Moons' MBDV Series - Page 73

73
Rev. 2.0
07/27/2023
MBDV Hardware Manual
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Position Control Mode
Position mode is widely used in equipment that requires precise positioning. MBDV series supports
command position mode. Set the following values to parameter P1-00 through the Luna software,
and the servo drive will work in position control mode.
Parameter Command Setting Mode Command Description
P1-00 CM 21
Position control
mode
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Q Program
◆
Modbus/RTU
Use Q programming or Modbus/RTU
communication commands for position
control
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Command smoothing lter
Smooths the transition in position or speed caused by motion commands. This can reduce jitter
and vibrations in the mechanical system.
Related parameters
Parameter Command Description Range Defaults Unit Instructions
P2-05 JT Jerk time 0 ~ 50 10 ms
Smoothing lter for internal motion command.
P2-28 KJ Jerk Filter 0 ~ 1000 10 ms
Set the time constant of the low-pass lter of the
position command or speed command.
For detailed parameter setting, please refer to chapter 7.2.5 Command smoothing lter setting
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Positioning complete signal
In position mode, the positioning complete signal is used to indicate the current positioning state of
the servo motor. When the absolute value of the di󰀨erence between the commanded position and
the actual position of the servo motor, that is, the position error is smaller than the set value of the
parameter, the positioning completion signal will be output.
Related Parameters
Type Signal Symbol Setup Value Signal logic Function
Output IN-POS
9
Closed
Positioning completed, IN-POS condition satised and signal is output.
Output state is Closed.
Open
Positioning not completed, IN-POS condition not satised and signal is not
output. Output state is Open.
10
Open
Positioning completed, IN-POS condition satised and signal is output.
Output state is Open.
Closed
Positioning not completed, IN-POS condition not satised and signal is not
output. Output state is Closed.
For detailed parameter setting, please refer to chapter 7.2.8 Positioning complete signal
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Encoder feedback output
The encoder feedback output function of the servo driver is a function of outputting the position
information fed back by the motor encoder via di󰀨erential A/B/Z signals. A/B signals have a 90
°
di󰀨erence. .
Related parameters
Parameter Command Description Range Defaults Unit Instructions
P3-12 PO Encoder feedback output mode 0 ~ 256 1 -
Pulse frequency division output
mode setting
P3-13 ON
Pulse Output Gear Ratio-
Numerator
0 ~ 65535 10000 -
Set the numerator of the pulse
output distribution ratio
P3-14 OD
Pulse Output Gear Ratio-
Denominator
0 ~ 65535 65535 -
Set the denominator of the pulse
output distribution ratio
For detailed parameter setting, please refer to chapter 7.6 Encoder frequency division output