YASKAWA SGD7S

6.6 Position Control
6-29
6
Application Functions
6.6 Position Control
Position control is used to input a pulse train reference from the host controller to the SERVO-
PACK to move to a target position. The position is controlled with the number of input pulses,
and the speed is controlled with the input pulse frequency. Use position control when position-
ing is required.
You set the control method to position control in Pn000 = n.X (Control Method Selection).
The control block diagrams for position control are provided below.
• Rotary Servomotors
• Linear Servomotors
Parameter Meaning When Enabled Classification
Pn000 n.1 Position Control After restart Setup
Pn10A
ENC
M
Pn000
= n.
X
Pn000
= n.
X
Pn200
= n.
X
Pn218
Pn109
Pn20E
Pn210
COIN
Pn212
Pn216
Pn217
SERVOPACK
Torque
reference
Speed
reference
Position
reference
Refer-
ence
pulse
form
Refer-
ence
pulse
input
 n
Elec-
tronic
gear
B
A
Smo-
othing
Deviation
counter
Speed
control
section
Current
control
section
Power
amplier
Servomotor
Current feedback
Feedforward
Feedforward
lter time
constant
Clear
signal input
Encoder
divided pulse
output
Divider
Speed
conversion
Position
feedback
Pn522 (Positioning
Completed Width)
Speed feedback
Position
control section
Pn10A
ENC
M
Pn000
= n.
 X 
Pn000
= n.
 X 
Pn109
COIN
Pn281
Pn216
Pn217
Pn200
= n.
 X
Pn218 Pn20E
Pn210
SERVOPACK
Feedforward
Feedforward
lter time
constant
Deviation
counter
Position
control section
Position
feedback
Pn522 (Positioning
Completed Width)
Speed feedback
Speed
control
section
Current
control
section
Power
amplier
Servomotor
Linear
encoder
Current feedback
Force
reference
Speed
reference
Position
reference
Clear signal
input
Encoder
divided pulse
output
Divider
Refer-
ence
pulse
form
Refer-
ence
pulse
input
 n
Speed
conversion
Elec-
tronic
gear
B
A
Smo-
othing