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5-2
5-1 Position Control
5
Ope
rati
ng Func
tions
Related Functions
• The main functions related to position control are as follows:
Parameter Block Diagram for Position Control Mode
Function
Explanation
Reference
page
Position command filter function
Sets the soft start for the command pulse.
Feed-forward function
Adds the command pulse differential to the speed loop to reduce the
positioning time.
Torque limit function
Limits the Servomotor’s torque output.
Vibration Filter
Pn2B: Fre
q
uency 1
Pn2C: Filter 1
Pn2D: Fre
q
uency 2
Pn2E: Filter 2
Speed Command
Monitor
Actual Speed
Monitor
Position Deviation
Monitor
Tor
q
ue Command
Monitor
Speed PI Processor
Pn11: Speed Gain 1
Pn12: Integration Time
Constant
1
Pn19: Speed Gain 2
Pn1A: Integration Time
Constant
2
Pn20: Inertia Ratio
Notch Filter
Pn1D: Filter 1 Fre
q
uency
Pn1E: Filter 1 Width
Pn28: Filter 2 Fre
q
uency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter
Tor
q
ue Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Tor
q
ue Limit
Pn5F: No.2 Tor
q
ue Limit
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
S
w
itch
Speed Detection Filter
Pn13: Filter 1
Pn1B: Filter 2
Phase A, B, Z
Tor
q
ue Limit
PCL
Tor
q
ue Limit
NCL
Tor
q
ue Limit Input
3 V/100 %
Tor
q
ue
PI
Processor
Current Feedback
*1
*1
SM
RE
Receive
Encoder
Signal
+
−
+
+
+
+
−
−
Input Condition
Setting
Pn40: Input
Selection
Pn41: Rotation
Direction
Pn42: Mode
Pn4D:
Smoothing Filter
Setting
Electronic Gear
Pn48: Numerator G1
Pn49: Numerator G2
Pn4A: Numerator
Exponent
Pn4B: Denominator
Pn4C:
Position
Command
Filter
Speed FF
Pn15: FF Amount
Pn16: FF Command Filter
Deviation Counter
Pn10: Loop Gain 1
Pn18: Loop Gain 2
CW
CCW
Summary of Contents for R88D-GT series
Page 20: ...18 Table of Contents ...
Page 234: ...3 133 3 8 Reactor Specifications 3 Specifications ...
Page 448: ...7 37 7 5 Manual Tuning 7 Adjustment Functions ...
Page 474: ...8 25 8 5 Periodic Maintenance 8 Troubleshooting ...
Page 475: ...Chapter 9 Appendix 9 1 Connection Examples 9 1 9 2 Parameter Tables 9 11 ...
Page 509: ......