5-2
5-1 Position Control
5
Operating Functions
Related Parameters
The main functions provided by the parameters related to position control are described in the
following table.
Reference
 The Control Mode Selection (Pn02) is set as follows.
 To perform position control, select 0 (high-response position control) or 2
(advanced position control) for the control mode.
Setting Control mode
0 High-Response Position Control
1 Internally Set Speed Control
2 Advanced Position Control
Function Explanation Reference
Gain Switching
The Gain Switching Input (GSEL) is used when the Zero Speed Designation/
Torque Limit Switch (Pn06) is set to a value other than 2. The Gain Switching
Input is used to switch between PI and P operation or to switch between gain
1 and gain 2.
Page 5-13
Torque Limit Switch
The Torque Limit Switch Input (TLSEL) is used when the Zero Speed Desig-
nation/Torque Limit Switch (Pn06) is set to 2. The following parameters are
switched: Overspeed Detection Level, Torque Limit, and Deviation Counter
Overflow Level.
Page 5-15
Damping Control
Damping control can be used to reduce vibration when using a low-rigidity
mechanism or equipment whose ends tend to vibrate.
Page 7-23
Realtime
Autotuning
Autotuning automatically estimates the load inertia of the machine in realtime
and sets the optimal gain. The adaptive filter automatically suppresses vibra-
tion caused by resonance.
Page 7-3
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