5-2
5-1 Position Control
5
Operating Functions
Related Functions
• The main functions related to position control are as follows:
Parameter Block Diagram for Position Control Mode
Function Explanation
Reference
page
Position command filter function Sets the soft start for the command pulse. 5-29
Feed-forward function
Adds the command pulse differential to the speed loop to reduce the
positioning time.
5-61
Torque limit function Limits the Servomotor’s torque output. 5-26
Vibration Filter
Pn2B: Frequency 1
Pn2C: Filter 1
Pn2D: Frequency 2
Pn2E: Filter 2
Speed Command
Monitor
Actual Speed
Monitor
Position Deviation
Monitor
Torque Command
Monitor
Speed PI Processor
Pn11: Speed Gain 1
Pn12: Integration Time
Constant 1
Pn19: Speed Gain 2
Pn1A: Integration Time
Constant 2
Pn20: Inertia Ratio
Notch Filter
Pn1D: Filter 1 Frequency
Pn1E: Filter 1 Width
Pn28: Filter 2 Frequency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter
Torque Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Torque Limit
Pn5F: No.2 Torque Limit
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
Switch
Speed Detection Filter
Pn13: Filter 1
Pn1B: Filter 2
Phase A, B, Z
Torque Limit
PCL
Torque Limit
NCL
Torque Limit Input
3 V/100 %
Torque
PI
Processor
Current Feedback
*1
*1
SM
RE
Receive
Encoder
Signal
+
−
+++
+
−−
Input Condition
Setting
Pn40: Input
Selection
Pn41: Rotation
Direction
Pn42: Mode
Pn4D:
Smoothing Filter
Setting
Electronic Gear
Pn48: Numerator G1
Pn49: Numerator G2
Pn4A: Numerator
Exponent
Pn4B: Denominator
Pn4C:
Position
Command
Filter
Speed FF
Pn15: FF Amount
Pn16: FF Command Filter
Deviation Counter
Pn10: Loop Gain 1
Pn18: Loop Gain 2
CW
CCW
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