pn2C Vibration Filter Setting 0,0 -20,0 to 250,0 Hz

Pn2F Adaptive Filter Table Number 0 0 to 64

Index Description Drive Value Default Range Units

Pn30 Gain Switching Input Operating Mode Selection 1 0 to 1

Pn31 Gain Switch Setting 0 0 to 10

Pn32 Gain Switch Time 30 0 to 10000 x 166 micro s

Pn33 Gain Switch Level Setting 600 0 to 20000

Pn34 Gain Switch Hysteresis Setting 50 0 to 20000

Pn35 Position Loop Gain Switching Time 20 0 to 10000 x 166 micro s

Pn40 Command Pulse Multiplier Setting 4 1 to 4

Pn41 Command Pulse Rotation Direction Switch 0 0 to 3

Pn42 Command Pulse Mode 1 0 to 3

Pn44 Encoder Divider Setting 2500 1 to 16384 Pulse(s)

Pn45 Encoder Output Direction Switch 0 0 to 1

Pn46 Electronic Gear Ratio Numerator 1 10000 1 to 10000

Index Description Drive Value Default Range Units

Pn47 Electronic Gear Ratio Numerator 2 10000 1 to 10000

Pn4A Electronic Gear Ratio Numerator Exponent 0 0 to 17

Pn4B Electronic Gear Ratio Denominator 2500 1 to 10000

Pn4C Position Command Filter Time Constant Setting 0 0 to 7

Pn4E Smoothing Filter Setting 0 0 to 31

Pn53 No. 1 Internal Speed Setting 100 -6000 to 6000 r/min

Pn54 No. 2 Internal Speed Setting 200 -6000 to 6000 r/min

Pn55 No. 3 Internal Speed Setting 300 -6000 to 6000 r/min

Pn56 No. 4 Internal Speed Setting 400 -6000 to 6000 r/min

Pn57 Jog Speed 200 0 to 500 r/min

Pn58 Soft Start Acceleration Time 0 0 to 5000 x2

ms/(1000r/min)
Pn59 Soft Start Deceleration Time 0 0 to 5000 x2
ms/(1000r/min)
Pn5E Torque Limit 300 0 to 300

Pn60 Positioning Completion Range 1 25 0 to 32767 Pulse(s)

Pn61 Zero Speed Detection 20 0 to 20000 r/min

Pn62 Rotation Speed for Motor Rotation Detection 50 0 to 20000 r/min

Pn63 Deviation Counter Overflow Level 100 1 to 32767 x 256 pulses

Pn64 Deviation Counter Overflow Alarm Invalidation 0 0 to 1

Index Description Drive Value Default Range Units

Pn66 Stop Selection for Drive Prohibition Input 0 0 to 2

Pn68 Stop Selection for Alarm Generation 0 0 to 3

Pn69 Stop Selection with Servo OFF 0 0 to 7

Pn6A Brake Timing when Stopped 10 0 to 100 x 2 ms

Pn6B Brake Timing during Operation 50 0 to 100 x 2 ms

Pn6C Regeneration Resistor Selection 0 0 to 3

Pn70 Overspeed Detection Level Setting 0 0 to 6000 r/min

Pn71 No. 2 Torque Limit 100 0 to 300

Pn72 No. 2 Deviation Counter Overflow Level 100 1 to 32767 x 256 pulses

Pn73 No. 2 Overspeed Detection Level Setting 0 0 to 6000 r/min