Delta C2000 Series User Manual page 423

When this setting is different from Pr.10-02 setting and the source of the frequency command is
pulse input (Pr.00-20 is set to 4 or 5), it may have 4 times frequency problem.
Example: Assume that Pr.10-01=1024, Pr.10-02=1, Pr.10-16=3, Pr.00-20=5, MI=37 and ON, it
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
Electr ical
gear
10- 17
10- 18
Electrical Gear A
Electrical Gear B
Settings 1~65535
Rotation speed = pulse frequency/encoder pulse (Pr.10-01) * PG Electrical Gear A / PG Electrical
Gear B.
Positioning for Encoder Position
Settings 0~65535 pulse
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 0~65535 pulse
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 0.000~65.535 sec
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.
Chapter 12 Description of Parameter Settings C2000 Series
d
dt
A
10- 21
B
+
-
Position
feedbac k
12-10-5
kd
11-25
+
+
kp
11-00 bi t 0=0
11-24
11-00 bi t 0=1
11-05
Speed
command
Factory Setting: 100
Factory Setting: 0
Factory Setting: 10
Factory Setting: 0.100