Hitachi SJ Series User Manual page 378

Chapter 12
12.17.7 Performing the Pulse Train Position
Control
Q
• How to input the pulse train to the feedback option
to perform the position control.
A
• The pulse train can be input to the SA/SB terminal
of the feedback option (P1-FB) to perform the
position control.
• In the position control mode, the
acceleration/deceleration time is disabled.
(The inverter output is performed following the
speed command. (refer to the following right.))
The larger the position loop back gain is, the
shorter the acceleration/deceleration time
becomes.
• Start the input of the pulse train by assigning the
073[STAT] pulse train position command input
permission to the input terminal and turning on the
terminal.
Setting Items for the Pulse Train Position Control
Item
Control Method
Vector control mode
selection
Pulse train input SA/SB
(P1-FB) detection target
selection
Pulse train input SA/SB
(P1-FB) mode selection
Electronic gear
installation position
selection
Electronic gear ratio
numerator
Electronic gear ratio
denominator
Positioning completion
range setting
Positioning completion
delay time setting
Position feed forward
Position loop gain
Position bias amount
Parameter
[AA121]
[AA123]
[ob-10]
[ob-11]
[AE-01]
[AE-02] 1~9999
[AE-03] 1~9999
[AE-04] 0~10000
[AE-05] 0.00~9.99(s)
[AE-06] 0.00~655.35
[AE-07] 0.00~100.00
[AE-08] -2048~2048
12-17-17
!
• Using this function requires the following settings.
- [AA121] Control method 10: Vector control with
sensor
- [AA123] Vector control mode
01: Pulse train position control mode
- [ob-10] Pulse train input SA/SB (P1-FB) mode
selection
01: Pulse train position command
The speed command in the pulse train position
control mode is calculated by the following formula.
P
Speed
2
P: Number of motor poles
Kv: Position loop gain
ENC: Number of encoder
pulses
⊿
P: Position deviation
• See also "12.9.17 Use Encoder".
Data
10 Vector control with sensor
Pulse train position control mode
01
00 Pulse train frequency command
Pulse train position command
01
MD0: 90° phase difference pulse
00
train
MD1: Forward/reverse rotation
01
command + pulse train
MD2: Forward rotation pulse train +
02
reverse rotation pulse train
00 FB: Feedback side
REF: Command side
01
Numerator of th electronic gear
Denominator of th electronic gear
Set the value equivalent to encoder
4 multiplication
Set the time from the positioning
completion to the output of the
[POK] signal.
Position feed forward gain.
Position loop gain.
Set the bias value of the position.
Inverter Functions
⊿P
Kv
4 ENC
Description