4-61
• Set the number of pulses per motor rotation for a fully-closed encoder when a DeviceNet Option Unit
(R88A-NCW152-DRT) is mounted and a fully-closed encoder will be used.
• This parameter is valid whenever Pn002.3 (Application Method for Full Closed-loop Encoder) is not
set to 0.
• Do not change the default setting when using a Servo Driver alone without a DeviceNet Option Unit
or when not using a fully-closed encoder.
• The lower limit of the setting range is 25, but always set a value of 513 or higher (and select a fully-
closed encoder to enable this). An A.04 alarm (parameter setting error) may occur if a value less than
513 is set.
Note Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (I538) for details on applica-
tion methods for a fully-closed encoder (fully-closed loop control).
D Position Control Setting 2 (Pn207: Default Setting 0000)
Pn207.0 Position control setting 2 –– Position command filter selection (Position)
Setting
range
0, 1 Unit --- Default
setting
0 Restart
power?
Yes
Setting Explanation
Setting Explanation
0 Primary filter (Set Pn204 properties)
1 Linear acceleration and deceleration (set Pn208 properties)
• Select the command pulse soft start properties.
• Select 0 to allocate the properties to Pn204 (position command filter time constant 1), and select 1 to
allocate the properties to Pn208 (position command filter time constant 2).
• If not using the soft start function, set the properties for the selected filter to 0.
Note Refer to 4-5-13 Position Command Filter Function for details.
Pn207.1 Position control setting 2 –– Speed command input switching for position control (Position)
Setting
range
0, 1 Unit --- Default
setting
0 Restart
power?
Yes
Setting Explanation
Setting Explanation
0 Function not used.
1 REF used as feed-forward input
• Set the REF function (speed command input) for position control.
• Select 1 to input the REF voltage speed feed-forward input, and add the speed equivalent to the speed
REF voltage to the speed loop command. This can shorten positioning time.
• You can change the REF voltage scale using Pn300 (speed control scale). (Default setting: 10 V/rated
rotations.)
• If using an OMRON Positioning Unit (pulse train output type), set this parameter to 0 (function not
used).
Operation Chapter 4
To Next Page
Loading...
