Estun ProNet-30D - 4.6 Operating Using Position Control

ProNet Plus Series AC Servo User's Manual
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4.6 Operating Using Position Control
NOTE: this function is available for ProNet-□□□MG servo drives only.
Set the following parameters for position control using pulse trains.
Parameter
Meaning
Pn005
H.□□1□
Control mode selection: position control(pulse train reference)
A block diagram for position control is shown as below.
Differential
Feed forward
B
A
Feed forward
filter time
constant
Offset
Positioning
complete
Current loopSpeed loop
K
P
Error counter
Smoothing
×1
×2
×4
dividing
×4
B
A
Servodrive(in position control)
Pn112 Pn201
Pn202
Pn113
Pn111
Pn500
Pn004.2
Pn204
Pn201
Pn202
Pn200
Reference pulse
PG signal output
Pn104
M
PG
Servomotor
Encoder
-
+
+
+
+
4.6.1 Basic Setting in Position Control
(1)Setting a reference pulse sign
Type
Signal Name
Connector Pin Number
Name
Input
PULS
CN1-30
Reference pulse input
/PULS
CN1-31
Reference pulse input
SIGN
CN1-32
Reference sign input
/SIGN
CN1-33
Reference sign input
(2)Settingreference input filter for open collector signal
Pn006
0□□□
When pulse is difference input, servo receiving pulse frequency≤4M
1□□□
When pulse is difference input, servo receiving pulse frequency≤650K
2□□□
When pulse is difference input, servo receiving pulse frequency≤150K
(3)Setting a Reference Pulse Form
Set the input form for the servo drive using parameter Pn004.2 according to the host controllerspecifications.
Parameter
Reference
Pulse Form
Input Pulse
Multiplier
Forward Rotation
Reference
Reverse Rotation
Reverse
Pn004
H.□0□□
Sign+pulse train
(positive logic)
(factory setting)
—
PULS
(CN1-30)
SIGN
(CN1-32)
H
PULS
(CN1-30)
SIGN
(CN1-32)
L