Position Control Diagram; Electrical Gear A, B; Positioning For Encoder Position; Range For Encoder Position Attained - Delta C2000 series User Manual

needs 4096 pulses to rotate the motor a revolution.
 Assume that Pr.10-01=1024, Pr.10-02=1, Pr.10-16=1, Pr.00-20=5, MI=37 and ON, it needs 1024
pulses to rotate the motor a revolution.
 Position control diagram
Position
command
Electrical Gear A

Electrical Gear B

Settings
 Rotation speed = pulse frequency/encoder pulse (Pr.10-01) * PG Electrical Gear A / PG Electrical
Gear B.

Positioning for Encoder Position


Settings
 This parameter determines the internal position in the position mode.
 It needs to be used with multi-function input terminal setting =35 (enable position control).
 When it is set to 0, it is the Z-phase position of encoder.

Range for Encoder Position Attained


Settings
 This parameter determines the range for internal positioning position attained.
For example:
When the position is set by Pr.10-19 Positioning for Encoder Position and Pr.10-20 is set to 1000, it
reaches the position if the position is within 990-1010 after finishing the positioning.
Filter Time (PG2)

Settings
 When Pr.00-20 is set to 5 and multi-function input terminal is set to 37 (OFF), the pulse command
will be regarded as frequency command. This parameter can be used to suppress the jump of
speed command.
d
dt
A
B
+
Electr ical
gear
-
10- 17
10- 18
Position
feedbac k
1~65535
0~65535 pulse
0~65535 pulse
0.000~65.535 sec
Chapter 12 Description of Parameter SettingsC2000 Series
kd
10- 21 11-25
+
kp
11-00 bi t 0=0
11-24
11-00 bi t 0=1
11-05
167
+
Speed
command
Factory Setting: 100
Factory Setting: 0
Factory Setting: 10
Factory Setting: 0.100