Table of Contents
3
Connection
Sum of command pulses
[Command unit]
Pulse train
Input setup
PULS
One
Input
SIGN
revolu-
selection
tion
Direction
setup
Mode
Inversion of
electric gear
Pulse
regeneration
One
revolution
Reversal
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
nator
OZ
Related page
• P.3-18 "Wiring example of position control mode"
• P.3-20 "Connecting example to host controller"
• P.3-30 "Inputs and outputs on connector X4" • P.4-2 "List of Parameters"
3-14
2. Control Block Diagram
Position Control Mode
Positional command
Electric gear
1st
2nd
numerator
numerator
3rd
Denominator
numerator
4th
numerator
Command positional deviation
[Command unit]
Velocity
feed forward
Gain
Filter
Position control
1st
2nd
Encoder
velocity control
positional deviation
command [r/min]
[Encoder pulse]
Sum of
Motor speed
feedback pulses
[r/min]
[Encoder pulse]
Motor
Encoder
Load
speed [r/min]
Smoothing
Damping control
filter
Switching
Primary
selection
delay
1st
2nd
3rd
4th
Torque
feed forward
Gain
Filter
Velocity control
Propor-
tion
1st
2nd
Inertia ratio
Function
Speed detection
expansion
filter
2nd inertia ratio
1st
2nd
Instantaneous
speed
Speed detection
Current control
Response
setup
Main
power
supply
Internal positional
command speed [r/min]
Gain switching
2nd
setup
Frequency Filter
Mode
Delay
time
Level
Hysteresis
Switching
time
Friction
compensation
additional
value
Positive
direction
Negative
direction
Notch filter
Frequency Depth
Integra-
1st
tion
2nd
3rd
4th
Adaptive
mode setup
Disturbance
Torque filter
observer
Gain
1st
Filter
2nd
Torque limit
Selection
1st
2nd
Torque command
3rd
setup
Scale
factor
Width
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