5. Parameter Setting
5-18
Menu Menu title Description Unit Display range Default
P3-18 Clamp VOLT[mV] Set Clamp Voltage [mV] -1000 ~ 1000 0
Input Zero Clamp voltage in [mV].
5.5 Position control parameter (Position Mode: P4--)
Menu Menu title
Description
Unit Display range Default
P4-01 Feedforward[%] Feedforward Gain % 0 ~ 100 0
Input the Feedforward rate of the position command speed in [%]. The delay element of the
position controller can be reduced if the value of this item is increased. However, if the value is
increased excessively, overshoot may occur on the position system, or performance of the
position controller is deteriorated. Select appropriate value. If this value is 0, the position
controller becomes a simple position proportional controller.
Refer to the following MAX [Feedforward] value for each K=[SC LOOP Gain]/[PC P Gain] value.
Menu Menu title
Description
Unit Display range Default
P4-02 In Position In position range User 0.001 ~ 99999 0.1
Input the error range of the position where (INPOS) contact is turned ON in the unit of User.
In other words, if the difference between the position pulse and command pulse is within the
range set at [In Position (P4-02)], (INPOS) is turned ON.
Menu Menu title
Description
Unit Display range Default
P4-03 FLLW ERR [PULSE] Follow pulse error User -9999.9 ~ 99999.9 90000
Set the range of the transient position error detection in [User]
When MPG mode, In normal condition, the pulse error is
1-0.01×[Feedforward (P4-01)] Move Mechanical
[PC P Gain (P2-02)]
× (MPG input pulse freq[Hz]) ×
Move motor*4*Encoder pls
In case ([Pulse Logic (P4-04)] is 0 or 3, set value greater than x4) value. Set the greater value
than this.
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