Position Control - YASKAWA SGD7S series Product Manual

6.6 Position Control

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
The control block diagrams for position control are provided below.
• Rotary Servomotors
Torque
reference
peed
reference
Po ition
reference
Clear
ignal input
Encoder
divided pul e
output
• Linear Servomotors
Force
reference
peed
reference
Po ition
reference
Clear ignal
input
Encoder
divided pul e
output
6-30
 
n. 1 Position Control
ERVOPACK
Refer-
Elec-
Refer-
ence tronic
mo-
ence
gear
pul e
othing
pul e
input B
form
 n
A
Pn200 Pn218 Pn20E Pn216

Pn210 Pn217
= n. X
Divider
Pn212
ERVOPACK
Refer- Refer- Elec-
tronic
ence ence mo-
gear
pul e pul e othing
B
form input
 n
A
Pn200 Pn218 Pn20E Pn216

Pn210 Pn217
= n. X
Divider
Pn281
Meaning
Pn109 Pn10A
Feedforward
Feedforward filter time
con tant
Deviation
counter
Pn000
 
= n. X
Po ition
control ection
peed
conver ion
Pn522 (Po itioning
Completed Width)
Po ition
feedback
COIN
Pn109 Pn10A
Feedforward
Feedforward filter time
con tant
Deviation
counter
Pn000
 
= n. X
Po ition
control ection
peed
conver ion
Pn522 (Po itioning
Completed Width)
Po ition
feedback
COIN
When Enabled
After restart
Current Power
peed
control amplifier
control
ection
ection
Pn000
 
= n. X
Current feedback
peed feedback
Current
Power
peed
control amplifier
control
ection
ection
Pn000
 
= n. X
Current feedback
peed feedback
Classification
Setup
ervomotor
M
ENC
ervomotor
M
ENC
Linear
encoder