Hitachi SJ700D-004L, Instruction Manual

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Chapter 4 Explanation of Functions
4-99
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Control block diagram>
4.3.6 Pulse train position control mode
- To use this function, specify "05" (V2) for V/F characteristic curve selection, 1st motor (A044) and "01" (pulse train
position control mode) for the control pulse setting (P012).
- You can choose the input source of pulse train command pulse train mode setting (P013).
Item Function code Data or range of data Description
Control pulse setting P012 01 Pulse train position control mode
Pulse train mode setting (*2) P013
00 MD0: 90

-phase-shift pulse train
01
MD1: Forward/reverse operation command
with pulse train
02
MD2: Forward-operation pulse train with
reverse-operation pulse train
Home search completion range
setting
P017
0. to 9999. / 1000
(100000)
Equivalent to encoder quadruplex
Home search completion delay
time setting
P018 0.00 to 9.99 (s)
Electronic gear set position
selection
P019
00 FB : Feed back side
01 REF : Controller side
Electronic gear ratio numerator
setting
P020 1. to 9999.
Electronic gear ratio
denominator setting
P021 1. – 9999.
Feed-forward gain setting P022
0.00 to 99.99 / 100.0 to
655.3
Position loop gain setting P023
0.00 to 99.99 / 100.0
(rad/s)
Position bias setting P024
-204 (-2048) / -999. to
2048.
Terminal function C001 to C008
47 PCLR: Clearance of position deviation data
48
STAT: Pulse train position command input
enable
*1 In pulse train position control mode, the frequency value of a frequency command is calculated as follows:
Frequency command (Hz) =

In position control mode, the setting for the acceleration and deceleration time is invalid. (The LAD cancellation
function operates automatically to ignore acceleration and deceleration patterns.) When the position loop gain is
larger, the acceleration/deceleration time is shorter.
ATR terminal
Torque command
input
Torque bias Torque limit
Torque command
(Current control command)
Speed limit
Detected
speed
Speed
control
(P control)
Speed
monitoring
If the detected speed exceeds the speed
limit, the motor speed is controlled in
proportional (P) control mode.
P: Number of poles of the motor
Kv: Position loop gain
ENC: Encoder pulse count
ΔP: Position deviation
6.4

P

Kv
ENC
ΔP
255