Position Control - YASKAWA SGD7S Product Manual

6.6

Position Control

Position control is used to input a pulse train reference from the host controller to the SERVO-
PACK to move to a target position. The position is controlled with the number of input pulses,
and the speed is controlled with the input pulse frequency. Use position control when position-
ing is required.
You set the control method to position control in Pn000 = n.X (Control Method Selection).
Parameter

Pn000 n.
The control block diagrams for position control are provided below.
• Rotary Servomotors
SERVOPACK
Torque
reference
Speed
reference
Refer-
Position
ence
reference
pulse
form
Pn200

Clear
= n.
signal input
Encoder
divided pulse
output
• Linear Servomotors
SERVOPACK
Force
reference
Speed
reference
Refer-
Position
ence
reference
pulse
form
Pn200
Clear signal

= n.
input
Encoder
divided pulse
output
Divider

1

Position Control

Pn109
Feedforward
Refer-
Elec-
ence tronic
Smo-
gear
pulse othing
input B
 n
A
Pn218 Pn20E Pn216
Pn210 Pn217
X
Position
feedback
Divider
Pn212
Pn109
Feedforward
Refer- Elec-
tronic
ence Smo-
gear
pulse othing
B
input
 n
A
Pn218 Pn20E Pn216
Pn210 Pn217
X
Position
feedback
Pn281
Meaning
Pn10A
Feedforward
filter time
constant
Speed
Deviation
control
counter
section
Pn000
 
= n. X
Position
control section
Speed
conversion
Pn522 (Positioning
Completed Width)
Speed feedback
COIN
Pn10A
Feedforward
filter time
constant
Speed
Deviation
control
counter
section
Pn000
 
= n. X = n.
Position
control section
Speed
conversion
Pn522 (Positioning
Completed Width)
Speed feedback
COIN
6.6 Position Control
When Enabled Classification
After restart Setup
Current
Power
control
amplifier
section
Pn000
 
= n. X
Current feedback
Current
Power
control amplifier
section
Pn000
 
X
Current feedback
Servomotor
M
ENC
Servomotor
6
M
ENC
Linear
encoder
6-29