Higen FDA7000 Series, Руководство по эксплуатации

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5. Servo operating
4-7
4.2. Gain adjustment method for position control mode
This explains the position servo control mode and gain adjustment method. The following
diagram shows the generating sequence of the speed command for position control.
P
ul
se
ty
pe
s
el
ec
tio
n
[P
ul
se
ty
pe
(P
05
-0
2)
]
(
) :
C
on
ta
ct
p
oi
nt
in
pu
t
[
] :
S
et
v
al
ue
P
ul
se
co
un
te
r
(P
P
FI
N
)(
P
FI
N
)
(P
P
R
IN
)(
P
R
IN
)
P
os
iti
on
co
un
te
r
E
nc
od
er
(C
LR
)
C
le
ar
w
he
n
O
N
E
le
ct
ro
ni
c
ge
ar
(G
E
A
R
1,
G
E
A
R
2)
(O
FF
,O
FF
)
(O
N
,O
FF
)
(O
N
,O
N
)
(O
FF
,O
N
)
1s
t
fil
te
r
[C
om
m
an
d
pu
ls
e
TC
(P
05
-1
0)
]
+
-
In
te
rn
al
po
si
tio
n
co
m
m
an
d
P
os
iti
on
D
iff
er
en
tia
tio
n
1s
t
fil
te
r
[F
ee
d
fo
rw
ar
d
TC
(P
05
-1
1)
]
P
C
P
g
ai
n
(P
05
-0
5,
P
05
-0
6)
+
+
P
os
iti
on
er
ro
r
+
-
+
-
[In
p
os
iti
on
(P
05
-0
8)
]
[F
ol
lo
w
e
rr
or
p
ul
se
(P
05
-0
9)
]
In
p
os
iti
on
c
om
pl
et
ed
(in
c
as
e
of
+
>
-)
Fo
llo
w
in
g
er
ro
r
(in
c
as
e
of
+
>
-)
C
C
W
re
vo
lu
tio
n
lim
it
(C
C
W
LI
M
)
(O
FF
)
(O
N
)
C
W
re
vo
lu
tio
n
lim
it
(C
W
LI
M
)
(O
FF
)
(O
N
)
E
m
er
ge
nc
y
st
op
(E
S
TO
P
)
(O
FF
)
(O
N
)
G
N
D
In
te
rn
al
sp
ee
d
co
m
m
an
d
[F
ee
d
fo
rw
ar
d
(P
05
-0
4)
]
10
0
[E
LC
TR
G
ea
r1
N
U
M
(P
05
-1
2)
]
F
pu
ls
e
[E
LC
R
T
G
ea
r1
D
E
N
(P
05
-1
3)
]
[E
LC
R
T
G
ea
r2
N
U
M
(P
05
-1
4)
]
[E
LC
R
T
G
ea
r2
D
E
N
(P
05
-1
5)
]
R
p
ul
se
[E
LC
TR
G
ea
r3
N
U
M
(P
05
-1
6)
]
[E
LC
TR
G
ea
r4
N
U
M
(P
05
-1
8)
]
[E
LC
R
T
G
ea
r3
D
E
N
(P
05
-1
7)
]
[E
LC
R
T
G
ea
r4
D
E
N
(P
05
-1
9)
]