5.3 Description of Function Codes 5.3.9 d codes (Applied functions 2)
Positioning data
communication command
selection
0: Disable positioning data communication
command (S20, S21)
1: Enable positioning data communication
command (S20, S21)
d203, d204 Position regulator gain 1 (Low speed range), Position regulator gain 2 (High speed range)
d205 Position regulator gain switching frequency
d03, A45, b45, r45 Speed control P (Gain)
d04, A46, b46, r46 Speed control (Integral time)
The position control responsiveness during deceleration and while the motor is stopped can be changed for the
orientation operation.
The greater the setting value, the more the responsiveness improves, settling time is reduced, and the holding force
while the stopped motor is being held by the servo lock increases, but hunting will occur if the setting value is too
large. Adjust so that hunting does not occur.
Furthermore, if the speed regulator gain is too high, adjust the speed regulator (ASR) also.
If switching the speed control P (gain) and I (integral time), use parameter selection 1 “MPRM1” and 2 “MPRM2”.
Refer to the d03, d04 explanation for details on the speed control P (gain) and I (integral time).
• By suddenly increasing the position regulator gain or speed regulator (ASR) gain, motor hunting may
occur, possible resulting in equipment damage. Do not increase the setting values for these gain
setting function codes suddenly. Furthermore, do not decrease the integral time setting function code
data suddenly.
• If the encoder pulse count is low, it will not be possible to increase the gain setting value.
d206, d207: Electronic gear (Denominator, Numerator)
Positioning data for orientation can be handled with user values such as angle and pulse count.
If using a PG with pulse count of 1024 (pulse/rev), and the travel per user value is set to 1 [pulse/user value] for the
equivalent pulse count before multiplying the PG pulse by 4
Electronic gear numerator
Electronic gear denominator
=
Travel per user value
Travel per PG pulse
=
1
4 x 1024
[rev/user value]
1
1024
[rev/pulse]
=
1
4
[pulse/user value]
If handled with travel per user value of 0.01 [°/user value], travel of 360.00 [°/rev] per motor rotation, and PG pulse
count of 4096 (1024 x multiplication by 4) [pulse/rev]
Electronic gear numerator
Electronic gear denominator
=
Travel per user value
Travel per PG pulse
=
0.01 [°/user value]
360.00 [°/rev]
4096 [pulse/rev]
=
4096
36000
[pulse/user value]
d208: ORT mode selection
If d208 = 0, the motor rotates in the direction (shortcut) which requires the least movement to the positioning data
specified from the current position, regardless of the run command direction. However, if the motor has not been
run even once immediately after turning ON the power, the nearest direction will not be known, and therefore the
motor runs in the run command direction, and orientation is performed. Positioning is then performed with a shortcut.
If d208 = 1 (factory default), the motor starts moving in the normal run command direction, and orientation is
performed.
d209: Homing mode selection
There may be variations in the output timing with the A-phase and B-phase pulses, and the Z-phase pulses in the
pulse encoder.
When using the motor for forward rotation and reverse rotation, if a 1 pulse position displacement occurs at the
machine side when positioning is performed to the same position, set d209 bit 7: Z-phase compensation to 1. By
enabling this compensation, it is possible to suppress position displacement resulting from the rotation direction.
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