9 Control Block Diagrams
9.1.1 Position Control
9-2
9.1 Motion Control Block Diagrams
9.1.1 Position Control
(1) Motion Parameters for Position Control
(a) Fixed Parameters
(b) Setting Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode
− 1 0 to 5
1 Function Selection 1 − 0000 h Bit Setting
2 Function Selection 2 − 0000 h Bit Setting
4 Command Unit − 0 0 to 3
5 Number of Decimal Places − 3 0 to 5
6 Command Unit per Revolution Reference unit 10,000
1 to 2
31
−
1
8 Gear Ratio [MOTOR] − 1 1 to 65,535
9 Gear Ratio [LOAD] − 1 1 to 65,535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360,000
1 to 2
31
−
1
12 Forward Software Limit Reference unit
2
31
-1
−
2
31
to 2
31
−
1
14 Reverse Software Limit Reference unit
-2
31
−
2
31
to 2
31
−
1
16 Backlash Compensation Reference unit 0
−
2
31
to 2
31
−
1
29 Motor Type − 0 0 or 1
30 Encoder Type − 0 0 to 3
34 Rated Speed
min
−
1
3,000 1 to 32,000
36 Encoder Resolution pulse 65,536
1 to 2
31
−
1
38 Max. Revolutions of Absolute Encoder Rev 65,534
0 to 2
31
−
1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32
No. Name Setting Unit Default Value Setting Range
OW

00 Run Commands − 0000 h Bit Setting
OW

01 Mode 1 − 0000 h Bit Setting
OW

02 Mode 2 − 0000 h Bit Setting
OW

03 Function 1 − 0011 h Bit Setting
OW

04 Function 2 − 0033 h Bit Setting
OW

05 Function 3 − 0000 h Bit Setting
OW

08 Motion Command − 0 0 to 26
OW

09 Motion Command Options − 0000 h Bit Setting
OW

0A Motion Subcommand − 0 0 to 65,535
OL

0C Torque Reference Depends on torque unit. 0
−
2
31
to 2
31
−
1
OW

0E Speed Limit at Torque Reference 0.01% 15,000
−
32768 to 32,767
OL

10 Speed Reference Depends on speed unit. 3000
−
2
31
to 2
31
−
1
OL

14 Positive Side Limiting Torque Setting at the Speed
Reference
Depends on torque unit. 30,000
−
2
31
to 2
31
−
1
OL

16 Secondly Speed Compensation Depends on speed unit. 0
−
2
3
to 2
31
−
1
OW

18 Speed Override 0.01% 10,000 0 to 32767
OL

1C Position Reference Type Reference unit 0
−
2
31
to 2
31
−
1
OL

1E Positioning Completed Width Reference unit 100 0 to 65,535
OL

20 Positioning Completed Width 2 Reference unit 0 0 to 65,535
OL

22 Deviation Abnormal Detection Value Reference unit
2
31
−
1 0 to 2
31
−
1
OW

26 Position Complete Timeout ms 0 0 to 65,535
OL

28
Phase Compensation
Reference unit 0
−
2
31
to 2
31
−
1
OL

2A Latch zone lower limit (for external positioning) Reference unit
−
2
31
−
2
31
to 2
31
−
1
OL

2C Latch zone upper limit (for external positioning) Reference unit
2
31
−
1
−
2
31
to 2
31
−
1
OW

2E Position Loop Gain 0.1/s 300 0 to 32,767
OW

2F Speed Loop Gain Hz 40 1 to 2,000
OW

30 Speed Feed Forward Compensation 0.01% 0 0 to 32,767
OW

31 Speed Amends 0.01% 0
−
32,768 to 32,767
OW

32 Position Integration Time Constant ms 0 0 to 32,767
OW

34 Speed Integration Time Constant 0.01 ms 2,000 15 to 65,535
OL

36 Linear Acceleration Time Depends on acceleration/
deceleration unit.
0
0 to 2
31
-1
OL

38 Linear Deceleration Time Depends on acceleration/
deceleration unit.
0
0 to 2
31
−
1
OW

3A S-Curve Acceleration Time 0.1 ms 0 0 to 65,535
OW

3C Home Return Type − 0 0 to 19
OW

3D Home Window Reference unit 100 0 to 65,535
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