4-3 Functions When Multi-function Feedback Option Board (3G3AX-PG01) Is Used Pulse Train Position Control Mode •To use this function, set V/f characteristics selection A044 to "05" (V2), and V2 mode selection P012 to "01" (pulse train position control). ("Sensor vector control" can be selected for 1st control only.) •Select a pulse train position command input mode in pulse train mode selection P013. 4 Functions •Frequency reference for the pulse train position control mode is calculated with the following formula: P : Number of motor poles Kv : Position loop gain ENC : Number of encoder pulses ∆ P :
Position deviation Frequency reference (Hz) = 6.4 Ч P Ч Kv ENC Ч ∆ P 255 •In the position control mode, the acceleration/deceleration time settings are disabled. (The Inverter is automatically brought into LAD cancel status.) The higher the position loop-back gain, the shorter the acceleration/deceleration time. •For details on the pulse train input mode, refer to the following. 4-120 Parameter No. Function name Data Default setting Unit P012 V2 control mode selection 01: Pulse train position control mode 00 P013 Pulse train mode selection 00: Mode 0 (pulse train with 90° phase difference) 01: Mode 1 (forward/reverse command + pulse train) 02:
Mode 2 (forward pulse train + reverse pulse train) P017 Position ready range setting 0. to 9999./1000 (10000): Set a value equivalent to encoder ×4 multiplication. 5. P018 Position ready delay time setting 0.00 to 9.99 0.00 s P019 Electronic gear setting position selection 00: FB (feedback side) 01: REF (command side) 00 P020 Electronic gear ratio numerator 1. to 9999. 1. P021 Electronic gear ratio denominator 1. to 9999. 1. P022 Position control feedforward gain 0.00 to 99.99/100.0 to 655.3 0.00 P023 Position loop gain 0.00 to 99.99/100.0 0.50 rad/s P024 Position bias amount -204 (-2048)/-999. to 2048. 0. C001 to C008 Multi-function inputs 1 to 8 selection 47:
PCLR (position deviation clear) 48: STAT (pulse train position command input permission)