Chapter 8. How to Use Position Servo
8-6
8.4.4 Setting position control gains
Set the following position-control-related parameters.
Menu
Menu name
Unit
Display range
Initial value
Mode
P4-01
Feedforward[%[
%
0 ~ 100
0
P
P4-02
FF FLT TC[ms]
ms
0 ~ 10000
0
P
P4-03
CMD FLT TC[ms
ms
0 ~ 10000
0
P
P4-05
FLLW ERR[PULSE]
Pulse
0 ~ 99999
20000
P
☯
See section 6.6 of Chapter 6, Setting Parameters Related to Position Control.
Position control block diagram
Position
command
First order
filter
Time constant
[CMD FLT TC (P4-03)]
+
-
Internal
position
command
Position
Differentiate
First order
filter
Time constant
[FF FLT TC (P4-02)]
[PC P Gain (P2-02)]
+
+
Position error
Speed
command
[Feedforward (P4-01)]
100
8.5 Limiting Output Torque
The output torque can be limited within 300% of the rated torque. The output torque can be
limited by digital signal and also by the analog signal. To limit output torque by digital signal,
turn Off contact input (TLIM); and to limit output torque by analog signal, turn ON the contact
input (TLIM). If the output command value is greater than the output torque limit value, the
output torque is limited by the output torque limit value, and the (TRQOUT) output contact is
turned ON.
8.5.1 Limiting digital output torque (TLIM) = OFF
The digital output torque limit can be set for the CW torque limit and CCW torque limit
respectively. Set the submenus [TRQ LMT(+) (P2-05)] and [TRQ LMT(-) (P2-06) of the main
menu [Controller Type (P2--)] as follows.
Menu
Menu name
Unit
Display range
Initial value
Mode
P2-05
TRQ LMT(+) [%]
%
0 ~ 300
300
SP
P2-06
TRQ LMT(-) [%]
%
0 ~ 300
300
SP
