Hitachi SJ Series User Manual page 386

Chapter 12 Chapter 12 Chapter 12
12. 12.17.9 Controlling at Absolute Position of Controlling at Absolute Position of Controlling at Absolute Position of Controlling at Absolute Position of Controlling at Absolute Position of
Origin Reference Origin Reference Origin Reference
Q
• • How to perform the absolute position control of the How to perform the absolute position control of the How to perform the absolute position control of the How to perform the absolute position control of the How to perform the absolute position control of the
origin reference such as a servo one. origin reference such as a servo one. origin reference such as a servo one. origin reference such as a servo one.
A
• • For the absolute position control, there is a move to For the absolute position control, there is a move to For the absolute position control, there is a move to For the absolute position control, there is a move to For the absolute position control, there is a move to
a target position according to a target position according a target position according
(1) position command, position command, position command,
(2) speed command (frequency command), speed command (frequency command), speed command (frequency command), speed command (frequency command),
(3) acceleration time, deceleration time, acceleration time, deceleration time, and then acceleration time, deceleration time, acceleration time, deceleration time,
the position servo lock status is entered. (The the position servo lock status is entered. (The the position servo lock status is entered. (The the position servo lock status is entered. (The the position servo lock status is entered. (The
servo lock status is kept until the operation servo lock status is kept until the operation servo lock status is kept until the operation servo lock status is kept until the operation servo lock status is kept until the operation
command is turned off.) command is turned off.) command is turned off.)
• • For the frequency com For the frequency command and
acceleration/deceleration command at the absolute acceleration/deceleration command at the absolute acceleration/deceleration command at the absolute acceleration/deceleration command at the absolute acceleration/deceleration command at the absolute
position control, those selected at that time are position control, those selected at that time are position control, those selected at that time are position control, those selected at that time are position control, those selected at that time are
followed.
• • When the position command is small, there may be When the position command is small, there may be When the position command is small, there may be When the position command is small, there may be When the position command is small, there may be
the deceleration and then positioning without the deceleration and then positioning without the deceleration and then positioning without the deceleration and then positioning without
reaching the speed command value. reaching the speed command value. reaching the speed command value. reaching the speed command value.
• The direction of the operation command • direction of the operation command direction of the operation command direction of the operation command(FW, RV)
the absolute position control mode does not have a the absolute position control mode does not have a the absolute position control mode does not have a the absolute position control mode does not have a the absolute position control mode does not have a
meaning as the rotation direction. They behave as meaning as the rotation direction. They behave as meaning as the rotation direction. They behave as meaning as the rotation direction. They behave as meaning as the rotation direction. They behave as
the signals for operating/stopping. The rotation the signals for operating/stopping. The rotation the signals for operating/stopping. The rotation the signals for operating/stopping. The rotation the signals for operating/stopping. The rotation
direction specifies the forward rotation if (target direction specifies the forward rotation if (target direction specifies the forward rotation if (target direction specifies the forward rotation if (target direction specifies the forward rotation if (target
position - current position) is plus and the reverse current position) is plus and the reverse current position) is plus and the reverse current position) is plus and the reverse current position) is plus and the reverse
rotation if minus. rotation if minus.
• When the zero return operation (as discussed later) • When the zero return operation (as discussed later) When the zero return operation (as discussed later) When the zero return operation (as discussed later) When the zero return operation (as discussed later)
is not performed, if the [AE is not performed, if the [AE is not performed, if the [AE-61] current position
memory at power memory at power-off is 00, the position at power off is 00, the position at power off is 00, the position at power-on off is 00, the position at power
is treated as the origin (position = 0). is treated as the origin (position = is treated as the origin (position =
is 01, the position at the previous power is 01, the position at the previous power is 01, the position at the previous power is 01, the position at the previous power-off is
treated as the (position = 0). treated as the (position = 0). treated as the (position = 0).
• When the deviation between the position command • When the deviation between the position command When the deviation between the position command When the deviation between the position command When the deviation between the position command
and current position is 0, if the operation command and current position is 0, if the operation command and current position is 0, if the operation command and current position is 0, if the operation command and current position is 0, if the operation command
is turned on, the positioning operation is performed is turned on, the positioning operation is performed is turned on, the positioning operation is performed is turned on, the positioning operation is performed is turned on, the positioning operation is performed
immediately. immediately.
• • The current position command can be monitored The current position command can be monitored The current position command can be monitored The current position command can be monitored The current position command can be monitored
with the [FA-20] position command monitor. with the [FA 20] position command monitor. 20] position command monitor.
Operation command Operation command
Output frequency Output frequency
(Hz)
Speed Speed
command command
POK signal POK signal
and then
mand and
(FW, RV) in
61] current position 61] current position
0). •If the [AE If the [AE-61]
When the position command is When the position command is
small, there is the deceleration small, there is the deceleration
and then positioning without and then positioning
reaching the speed command. reaching the speed command.
12 12-17-25
!
• For using this function, set the [AA121] control For using this function, set the [AA121] control For using this function, set the [AA121] control For using this function, set the [AA121] control For using this function, set the [AA121] control
method to 10 (vector control with sensor, and set method to 10 (vector control with sensor, and set method to 10 (vector control with sensor, and set method to 10 (vector control with sensor, and set method to 10 (vector control with sensor, and set
the [AA123] vector control mode selection to 02: the [AA123] vector control mode selection to 02: the [AA123] vector control mode selection to 02: the [AA123] vector control mode selection to 02: the [AA123] vector control mode selection to 02:
absolute position control or 03: high resolution absolute position control or 03: high resolution absolute position control or 03: high resolution absolute position control or 03: high resolution absolute position control or 03: high resolution
absolute position control. absolute position control. absolute position control.
• This function requires This function requires using the encoder feedback This function requires
• See also "12.9.17 Using See also "12.9.17 Using Encoder". See also "12.9.17 Using
• When the [AA123] vector control mode selection is When the [AA123] vector control mode selection is When the [AA123] vector control mode selection is When the [AA123] vector control mode selection is When the [AA123] vector control mode selection is When the [AA123] vector control mode selection is
set to 03: high resolution set to 03: high resolution set to 03: high resolution
absolute position control, the control is performed absolute position control, the control is performed absolute position control, the control is performed absolute position control, the control is performed absolute position control, the control is performed absolute position control, the control is performed
with the 4 multiplication number of pulses used for with the 4 multiplication number of pulses used for with the 4 multiplication number of pulses used for with the 4 multiplication number of pulses used for with the 4 multiplication number of pulses used for with the 4 multiplication number of pulses used for
the internal calculation. the internal calculation. the internal calculation.
(Set the multistage position command (Set the multistage position command (Set the multistage position command and position (Set the multistage position command (Set the multistage position command
range designation with the 4 multiplication range designation with the 4 multiplication range designation with the 4 multiplication range designation with the 4 multiplication range designation with the 4 multiplication
accuracy.) accuracy.)
• The position command can be switched at a The position command can be switched at a The position command can be switched at a The position command can be switched at a The position command can be switched at a
maximum of 16 stages in combination of the input maximum of 16 stages in combination of the input maximum of 16 stages in combination of the input maximum of 16 stages in combination of the input maximum of 16 stages in combination of the input maximum of 16 stages in combination of the input
terminals. terminals.
• The trip reset or reset signal input does not clear The trip reset or reset signal input does not clear The trip reset or reset signal input does not clear The trip reset or reset signal input does not clear The trip reset or reset signal input does not clear
the current position counter. the current position counter. the current position counter. the current position counter.
• When the PCLR terminal is assigned, turning on When the PCLR terminal is assigned, turning on When the PCLR terminal is assigned, turning on When the PCLR terminal is assigned, turning on When the PCLR terminal is assigned, turning on
the PCLR terminal clears the current position the PCLR terminal clears the current position the PCLR terminal clears the current position the PCLR terminal clears the current position the PCLR terminal clears the current position
counter. counter.
• In the absolute position control mode, the ATR In the absolute position control mode, the ATR In the absolute position control mode, the ATR In the absolute position control mode, the ATR In the absolute position control mode, the ATR
terminal is disabled. (The torque control does not terminal is disabled. (The torque control does not terminal is disabled. (The torque control does not terminal is disabled. (The torque control does not terminal is disabled. (The torque control does not
operate.) operate.)
• In the absolute position control mode, In the absolute position control mode, In the absolute position control mode, In the absolute position control mode, the STAT In the absolute position control mode,
terminal is disabled. (The pulse train position terminal is disabled. (The pulse train position terminal is disabled. (The pulse train position terminal is disabled. (The pulse train position terminal is disabled. (The pulse train position
control does not operate.) control does not operate.) control does not operate.) control does not operate.)
ON
25
Inverter Functions Inverter Functions Inverter Functions
using the encoder feedback using the encoder feedback using the encoder feedback
Encoder".
[AE-04] Positioning completion range 04] Positioning completion range 04] Positioning completion range
setting setting
Position
ON
[AE-05] 05] Positioning completion delay time Positioning completion delay time Positioning completion delay time
and position