Absolute Position Control Mode - Hitachi SJ700D-004L Instruction Manual

Chapter 4

4.3.12 Absolute position control mode

- To use the absolute position control mode function, specify "05"
(V2) for V/F characteristic curve selection, 1st motor (A044) and "02"
(APR: absolute position control) for the control pulse setting (P012).
- If "03" (high-resolution absolute position control) has been specified
for the control pulse setting (P012), the quadruple number of pulses
used for internal operations is applied to the control. (Then, specify
values of quadruple precision for the multistage position settings
and position range specification.)
- Position settings can be switched in up to eight stages in
combination with control pulse settings.
- You can select zero-return mode from one low-speed and two
high-speed modes.(The home search function described in the
preceding section cannot be used.)
- The teaching function allows you to specify position settings while
actually running the machine.
- If function "73" (SPD) is assigned to an intelligent input terminal, you
can switch between the speed control and position control modes
during operation.
- Only the four high-order digits of data are displayed when the data
(e.g., position setting) to be displayed consists of a large number of
many digits.
Item
Control pulse setting
Position loop gain setting
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Multistage position setting 0
Zero-return mode selection
Zero-return direction selection
Low-speed zero-return frequency
High-speed zero-return
frequency
Position range specification
(forward)
Position range specification
(reverse)
Teaching selection
Multistage speed/position
determination time
Function code Data/range of data
P012
P023
Position range specification
P060 (reverse) to position range
specification (forward)
Position range specification
P061 (reverse) to position range
specification (forward)
Position range specification
P062 (reverse) to position range
specification (forward)
Position range specification
P063 (reverse) to position range
specification (forward)
Position range specification
P064 (reverse) to position range
specification (forward)
Position range specification
P065 (reverse) to position range
specification (forward)
Position range specification
P066 (reverse) to position range
specification (forward)
Position range specification
P067 (reverse) to position range
specification (forward)
P068
P069
P070 0.00 to 10.00 (Hz)
0.00 to 99.99 / 100.0 to 400.0
P071
0 to +268435456
P072
0 to +1073741823
0 to +268435456
P073
0 to +1073741823
P074
C169
4-106
Explanation of Functions
Related code
P012: Control pulse setting
P023: Position loop gain setting
P060: Multistage position setting 0
P061: Multistage position setting 1
P062: Multistage position setting 2
P063: Multistage position setting 3
P064: Multistage position setting 4
P065: Multistage position setting 5
P066: Multistage position setting 6
P067: Multistage position setting 7
P068: Zero-return mode selection
P069: Zero-return direction selection
P070: Low-speed zero-return frequency
P071: High-speed zero-return frequency
P072: Position range specification (forward)
P073: Position range specification (reverse)
P074: Teaching selection
C169: Multistage speed/position determination
time
C001 to C008: Terminal [1] to terminal [8]
functions
APR2: Absolute position control
HAPR: High-resolution absolute
position control
00
01
02
00 For forward rotation
01 For reverse rotation
(Hz)
When APR2 is selected
When HAPR is selected
00 Multistage position setting 0 (P060)
01 Multistage position setting 0 (P060)
02 Multistage position setting 0 (P060)
03 Multistage position setting 0 (P060)
04 Multistage position setting 0 (P060)
05 Multistage position setting 0 (P060)
06 Multistage position setting 0 (P060)
07 Multistage position setting 0 (P060)
0. to 200. X10ms
Description