3-4
1. Outline of mode
Position Control Mode
Note
(4) Pulse regeneration function
The information on the amount of movement can be sent to the host controller in the
form of A- and B-phase pulses from the servo driver. When the output source is the
encoder, Z-phase signal is output once per motor revolution; or if the feedback scale,
the signal is output at absolute zero position. The output resolution, B-phase logic and
output source (encoder or external scale) can be set with parameters.
• Relevant parameters
Parameter
No.
Title
Range
Unit
Function
Pr0.11
Output pulse counts
per one motor
revolution
1 to
2097152
P/r
You can set up the output pulse counts per
one motor revolution for each OA and OB
with the Pr0.11 setup.
Pr0.12 Reversal of pulse
output logic
0 to 3
—
You can set up the B-phase logic and
the output source of the pulse output.
With this parameter, you can reverse the
phase relation between the A-phase pulse
and the B-phase pulse by reversing the
B-phase logic.
Pr5.03
Denominator of pulse
output division
0 to 8388608
—
For application where the number of
pulses per revolution is not an integer,
this parameter can be set to a value other
than 0, and the dividing ratio can be set by
setting numerator of division to Pr0.11 and
denominator of division to Pr5.03.
Pr5.33 Pulse regenerative
output limit setup
0 to 1
—
Enable/disable detection of Err28.0 Pulse
regenerative limit protection.
Pr6.20
Z-phase setup of
external scale
0 to 400
μs
Set up the Z phase regenerative width of
feedback scale in unit of time.
Pr6.21
Serial absolute
external scale Z phase
setup
0 to
268435456
pulse
Full-closed control using serial absolute
feedback scale. When outputting pulses by
using the feedback scale as the source of
the output, set the Z phase output interval
in units of A phase output pulses of the
feedback scale (before multiplied by 4).
Pr6.22
A, B phase external
scale pulse output
method selection
0 to 1
—
Select the pulse regeneration method of A,
B and Z parallel feedback scale.
For details of these parameters, refer to
P.4-6 to P.4-85
“Details of parameter”.
Note
(5) Deviation counter clear function
The deviation counter clear input (CL) clears the counts of positional deviation counter
at the position control to 0.
• Relevant parameters
Parameter
No.
Title
Range
Function
Pr5.17 Counter clear input
mode
0 to 4
You can set up the clearing conditions of the
counter clear input signal.
For details of these parameters, refer to
P.4-6 to P.4-85
“Details of parameter”.
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