Fuji Electric FRENIC MEGA G2 Series - Page 542

5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
5-358
 Position control gain
Position control involves generating a torque command and speed command based on the deviation between the
command position and current position with the operation pattern generated from position data (target position) to
run the inverter. Generally speaking, speed control adjustment based on the actual load must be complete, and it
must be possible to perform problem-free acceleration and deceleration. Position control gain adjusts the position
control responsiveness. To increase the responsiveness, increase d203 and d204. If increased too much, hunting
and overshoot will occur. If wishing to switch the gain between low speed and high speed, set the switching
frequency with d205. If the motor vibrates when the system rigidity is weak and the gain is increased, increase d201.
Function
code
Name
Data setting range
Unit
Factory
default
Change
during
operation
d201
Position feed forward gain
0.00: Feed forward disable
0.01 to 1.50
-
0.00
Y
d202
Position feed forward command filter
0.000 to 5.000
s
0.500
Y
d203
Position regulator gain 1 (low speed
range)
0.1 to 300.0
-
1.0
Y
d204
Position regulator gain 2 (high speed
range)
0.1 to 300.0
-
1.0
Y
d205
Position regulator gain switching
frequency
0.0 to 599.0
Hz
0.0
Y
 Electronic gear
Generally speaking, position control manages the motor movement based on the PG pulse count, but it is more
helpful to manage movement with the physical values (user values) determined by the system. The PG pulse count
and user value conversion ratio can be set as the electronic gear.
Function
code
Name
Data setting range
Unit
Factory
default
Change
during
operation
d206
Electronic gear denominator
1 to 65535
-
1
N
d207
Electronic gear numerator
1 to 65535
-
1
N
(1) Electronic gear calculation method
The electronic gear numerator/electronic gear denominator ratio can be calculated from the travel (position
resolution) per 1 user value unit [mm/user value], travel [mm/rev] per motor rotation, and PG pulse count [pulse/rev]
per motor rotation.
Electronic gear numerator
Electronic gear denominator
=
Travel per user value [mm/user value]
Travel per PG pulse [mm/pulse]
=
Travel per user value [mm/user value]
Travel per motor rotation [mm/rev]
Pulse count per motor rotation [pulse/rev]
Electronic gear numerator and electronic gear denominator fractions should be reduced and set so that they are
both integers of 65535 or less.
[Electronic gear calculation example]
In the case of travel of 0.1 [mm/user value], machine speed of 150 [m/min] at motor speed of 1800 [r/min], and PG
pulse count of 1000 [pulse/rev]
Electronic gear numerator
Electronic gear denominator
=
0.1 [mm/user value]
150 × 1000 ÷ 18001000 [mm/rev]
1000 [pulse/rev]
=
180
150
=
12
10
 Deceleration time selection
The normal deceleration time (F07.E10, E12, E14) during position control is selected. The forced deceleration time
(H56) is selected below.
• If the run command (FWD, REV) is cut off and the motor decelerates while performing position control
• If an overtravel (OT) is detected, or an emergency stop condition occurs when a “STOP” signal is input