Hitachi SJ700-2 Pulse train position control mode, Control block diagram, Frequency command Hz =

Chapter 4 Explanation of Functions

(Control block diagram)

Torque bias

ATR terminal

Torque command input

Speed control (P control)

Speed

Speed limit monitoring

Detected speed

Torque limit

Torque command

(Current control command)

If the detected speed exceeds the speed limit, the motor speed is controlled in proportional (P) control mode.

4.3.6 Pulse train position control mode

-To use this function, specify "05" (V2) for V/F characteristic curve selection, 1st motor (A044) and "01" (pulse train position control mode) for the control pulse setting (P012).

-You can choose the input source of pulse train command pulse train mode setting (P013).

Item	Function code	Data or range of data	Description
Control pulse setting	P012	01	Pulse train position control mode
		00	MD0: 90°-phase-shift pulse train
Pulse train mode setting (*2)	P013	01	MD1: Forward/reverse operation
			command with pulse train
		02	MD2: Forward-operation pulse train with
			reverse-operation pulse train
Home search completion	P017	0. to 9999. / 1000	Equivalent to encoder quadruplex
range setting		(100000)
Home search completion	P018	0.00 to 9.99 (s)
delay time setting
Electronic gear set position	P019	00	FB : Feed back side
selection		01	REF : Controller side
Electronic gear ratio	P020	1. to 9999.
numerator setting
Electronic gear ratio	P021	1. – 9999.
denominator setting
Feed-forward gain setting	P022	0.00 to 99.99 / 100.0
		to 655.3
Position loop gain setting	P023	0.00 to 99.99 / 100.0
		(rad/s)
Position bias setting	P024	-204 (-2048) / -999. to
		2048.
		47	PCLR: Clearance of position deviation
Terminal function	C001 to C008		data
		48	STAT: Pulse train position command
			input enable

*1 In pulse train position control mode, the frequency value of a frequency command is calculated as

follows:
	6.4⋅P⋅Kv		⊿P	P: Number of poles of the motor
Frequency command (Hz) =		⋅		Kv: Position loop gain
	ENC		255	ENC: Encoder pulse count
				⊿P: Position deviation

In position control mode, the setting for the acceleration and deceleration time is invalid. (The LAD cancellation function operates automatically to ignore acceleration and deceleration patterns.) When the position loop gain is larger, the acceleration/deceleration time is shorter.

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