5.4 Operating Using Position Control with Pulse Train Reference5-335 Operation5.4 Operating Using Position Control with Pulse Train ReferenceThis section describes the operation in position control with pulse train reference.Select the position control with Pn000. Block Diagram for Position ControlA block diagram for position control is shown below.5.4.1 Basic Settings for Position Control ModeSet the following signal and parameter for position control with pulse train reference.(1) Pulse Reference Input Signal FormSet the pulse reference input signal form using Pn200.0.Parameter Meaning When Enabled ClassificationPn000 n.1 Control mode: Position control (pulse train reference) After restart SetupEncoderoutput pulseReferencepulseSERVOPACK (in position control)Pn216Pn217MPn212Pn210Pn20E+−Pn102ENCPn200.0++Pn109 Pn10AReferencepulseformElectronicgearratioSmoothingFeedforwardErrorcounterEncoder output pulsePositionloop gainSpeedcontrolCurrentcontrolServomotorEncoderFeedforwardfilter(Refer to 5.4.1.) (Refer to 5.4.3.)(Refer to 5.4.4.)(Refer to 6.9.1.) (Refer to 6.9.1.)(Refer to 5.3.7.)Parameter Reference Pulse Form InputPulseMulti-plierForward RotationReferenceReverse RotationReferencePn200n.0Sign + pulse train(Positive logic)[Factory setting]−n.1 CW pulse + CCW pulse(Positive logic)−n.2Two-phase pulse train with90° phase differential×1n.3 ×2n.4 ×4n.5 Sign + pulse train(Negative logic)−n.6 CW pulse + CCW pulse(Negative logic)−H levelPULS(CN1-7)SIGN(CN1-11) L levelPULS(CN1-7)SIGN(CN1-11)L levelCW(CN1-7)CCW(CN1-11) L levelCW(CN1-7)CCW(CN1-11)90ࠑPhase A(CN1-7)Phase B1)(CN1-190ࠑPhase A(CN1-7)Phase B1)(CN1-1L levelPULS(CN1-7)SIGN(CN1-11) H levelPULS(CN1-7)SIGN(CN1-11)H levelCW(CN1-7)CCW(CN1-11)H levelCW(CN1-7)CCW(CN1-11)
