5-1
5-1 Position Control
Ope
rati
n
g Func
tions
5
5-1 Position Control
Function
Performs position control using commands from the Position Control Units for MECHATROLINK-II,
CJ1W-NCF71/CS1W-NCF71.
The Servomotor rotates using the value of the position command (position command units)
multiplied by the Electronic Gear Ratio (Pn205/Pn206).
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn205
Pn206
Electronic Gear
Ratio 1
(Numerator)
Electronic Gear
Ratio 2
(Denominator)
Sets the electronic gear ratio (G1/G2).
5-85
5-85
Pn107
Linear Acceleration
Constant
Sets the angular acceleration (command units/s
2
) for
positioning operations.
5-82
Pn10A
Linear Decelera-
tion Constant
Sets the angular deceleration (command units/s
2
) for
positioning operations.
5-82
Pn10E
Moving Average
Time
Sets the moving average time for the position command.
Reduces the angular acceleration when starting and stop-
ping, and when approaching and leaving target speed.
5-82
Pn209
Deviation Counter
Overflow Level
Sets the level to detect the deviation counter overflow in
command units. Setting is based on the encoder to be
used and the electronic gear ratio.
5-85
Pn101
Backlash
Compensation
Sets the mechanical backlash in command units.
5-81
OMNUC G-Series Servo Drive
OMNUC G-Series
Servomotor
Host Controller
(MECHATROLINK-II compatible)
Electronic Gear
Ratio
G1: Pn205
G2: Pn206
G1/G2
Position Control
Mode
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
(Absolute Movement
Command /
Relative Movement
Command)
Feedback
Position/Speed
Issue Positioning
Command