4-74
H Related Functions
• The main functions related to position control that can be used during position control are as follows:
Function name Explanation Reference
Position command filter function Sets the soft start for the command pulse. 4-5-13 Position
Command Filter
Function
Torque feed-forward function Calculates TREF (torque command input) for the
current loop to reduce positioning time.
4-8-3 Torque
Feed-Forward
Function
Speed feed-forward function Calculates REF (speed command input) for the
current loop to reduce positioning time.
4-8-4 Speed
Feed-forward
Function
Feed-forward function Calculates command pulse differential for the speed
loop to reduce positioning time.
4-8-2
Feed-forward
Function
Bias function Calculates number of bias rotations for the speed loop
to reduce positioning time.
4-8-1 Bias
Function
Torque limit function Limits the Servomotor’s torque output. 4-5-10 Torque
Limit Function
Gain reduction function Switches speed loop command from PI control to P
control by inputting a MING (gain reduction) signal to
lower servo rigidity.
4-5-9 Gain
Reduction
P control switching function Switches the speed control loop automatically from PI
control to P control to lower servo rigidity. (Switching
conditions can be selected.)
4-8-10 P
Control
Switching
4-5-2 Speed Control (Speed)
H Function
• Performs Servomotor speed control using analog voltage input from the speed command (REF:
CN1-5, 6). You can also perform position control by combining speed control with the controller
mounted to the position control function.
• You can change the relationship between the speed command and the rotation speed by setting the
speed command scale (Pn300).
Controller
(analog voltage output type)
Motion Control Unit
CS1W-MC221/421(-V1)
CV500-MC221/421
C200H-MC221
Analog voltage
(speed command)
OMNUC W-series Servo Driver
Speed Control Mode
Speed command
scale (Pn300)
r/min.
Position Control Unit
C500-NC222
V
OMNUC W-series
Servomotor
Operation Chapter 4
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