Position control parameter 12
PARAMETER DESCRIPTION 285
5.13.2 Position control parameter
Achieve accurate control function by setting with inverter via PG vector control mode.
Parameter
Name
Default
Setting
Range
Content
12-04
P.424
Position command
source
0
0
Position command from external pulse
1
Position command from parameter(relative position）
2
Position command from parameter(absolute position）
12-05
P.425
Position control ratio
gain
10
0～65535
Increasing setting can improve the responsiveness of
position control, but may cause overshoot
12-06
P.426
Position control feed
forward gain
0
0～65535
Increasing setting can improve the responsiveness of
position control, but may cause overshoot
12-07
P.427
Position control feed
forward low pass filter
time
100ms
0～65535ms
---
12-08
P.428
Control speed limit by
external pulse
10.00Hz
0～650.00Hz
---
12-09
P.429
Margin when reaching
position
40
0～65535
---
12-13
P.433
Zero speed threshold
0.50Hz
0~650.00Hz
12-14
P.434
Position command
response option
0
0~2
Position control function
When 12-04(P.424)=0，position function is determined by pulse（refer to parameter 09-07 for encoder input type 2）
When 12-04(P.424)=1、2，position command is determined by parameter 12-20(P.450)~12-49(P.479)， relative
position=1，absolute position=2，examples are as follow：
20 turns
10 turns
10 turns
20 turns
Position control diagram
Kp
A
B
Kd
d
dt
Position
instruction
Position
feedback
Electrical
gear
12-05
12-06
+
+
+
-
Position
instruction
12-07
12-08
，
speed
instruction
When position command originates by parameter，the speed limit of position control is determined by multi speed
command. When the multi-function input terminal is all 0，it is determined by 12-08（P.428）.
When the difference between the actual motor position and position command is smaller than the setting of
position arrival margin, it counts as arrival. If multi-function output terminal’s function is set to 21,then signal is
output.
Setting
