EA180 Series Servo Drive Users Manual Chapter 6 Adjustment 6.1 Position control mode block diagram d0-02 Command pulse Pulse train PULS SIGN External pulse input accumulation (Command unit) Pulse type P1-01 setting Electronic gear High frequency filter P1-15 Command source 1 turn P1-02 P1-04 P1-08 1st numerator 2nd numerator Gain switching Multi-position Command selection P1-00 Denominator P1-06 P1-10 3rd numerator condition Switching Switching P4-15 Execution mode P9-00 setting selection 4th numerator Switching threshold P4-18 time P4-16 Acceleration time P9-03 P1-12 Deceleration P9-02 Command time P9-04 Position deviation d0-10 + Smoothing Friction compensation reference Segment setting P9-06~P9-69 (command unit) - Position command speed (rpm) One delay P1-14 filter value Positive direction Negative direction Added P4-32 Viscous friction P4-31 d0-18 FIR P5-23 P4-33 Smoothing filter P4-30 P4-34 Gain P4-06 Speed feedforward Gain P4-24 Torque feedforward Filter P4-08 Speed command d0-19 Filter P4-25 Notch filter (rpm) Speed control 1 Frequency Width Depth P5-02 + Position control 1st gain P4-02 + + 1st gain Ratio Integr al + + + + 2 P5-05 - Switching ratio P4-19 - + Switching ratio + + 3 P5-08 P5-09 P5-10 Position deviation 1st load inertia ratio Performance P4-10 4 Adaptive mode setting P5-00 P5-11 (encoder unit) d0-10 2nd load inertia expansion P4-22 ratio reverse conversion Electronic gear Speed detection filtering PDFF control P4-12 ratio P4-11 Torque filtering Feedback pulse d0-06 d0-04 Observation Filter P4-08 P4-23 Filter P4-29 accumulation (encoder unit) (Command unit) Speed observation cut-off P4-22 bit3 Acceleration Torque limiting feedback P4-22 bit0 source Forward rotation limit Command P0-05 Motor speed d0-00 Reverse rotation limit P0-07 P0-06 Output per Frequency division output (rpm) Disturbance External limit P8-25 Pulse output Reverse turn P0-21 P0-22 Speed detection Gain P4-28 observer PA PB PZ Z pulse width P0-23 Motor load rate d0-01 (%) Filter P4-29 Current control Encoder Motor Response setting Pd-27 Pd-28 Torque command Main power (%) d0-20 Load supply 55 P5-03 P5-04 P5-06 P5-07 P4-03 P4-05 P4-20 - P5-12 P5-13