Title 90D3 / 90E3
Learning Control Operator’s Manual
A - 63639E - 108
01 ‘05.04.20 N.Sonoda Newly designed Sheet 025
Edit Date Design Description
CROF At emergency stop, current offset is
1 : re-taken in.
0 : not re-taken in. (standard)
GOKAN When the velocity loop proportional high-speed processing is applied,
1 : servo characteristic is compatible with 90B3 series
0 : servo characteristic is compatible with 90D0 series
(Note) It is called Compatible bit parameter.
TCAVE Average torque is
1 : outputted (Note) You must set 1 for No.2208#7 at same time.
0 : not outputted
1 : Always enabling high-speed HRV current control without G05.4
NOG54 High-speed HRV current control is
1 : executed with G01
0 : executed with both G01 and G05.4
Normally Acceleration feedback function is unavailable when Velocity loop proportional
high-speed processing function is valid. But it is available if Compatible bit (No.2227#2) is set to
1. Acceleration feedback function is kept compatible with 90B3 series by this bit.
K2AUX Acceleration feedback gain (negative value)