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ProNet Series AC Servo User's Manual
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4.6.8 Position Control (contact reference)
Position control under contact reference (parameter Pn005.1
＝
C). In this mode, servo drive can position with a single
axes without a host controller.
There are 16 position control points with each being able to set move distance, running speed, constants for position
reference filter time, and the stop time when positioning completed. Two speeds (1. speed moving toward distance switch
“speed of looking for reference point”. 2. Speed moving away from distance switch “moving speed.”) of reference points
could be set as:
Two position modes: 1. Absolute position mode 2. Relative position mode
Two running modes: 1. Circling mode 2. Non-circling mode
Two step switching method: 1. Delay step switching 2. /P-CON signal switching
Method of looking for reference points: 1. Forward direction 2. Reverse direction
￭ Adjusting offset
Offset of each points has two correspondent parameters: one unit of the parameter is 【 x 10000 reference pulse 】 and the
other is 【 x 1 reference pulse 】 . Setting range of both parameters is: (-9999----+9999), while offset value equals sum of
those two values.
For example:
No.0 offset correspond to parameter Pn600 【 x 10000 reference pulse 】 and Pn601 【 x 1 reference pulse 】 . Set Pn600
= 100, Pn601=-100.
No.0 offset value = Pn600x10000 reference pulse + Pn601x1 reference pulse
= 100x10000 reference pulse + (-100)x1 reference pulse
= 999900 reference pulse
With the same principle, we can conclude: in order to get the same results, we also can set Pn600 = 99 and Pn601 =
9900.
Thus, we can see when the two parameters are not zero; we can get same result by two ways: one is to set the two
parameters both negative or both positive, or one negative the other positive.
￭ Speed
Speed mentioned here refers to the steady speed during which the motor is running, which is similar to the pulse
frequency given from the external pulse reference in position control.However, this speed has nothing to do with the
electronic gear; it is the actual speed of the motor.
￭ Position reference filter time constant
Same as position reference filter time constant Pn204 in common position control.
￭ Time for change steps after desired position reached
Apply internal delay to change steps to a valid value in parameter Pn681.1.
Time for change steps outputs from positioning completed signal CON/, from Servo ON, or from the time when reference
point is found till the Servo performs the program to control position of the point. Such period of time depends on step
changing time required by a point number among start point in program.
When running point control program, if error counter is set as “not clear error counter when Servo OFF”, then the error
counter might flood. If it does not flood, then the servo drive will probably run at the max. running speed when Servo ON
again. PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT.