Hitachi SJ700D-004L, Instruction Manual

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Chapter 4 Explanation of Functions
4-106
4.3.12 Absolute position control mode
- To use the absolute position control mode function, specify "05"
(V2) for V/F characteristic curve selection, 1st motor (A044) and "02"
(APR: absolute position control) for the control pulse setting (P012).
- If "03" (high-resolution absolute position control) has been specified
for the control pulse setting (P012), the quadruple number of pulses
used for internal operations is applied to the control. (Then, specify
values of quadruple precision for the multistage position settings
and position range specification.)
- Position settings can be switched in up to eight stages in
combination with control pulse settings.
- You can select zero-return mode from one low-speed and two
high-speed modes.(The home search function described in the
preceding section cannot be used.)
- The teaching function allows you to specify position settings while
actually running the machine.
- If function "73" (SPD) is assigned to an intelligent input terminal, you
can switch between the speed control and position control modes
during operation.
- Only the four high-order digits of data are displayed when the data
(e.g., position setting) to be displayed consists of a large number of
many digits.
Item Function code Data/range of data Description
Control pulse setting P012 APR2: Absolute position control
Position loop gain setting P023
HAPR: High-resolution absolute
position control
Multistage position setting 0 P060
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P061
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P062
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P063
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P064
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P065
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P066
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P067
Position range specification
(reverse) to position range
specification (forward)
Zero-return mode selection P068
00
01
02
Zero-return direction selection P069
00 For forward rotation
01 For reverse rotation
Low-speed zero-return frequency P070 0.00 to 10.00 (Hz)
High-speed zero-return
frequency
P071
0.00 to 99.99 / 100.0 to 400.0
(Hz)
Position range specification
(forward)
P072
0 to +268435456 When APR2 is selected
0 to +1073741823 When HAPR is selected
Position range specification
(reverse)
P073
0 to +268435456
0 to +1073741823
Teaching selection P074
00 Multistage position setting 0 (P060)
01 Multistage position setting 0 (P060)
02 Multistage position setting 0 (P060)
03 Multistage position setting 0 (P060)
04 Multistage position setting 0 (P060)
05 Multistage position setting 0 (P060)
06 Multistage position setting 0 (P060)
07 Multistage position setting 0 (P060)
Multistage speed/position
determination time
C169 0. to 200. X10ms
P012: Control pulse setting
P023: Position loop gain setting
P060: Multistage position setting 0
P061: Multistage position setting 1
P062: Multistage position setting 2
P063: Multistage position setting 3
P064: Multistage position setting 4
P065: Multistage position setting 5
P066: Multistage position setting 6
P067: Multistage position setting 7
P068: Zero-return mode selection
P069: Zero-return direction selection
P070: Low-speed zero-return frequency
P071: High-speed zero-return frequency
P072: Position range specification (forward)
P073: Position range specification (reverse)
P074: Teaching selection
C169: Multistage speed/position determination
time
C001 to C008: Terminal [1] to terminal [8]
functions
Related code