Hitachi SJ Series, Руководство пользователя

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Chapter 12
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Chapter 12
12.17.9 Controlling at Absolute Position of
Origin Reference
• How to perform the absolute position control of the
origin reference such as a servo one.
• For the absolute position control, there is a move to
a target position according
(1) position command,
(2) speed command (frequency command),
(3) acceleration time, deceleration time,
the position servo lock status is entered. (The
servo lock status is kept until the operation
command is turned off.)
• For the frequency com
acceleration/deceleration command at the absolute
position control, those selected at that time are
followed.
• When the position command is small, there may be
the deceleration and then positioning without
reaching the speed command value.
• The direction of the operation command
the absolute position control mode does not have a
meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target
position - current position) is plus and the reverse
rotation if minus.
• When the zero return operation (as discussed later)
is not performed, if the [AE
memory at power
is treated as the origin (position =
is 01, the position at the previous power
treated as the (position = 0).
• When the deviation between the position command
and current position is 0, if the operation command
is turned on, the positioning operation is performed
immediately.
• The current position command can be monitored
with the [FA
Q
A
Output frequency
(Hz)
Speed
command
Operation command
POK signal
Chapter 12
Controlling at Absolute Position of
Origin Reference
How to perform the absolute position control of the
origin reference such as a servo one.
For the absolute position control, there is a move to
a target position according
position command,
speed command (frequency command),
acceleration time, deceleration time,
the position servo lock status is entered. (The
servo lock status is kept until the operation
command is turned off.)
For the frequency command and
acceleration/deceleration command at the absolute
position control, those selected at that time are
When the position command is small, there may be
the deceleration and then positioning without
reaching the speed command value.
direction of the operation command
the absolute position control mode does not have a
meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target
current position) is plus and the reverse
rotation if minus.
When the zero return operation (as discussed later)
is not performed, if the [AE
memory at power-off is 00, the position at power
is treated as the origin (position =
is 01, the position at the previous power
treated as the (position = 0).
When the deviation between the position command
and current position is 0, if the operation command
is turned on, the positioning operation is performed
immediately.
The current position command can be monitored
with the [FA-20] position command monitor.
Output frequency
Speed
command
Operation command
POK signal
Controlling at Absolute Position of
Origin Reference
How to perform the absolute position control of the
origin reference such as a servo one.
For the absolute position control, there is a move to
a target position according to
position command,
speed command (frequency command),
acceleration time, deceleration time,
the position servo lock status is entered. (The
servo lock status is kept until the operation
command is turned off.)
mand and
acceleration/deceleration command at the absolute
position control, those selected at that time are
When the position command is small, there may be
the deceleration and then positioning without
reaching the speed command value.
direction of the operation command
the absolute position control mode does not have a
meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target
current position) is plus and the reverse
When the zero return operation (as discussed later)
is not performed, if the [AE-61] current position
off is 00, the position at power
is treated as the origin (position = 0).
is 01, the position at the previous power
treated as the (position = 0).
When the deviation between the position command
and current position is 0, if the operation command
is turned on, the positioning operation is performed
The current position command can be monitored
20] position command monitor.
12
Controlling at Absolute Position of
How to perform the absolute position control of the
origin reference such as a servo one.
For the absolute position control, there is a move to
speed command (frequency command),
acceleration time, deceleration time, and then
the position servo lock status is entered. (The
servo lock status is kept until the operation
acceleration/deceleration command at the absolute
position control, those selected at that time are
When the position command is small, there may be
the deceleration and then positioning without
reaching the speed command value.
direction of the operation command(FW, RV)
the absolute position control mode does not have a
meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target
current position) is plus and the reverse
When the zero return operation (as discussed later)
61] current position
off is 00, the position at power
0). •If the [AE
is 01, the position at the previous power-off is
When the deviation between the position command
and current position is 0, if the operation command
is turned on, the positioning operation is performed
The current position command can be monitored
20] position command monitor.
When the position command is
small, there is the deceleration
and then positioning
reaching the speed command.
12-17-25
Controlling at Absolute Position of
How to perform the absolute position control of the
For the absolute position control, there is a move to
and then
the position servo lock status is entered. (The
servo lock status is kept until the operation
acceleration/deceleration command at the absolute
position control, those selected at that time are
When the position command is small, there may be
(FW, RV) in
the absolute position control mode does not have a
meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target
current position) is plus and the reverse
When the zero return operation (as discussed later)
61] current position
off is 00, the position at power-on
If the [AE-61]
When the deviation between the position command
and current position is 0, if the operation command
is turned on, the positioning operation is performed
The current position command can be monitored
• For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution
absolute position control.
• This function requires
• See also "12.9.17 Using
• When the [AA123] vector control mode selection is
set to 03: high resolution
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
the internal calculation.
(Set the multistage position command
range designation with the 4 multiplication
accuracy.)
• The position command can be switched at a
maximum of 16 stages in combination of the input
terminals.
• The trip reset or reset signal input does not clear
the current position counter.
• When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position
counter.
• In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not
operate.)
• In the absolute position control mode,
terminal is disabled. (The pulse train position
control does not operate.)
!
ON
When the position command is
small, there is the deceleration
and then positioning without
reaching the speed command.
25
For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution
absolute position control.
This function requires
See also "12.9.17 Using
When the [AA123] vector control mode selection is
set to 03: high resolution
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
the internal calculation.
(Set the multistage position command
range designation with the 4 multiplication
accuracy.)
The position command can be switched at a
maximum of 16 stages in combination of the input
terminals.
The trip reset or reset signal input does not clear
the current position counter.
When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position
counter.
In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not
operate.)
In the absolute position control mode,
terminal is disabled. (The pulse train position
control does not operate.) For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution
absolute position control.
This function requires using the encoder feedback
See also "12.9.17 Using Encoder".
When the [AA123] vector control mode selection is
set to 03: high resolution
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
the internal calculation.
(Set the multistage position command
range designation with the 4 multiplication
The position command can be switched at a
maximum of 16 stages in combination of the input
The trip reset or reset signal input does not clear
the current position counter.
When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position
In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not
In the absolute position control mode,
terminal is disabled. (The pulse train position
control does not operate.)
ON
Position
[AE-04] Positioning completion range
setting
[AE-05]
Inverter Functions
For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution
using the encoder feedback
Encoder".
When the [AA123] vector control mode selection is
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
(Set the multistage position command
range designation with the 4 multiplication
The position command can be switched at a
maximum of 16 stages in combination of the input
The trip reset or reset signal input does not clear
the current position counter.
When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position
In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not
In the absolute position control mode,
terminal is disabled. (The pulse train position
control does not operate.)
04] Positioning completion range
setting
05] Positioning completion delay time
Inverter Functions
For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution
using the encoder feedback
When the [AA123] vector control mode selection is
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
(Set the multistage position command and position
range designation with the 4 multiplication
The position command can be switched at a
maximum of 16 stages in combination of the input
The trip reset or reset signal input does not clear
When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position
In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not
In the absolute position control mode, the STAT
terminal is disabled. (The pulse train position
04] Positioning completion range
Positioning completion delay time
Inverter Functions
using the encoder feedback
When the [AA123] vector control mode selection is
absolute position control, the control is performed
with the 4 multiplication number of pulses used for
and position
maximum of 16 stages in combination of the input
Positioning completion delay time