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Chapter 4 Explanation of Functions
4 - 99
(Control block diagram)
4.3.6 Pulse train position control mode
- To use this function, specify "05" (V2) for V/F characteristic curve selection, 1st motor (A044) and "01"
(pulse train position control mode) for the control pulse setting (P012).
- You can choose the input source of pulse train command pulse train mode setting (P013).
Item Function code Data or range of data Description
Control pulse setting P012 01 Pulse train position control mode
00 MD0: 90°-phase-shift pulse train
01
MD1: Forward/reverse operation
command with pulse train
Pulse train mode setting (*2) P013
02
MD2: Forward-operation pulse train with
reverse-operation pulse train
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range setting
P017
0. to 9999. / 1000
(100000)
Equivalent to encoder quadruplex
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delay time setting
P018 0.00 to 9.99 (s)
00 FB : Feed back side
Electronic gear set position
selection
P019
01 REF : Controller side
Electronic gear ratio
numerator setting
P020 1. to 9999.
Electronic gear ratio
denominator setting
P021 1. – 9999.
Feed-forward gain setting P022
0.00 to 99.99 / 100.0
to 655.3
Position loop gain setting P023
0.00 to 99.99 / 100.0
(rad/s)
Position bias setting P024
-204 (-2048) / -999. to
2048.
47
PCLR: Clearance of position deviation
data
Terminal function C001 to C008
48
STAT: Pulse train position command
input enable
*1 In pulse train position control mode, the frequency value of a frequency command is calculated as
follows:
Frequency command (Hz) = ×
In position control mode, the setting for the acceleration and deceleration time is invalid. (The LAD
cancellation function operates automatically to ignore acceleration and deceleration patterns.) When the
position loop gain is larger, the acceleration/deceleration time is shorter.
ATR terminal
Torque
command input
Torque bias Torque limit
Torque command
(Current control command)
Speed limit
Detected
speed
Speed
control
(P control)
Speed
monitoring
If the detected speed exceeds the speed
limit, the motor speed is controlled in
proportional (P) control mode.
P: Number of poles of the motor
Kv: Position loop gain
ENC: Encoder pulse count
⊿P: Position deviation
6.4×P×Kv
ENC
⊿P
255