Position Control; High-Response Position Control Vs. Advanced Position Control; Parameters Requiring Settings - Omron SMARTSTEP 2 R88M-G Series User Manual

5-1 Position Control

5Operating Functions

5-1 Position Control

 Positioning can be performed according to the pulses input into the pulse-string inputs (CN1-22 to
25).
 The Servomotor rotates using the value of the pulse-string inputs multiplied by the value of the
electronic gear (Pn46, Pn47, Pn4A, and Pn4B).
 SMARTSTEP2 Series Servo Drives have two position control modes: high-response position
control and advanced position control. Select the mode better suited for your operational
conditions.

High-Response Position Control vs. Advanced Position Control

5
The two position control modes have the following differences.
High-Response
Position Control
Position Control
 The Notch Filter 1 Frequency, Vibration Frequency, and Realtime Autotuning Mode Selection
cannot be used at the same time in high-response position control mode. The parameter entered
first will be given priority.
Example: When the Realtime Autotuning Mode Selection is set, the Servo Drive will be forcibly set
 The adaptive filter will be disabled under high-response position control. To use the adaptive filter,
select the advanced position control mode.

Parameters Requiring Settings

Parameter
No.
Control Mode
Pn02
Selection
Command Pulse
Pn42
Mode
Electronic Gear Ratio
Pn46
Numerator 1
Electronic Gear Ratio
Pn4A
Numerator Exponent
Electronic Gear Ratio
Pn4B
Denominator
Positioning
Pn60
Completion Range
5-1
Notch Filter 1
Frequency (Pn1D)
Conditional
Advanced
Enabled
to 1500 (disabled), even if the Notch Filter 1 Frequency is input.
Parameter name
Select a control mode for position control (setting: 0 or 2).
Set to match the command pulse form of the controller.
Set the pulse rate for command pulses and Servomotor travel
amount.
Electronic Gear Ratio Numerator 1 (Pn46) x 2
The maximum value of the calculated numerator is 2,621,440.
The Positioning Completed Output (INP) turns ON when the
number of pulses in the deviation counter is equal to or less than
the setting of this parameter.
Realtime Autotun-
Vibration
ing Mode Selec-
Frequency (Pn2B)
tion (Pn21)
Conditional Conditional
Enabled Enabled
Explanation
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
Adaptive Filter
Table Number
Display (Pn2F)
Disabled
Enabled
Reference
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