No.

Name Unit
No. Name Unit
Pn000.0 Direction Selection －
Pn000.1 Control Method Selection －
Pn000.2 Reserved (Do not change.) －
Pn000.3 Reserved (Do not change.) －
Pn001.0 Servo OFF or Alarm G1 Stop Mode －
Pn001.1 Overtravel (OT) Stop Mode －
Pn001.2 AC/DC Power Input Selection －
Pn001.3 Warning Code Output Selection －
Pn002.0 Speed Control Option (T-REF Terminal Allocation) －
Pn002.1 Torque Control Option (V-REF Terminal Allocation) －
Pn002.2 Absolute Encoder Usage －
Pn002.3 External Encoder Usage －
Pn006.0-1 Analog Monitor 1 Signal Selection －
Pn006.2 Reserved (Do not change.) －
Pn006.3 Reserved (Do not change.) －
Pn007.0-1 Analog Monitor 2 Signal Selection －
Pn007.2 Reserved (Do not change.) －
Pn007.3 Reserved (Do not change.) －
Pn008.0 Lowered Battery Voltage Alarm/Warning Selection －
Pn008.1 Function Selection at Main Circuit Voltage Drop －
Pn008.2 Warning Detection Selection －
Pn008.3 Reserved (Do not change.) －
Pn009.0 Reserved (Do not change.) －
Pn009.1 Current Control Method Selection －
Pn009.2 Speed Detection Method Selection －
Pn009.3 Reserved (Do not change.) －
Pn00B.0 Parameter Display Selection －
Pn00B.1 Alarm G2 Stop Method Selection －
Pn00B.2 Power Supply Method for Three-phase SERVOPACK －
Pn00B.3 Reserved (Do not change.) －
Pn00C.0 Selection of Test without Motor －
Pn00C.1 Encoder Resolution for Test without Motor －
Pn00C.2 Encoder Type for Test without Motor －
Pn00C.3 Reserved (Do not change.) －
Pn00D.0 Reserved (Do not change.) －
Pn00D.1 Reserved (Do not change.) －
Pn00D.2 Reserved (Do not change.) －
Pn00D.3 Overtravel Warning Detection Fuction －
Pn010 Axis Address Selection (for UART/USB communicatio－
Pn080.0 Reserved (Do not change.) －
Pn080.1 Reserved (Do not change.) －
Pn080.2 Reserved (Do not change.) －
Pn080.3 Reserved (Do not change.) －
Pn081.0 Phase-C pulse output selection －
Pn081.1 Reserved (Do not change.) －
Pn081.2 Reserved (Do not change.) －
Pn081.3 Reserved (Do not change.) －
Pn100 Speed Loop Gain 0.1Hz
Pn101 Speed Loop Integral Time Constant 0.01ms
Pn102 Position Loop Gain 0.1/s
Pn103 Moment of Inertia Ratio %
Pn104 2nd Speed Loop Gain 0.1Hz
Pn105 2nd Speed Loop Integral Time Constant 0.01ms
Pn106 2nd Position Loop Gain 0.1/s
Pn109 Feed Forward Gain %
Pn10A Feed Forward Filter Time Constant 0.01ms
Pn10B.0 Mode Switch Selection －
Pn10B.1 Speed Loop Control Method －
Pn10B.2 Reserved (Do not change.) －
Pn10B.3 Reserved (Do not change.) －
Pn10C Mode Switch (torque reference) %
Pn10D Mode Switch (speed reference) min-1
Pn10E Mode Switch (acceleration) min-1/s
Pn10F Mode Switch (position error pulse) reference u
Pn11F Position Integral Time Constant 0.1ms
Pn121 Friction Compensation Gain %
Pn122 2nd Gain for Friction Compensation %
Pn123 Friction Compensation Coefficient %
Pn124 Friction Compensation Frequency Correction 0.1Hz
Pn125 Friction Compensation Gain Correction %
Pn131 Gain Switching Time 1 ms
Pn132 Gain Switching Time 2 ms
Pn135 Gain Switching Waiting Time 1 ms
Pn136 Gain Switching Waiting Time 2 ms
Pn139.0 Gain Switching Selection Switch －
Pn139.1 Gain Switching Condition A －
Pn139.2 Reserved (Do not change.) －
Pn139.3 Reserved (Do not change.) －
Pn13D Current Gain Level %
Pn140.0 Model Following Control Selection －
Pn140.1 Vibration Suppression Selection －
Pn140.2 Vibration Suppression Adjustment Selection －
Pn140.3 Selection of Speed Feedforward (VFF) or Torque FF ( －
Pn141 Model Following Control Gain 0.1/s
Pn142 Model Following Control Gain Compensation 0.10%
Pn143 Model Following Control Bias (Forward Direction) 0.10%
Pn144 Model Following Control Bias (Reverse Direction) 0.10%
Pn145 Vibration Suppression 1 Frequency A 0.1Hz
Pn146 Vibration Suppression 1 Frequency B 0.1Hz
Pn147 Model Following Control Speed Feedforward Compe 0.10%
Pn148 2nd Model Following Control Gain 0.1/s
Pn149 2nd Model Following Control Gain Compensation 0.10%
Pn14A Vibration Suppression 2 Frequency 0.1Hz
Pn14B Vibration Suppression 2 Compensation %
Pn14F.0 Model Following Control Type Switch －
Pn14F.1 TuningLess Control Type Switch －
Pn14F.2 Reserved (Do not change.) －
Pn14F.3 Reserved (Do not change.) －
Pn160.0 Anti-Resonance Control Selection －
Pn160.1 Anti-Resonance Control Adjustment Selection －
Pn160.2 Reserved (Do not change.) －
Pn160.3 Reserved (Do not change.) －
Pn161 Anti-Resonance Frequency 0.1Hz
Pn162 Anti-Resonance Gain Compensation %
Pn163 Anti-Resonance Damping Gain %
Pn164 Anti-Resonance Filter Time Constant 1 Compensatio 0.01ms
Pn165 Anti-Resonance Filter Time Constant 2 Compensatio 0.01ms
Pn170.0 Tuning-less Function Selection －
Pn170.1 Control Method during speed control －
Pn170.2 Tuning-less Level －
Pn170.3 Tuning-less Load Level －
Pn190.0 Reserved (Do not change.) －
Pn190.1 Reserved (Do not change.) －
Pn190.2 Reserved (Do not change.) －
Pn190.3 Reserved (Do not change.) －
Pn200.0 Reference Pulse Form －
Pn200.1 Clear Signal Form －
Pn200.2 Clear Operation －
Pn200.3 Filter Selection －
Pn205 Multiturn Limit Setting Rev
Pn207.0 Reserved (Do not change.) －
Pn207.1 Position Control Option －
Pn207.2 Reserved (Do not change.) －
Pn207.3 /COIN Output Timing －
Pn20A Number of External Encoder Pitch Pitch/Rev
Pn20E Electronic Gear Ratio (Numerator) －
Pn210 Electronic Gear Ratio (Denominator) －
Pn212 Encoder Output Pulses P/Rev
Pn216 Position Reference Acceleration/Deceleration Time 0.1ms
Pn217 Average Movement Time of Position Reference 0.1ms
Pn218 Reference Pulse Input Multiplication x1
Pn22A.0 Reserved (Do not change.) －
Pn22A.1 Reserved (Do not change.) －
Pn22A.2 Reserved (Do not change.) －
Pn22A.3 Speed Feedback Selection at Fully-closed Control －
Pn240 Minimum time interval of inputting CLR signal ms
Pn281 Encoder Output pulse Edge/pitch
Pn2D0 Reserved (Do not use.) －
Pn300 Speed Reference Input Gain 0.01V/rate
Pn301 Internal Set Speed 1 min-1
Pn302 Internal Set Speed 2 min-1
Pn303 Internal Set Speed 3 min-1
Pn304 JOG Speed min-1
Pn305 Soft Start Acceleration Time ms
Pn306 Soft Start Deceleration Time ms
Pn307 Speed Reference Filter Time Constant 0.01ms
Pn310.0 Vibration Detection Selection －
Pn310.1 Reserved (Do not change.) －
Pn310.2 Reserved (Do not change.) －
Pn310.3 Reserved (Do not change.) －
Pn311 Vibration Detection Sensibility %
Pn312 Vibration Detection Level min-1
Pn324 Moment of Inertia (Mass) Setting Start Level %
Pn400 Torque Reference Input Gain 0.1V/rated
Pn401 Torque Reference Filter Time Constant 0.01ms
Pn402 Forward Torque Limit %
Pn403 Reverse Torque Limit %
Pn404 Forward External Torque Limit %
Pn405 Reverse External Torque Limit %
Pn406 Emergency Stop Torque %
Pn407 Speed Limit during Torque Control min-1
Pn408.0 1st Notch Filter Selection －
Pn408.1 Speed Limit Selection －
Pn408.2 2nd Notch Filter Selection －
Pn408.3 Friction Compensation Function Selection －
Pn409 1st Notch Filter Frequency Hz
Pn40A 1st Notch Filter Q Value 0.01
Pn40B 1st Notch Filter Depth 0.001
Pn40C 2nd Notch Filter Frequency Hz
Pn40D 2nd Notch Filter Q Value 0.01
Pn40E 2nd Notch Filter Depth 0.001
Pn40F 2nd Step 2nd Torque Reference Filter Frequency Hz
Pn410 2nd Step 2nd Torque Reference Filter Q Value 0.01
Pn412 1st Step 2nd Torque Reference Filter Time Constant 0.01ms
Pn415 T-REF Filter Time Constant 0.01ms
Pn423.0 Reserved (Do not change.) －
Pn423.1 Reserved (Do not change.) －
Pn423.2 Reserved (Do not change.) －
Pn423.3 Reserved (Do not change.) －
Pn424 Torque(Force) Limit at Main Circuit Voltage Drop %
Pn425 Release time for Torque Limit at Main Ciucuit Voltag ms
Pn456 Sweep Torque Reference Amplitude %
Pn460.0 Notch Filter Adjustment Selection 1 －
Pn460.1 Reserved (Do not change.) －
Pn460.2 Notch Filter Adjustment Selection 2 －
Pn460.3 Reserved (Do not change.) －
Pn481 Polarity Detectin Speed Loop Gain 0.1Hz
Pn482 Polarity Detection Speed Loop Integral Time Constan0.01ms
Pn486 Polarity Detection Reference Accel/Decel Time ms
Pn487 Polarity Detection Constant Speed Time ms
Pn488 Polarity Detection Reference Waiting Time ms
Pn490 Polarity Detection Load Level %
Pn493 Polarity Detection Reference Speed min-1
Pn494 Polarity Detection Range 0.001rev
Pn495 Polarity Detection Confirmation Torque Reference %
Pn498 Polarity Detection Allowable Error Range deg
Pn501 Zero Clamp Level min-1
Pn502 Rotation Detection Level min-1
Pn503 Speed Coincidence Signal Output Width min-1
Pn506 Brake Reference - Servo OFF Delay Time 10ms
Pn507 Brake Reference Output Speed Level min-1
Pn508 Waiting Time for Brake Signal When Motor Running 10ms
Pn509 Instantaneous Power Cut Hold time ms
Pn50A.0 Input Signal Allocation Mode －
Pn50A.1 /S-ON Signal Mapping －
Pn50A.2 /P-CON Signal Mapping －
Pn50A.3 P-OT Signal Mapping －
Pn50B.0 N-OT Signal Mapping －
Pn50B.1 /ALM-RST Signal Mapping －
Pn50B.2 /P-CL Signal Mapping －
Pn50B.3 /N-CL Signal Mapping －
Pn50C.0 /SPD-D Signal Mapping －
Pn50C.1 /SPD-A Signal Mapping －
Pn50C.2 /SPD-B Signal Mapping －
Pn50C.3 /C-SEL Signal Mapping －
Pn50D.0 /ZCLAMP Signal Mapping －
Pn50D.1 /INHIBIT Signal Mapping －
Pn50D.2 /G-SEL Signal Mapping －
Pn50D.3 /P-DET Signal Mapping －
Pn50E.0 Positioning Completion Signal Mapping (/COIN) －
Pn50E.1 Speed Coincidence Detection Signal Mapping (/V-CM－
Pn50E.2 Servomotor Rotation Detection Signal Mapping (/TG －
Pn50E.3 Servo Ready Signal Mapping (/S-RDY) －
Pn50F.0 Torque Limit Detection Signal Mapping (/CLT) －
Pn50F.1 Speed Limit Detection Signal Mapping (/VLT) －
Pn50F.2 Brake Interlock Signal Mapping (/BK) －
Pn50F.3 Warning Signal Mapping (/WARN) －
Pn510.0 /NEAR Signal Mapping －
Pn510.1 Reserved (Do not change.) －
Pn510.2 /PSELA Signal Mapping －
Pn510.3 Reserved (Do not change.) －
Pn511.0 Reserved (Do not change.) －
Pn511.1 Reserved (Do not change.) －
Pn511.2 Reserved (Do not change.) －
Pn511.3 Reserved (Do not change.) －
Pn512.0 Inverses output signals of CN1-25, -26 terminals －
Pn512.1 Inverses output signals of CN1-27, -28 terminals －
Pn512.2 Inverses output signals of CN1-29, -30 terminals －
Pn512.3 Reserved (Do not change.) －
Pn513.0 Reserved (Do not change.) －
Pn513.1 Reserved (Do not change.) －
Pn513.2 Reserved (Do not change.) －
Pn513.3 Reserved (Do not change.) －
Pn515.0 Reserved (Do not change.) －
Pn515.1 /PSEL Signal Mapping －
Pn515.2 Reserved (Do not change.) －
Pn515.3 Reserved (Do not change.) －
Pn517.0 Reserved (Do not change.) －
Pn517.1 Reserved (Do not change.) －
Pn517.2 Reserved (Do not change.) －
Pn517.3 Reserved (Do not change.) －
Pn518 Reserved (Do not use.) －
Pn51B Excessive Error Level Between Servomotor and Load reference u
Pn51E Excessive Position Error Warning Level %
Pn520 Excessive Position Error Alarm Level reference u
Pn522 Positioning Completed Width reference u
Pn524 NEAR Signal Width reference u
Pn526 Excessive Position Error Alarm Level at Servo ON reference u
Pn528 Excessive Position Error Warning Level at Servo ON %
Pn529 Speed Limit Level at Servo ON min-1
Pn52A Multiplier per One Fully-closed Rotation %
Pn52B Overload Warning Level %
Pn52C Derating of base current at detecting overload of mo%
Pn52F Monitor Display at Power ON －
Pn530.0 Program JOG Operasion Related Switch －
Pn530.1 Reserved (Do not change.) －
Pn530.2 Reserved (Do not change.) －
Pn530.3 Reserved (Do not change.) －
Pn531 Program JOG Movement Distance reference u
Pn533 Program JOG Movement Speed min-1
Pn534 Program JOG Acceleration/Deceleration Time ms
Pn535 Program JOG Waiting Time ms
Pn536 Number of Times of Program JOG Movement times
Pn550 Analog Monitor 1 Offset Voltage 0.1V
Pn551 Analog Monitor 2 Offset Voltage 0.1V
Pn552 Analog Monitor Magnification (x1) 0.01times
Pn553 Analog Monitor Magnification (x2) 0.01times
Pn560 Remained Vibration Detection Width 0.10%
Pn561 Overshoot Detection Level %
Pn587.0 Reserved (Do not change.) －
Pn587.1 Reserved (Do not change.) －
Pn587.2 Reserved (Do not change.) －
Pn587.3 Reserved (Do not change.) －
Pn600 Regenerative Resistor Capacity 10W
Pn601 Reserved (Do not use.) －
Pn621 Reserved (Do not use.) －
Pn622 Reserved (Do not use.) min-1/s
Pn623 Reserved (Do not use.) min-1/s
Pn624 Reserved (Do not use.) min-1
Pn625 Reserved (Do not use.) 10ms
Pn626 Reserved (Do not use.) reference u
Pn628 Reserved (Do not use.) min-1
0001-SGDV-7R6A01A002000
Axis A
0：Sets CCW as forward direction.
0：Speed control (analog reference)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Stops the motor by applying DB (dynamic brake).
0：Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
0：Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals.
0：ALO1, ALO2, and ALO3 output only alarm codes.
0：None
0：None
0：Uses absolute encoder as an absolute encoder.
0：Do not use external encoder.
02：Torque reference (1 V/100%)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
00：Motor speed (1 V/1000 min-1 )
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Outputs alarm (A.830) for lowered battery voltage.
0：Disables detection of the main circuit vlotage drop.
0：Detects warning.
0：Reserved (Do not use.)
0：Reserved (Do not use.)
1：Current control method 2
0：Speed detection 1
0：Reserved (Do not use.)
1：All parameters
0：Stops the motor by setting the speed reference to "0".
0：Three-phase power supply
0：Reserved (Do not use.)
0：Test without motor disabled
0：13 bits
0：Incremental Encoder
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Disabled
1
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Phase-C pulse is output only for forward direction
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
500
650
300
165
400
2000
400
0
0
0：Uses internal torque reference as the condition (Level setting : Pn10C)
0：PI control
0：Reserved (Do not use.)
0：Reserved (Do not use.)
200
0
0
0
0
100
100
0
0
100
0
0
0
0
0：Manual gain switching Changes gain manually using external input signals (/G-SEL1, /G-SEL2)
0：Positioning completion signal (/COIN) ON
0：Reserved (Do not use.)
0：Reserved (Do not use.)
2000
0：Does not use model following control.
0：Does not perform vibration suppression.
1：Adjusts vibration suppression automatically using utility function.
0：Does not use model following control and external speed/torque feedforward at the same time.
500
1000
1000
1000
500
 700
1000
500
1000
800
100
1：Model Following Control Type 2
1：TuningLess Control Type 2
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Does not use anti-resonance control.
1：Adjusts anti-resonance control automatically using utility function.
0：Reserved (Do not use.)
0：Reserved (Do not use.)
1000
100
0
0
0
0：Tuning-less function disabled
0：Uses as speed control
4：Tuning-less Level 4
1：Tuning-less Load Level 1
0：Reserved (Do not use.)
1：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Sign + Pulse, positive logic
0：Clears position error pulse when the signal is at H level.
0：Clears position error pulse at the baseblock (Servo OFF or alarm occurred).
0：Uses reference input filter 1 for line driver signal (to 1Mpps).
65535
0：Reserved (Do not use.)
0：Disabled
0：Reserved (Do not use.)
0：Outputs when the position error absolute value is the same or less than the positioning completion width (Pn522).
32768
4
1
2000
0
0
1
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Uses motor encoder speed.
0
20
0
184
100
200
300
500
0
0
40
0：No detection.
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
100
50
300
30
200
800
800
100
100
800
10000
0：N/A
0：Uses the smaller value between motor max. speed and parameter Pn407 as speed limit value.
0：N/A
0：Disables friction compensation function.
350
50
0
2000
50
0
5000
50
100
0
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
50
100
15
1：Utility function adjusts 1st notch filter automatically.
0：Reserved (Do not use.)
1：Utility function adjusts 2nd notch filter automatically.
0：Reserved (Do not use.)
400
3000
25
0
100
100
50
250
100
10
10
20
10
0
100
50
20
0：Uses the sequence input signal terminals with standard allocation.
0：ON when SI0 (CN1-40) input signal is ON (L-level)
1：ON when SI1 (CN1-41) input signal is ON (L-level)
8：Forward run allowed
8：Reverse run allowed
4：Active on the falling edge of SI4 (CN1-44) input signal
5：ON when SI5 (CN1-45) input signal is ON (L-level)
6：ON when SI6 (CN1-46) input signal is ON (L-level)
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
8：Sets signal OFF
1：Outputs the signal from SO1 (CN1-25, 26) output terminal.
1：Outputs the signal from SO1 (CN1-25, 26) output terminal.
2：Outputs the signal from SO2 (CN1-27, 28) output terminal.
3：Outputs the signal from SO3 (CN1-29, 30) output terminal.
0：Disabled (the above signal is not used.)
0：Disabled (the above signal is not used.)
0：Disabled (the above signal is not used.)
0：Disabled (the above signal is not used.)
0：Disabled (the above signal is not used.)
0：Reserved (Do not use.)
0：Disabled (the above signal is not used.)
0：Reserved (Do not use.)
8：Reserved (Do not use.)
8：Reserved (Do not use.)
8：Reserved (Do not use.)
8：Reserved (Do not use.)
0：Does not inverse outputs.
0：Does not inverse outputs.
0：Does not inverse outputs.
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
8：Reserved (Do not use.)
8：Sets signal OFF
8：Reserved (Do not use.)
8：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0
1000
100
262144
7
7
5242880
100
10000
20
20
100
0FFF
0：(Waiting:Pn535 -> Forward:Pn531) x (Pn536) times
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
 32768
500
100
100
1
0
0
100
1000
400
100
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0：Reserved (Do not use.)
0
0
0
10000
10000
10
100
100
10
etion width (Pn522).