Operating Using Position Control; Setting Parameters - YASKAWA E-II Series User Manual

8.6 Operating Using Position Control

8.6.1 Setting Parameters

Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter
Pn000 n.
(2) Setting a Reference Pulse Form
Signal
Type
Name
PULS
/PULS
Input
SIGN
/SIGN
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter
Pn200 n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
The input pulse multiplier can be set for the
2-phase pulse train with 90
tial reference pulse form.
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1
Control mode selection: Position control (pulse train reference)
Connector
Pin Number
CN1-7 Reference Pulse Input
CN1-8 Reference Pulse Input
CN1-11 Reference Code Input
CN1-12 Reference Code Input
Reference Pulse
Form
0
Sign + pulse train
(Positive logic)
(Factory setting)
1
CW pulse + CCW
pulse
(Positive logic)
2
Two-phase pulse
°
train with 90 phase
3
differential
4
(Positive logic)
5
Sign + pulse train
(Negative logic)
6
CW pulse + CCW
pulse
(Negative logic)
7
Two-phase pulse
°
train with 90 phase
8
differential
9
(Negative logic)
°
phase differen-
Internal
processing
Meaning
Name
Input
Forward Rotation
Pulse
Reference
Multiplier
PULS
−
(CN1-7)
SIGN
H
(CN1-1 1)
PULS
L
− (CN1-7)
SIGN
(CN1-1 1)
×
1
90°
PULS PULS
×
2
(CN1-7)
SIGN
×
4
(CN1-1 1)
PULS
(CN1-7)
−
SIGN
L
(CN1-1 1)
PULS
H
(CN1-7)
−
SIGN
(CN1-1 1)
×
1
90
PULS PULS
×
2
(CN1-7)
SIGN
×
4
(CN1-1 1)
Forward rotation
PULS
(CN1-7)
SIGN
(CN1-11)
×1
×2
×4
8.6 Operating Using Position Control
Reverse Rotation
Reference
PULS
(CN1-7)
SIGN
L
(CN1-1 1)
PU S
(CN1-7)
SIGN
(CN1-1 1)
90°
PULS PULS
(CN1-7)
SIGN
(CN1-1 1)
PULS
(CN1-7)
SIGN
H
(CN1-1 1)
PULS
(CN1-7)
SIGN
H
(CN1-1 1)
90
PULS PULS
(CN1-7)
SIGN
(CN1-1 1)
Reverse rotation
Motor movement
reference pulses
8
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