Hitachi SJ700-2 instruction manual Absolute position control mode

Chapter 4 Explanation of Functions

4.3.12 Absolute position control mode

-To use the absolute position control mode function, specify "05" (V2) for V/F characteristic curve selection, 1st motor (A044) and "02" (APR: absolute position control) for the control pulse setting (P012).

-If "03" (high-resolution absolute position control) has been specified for the control pulse setting (P012), the quadruple number of pulses used for internal operations is applied to the control. (Then, specify values of quadruple precision for the multistage position settings and position range specification.)

-Position settings can be switched in up to eight stages in combination with control pulse settings.

-You can select zero-return mode from one low-speed and two high-speed modes.(The home search function described in the preceding section cannot be used.)

-The teaching function allows you to specify position settings while actually running the machine.

-If function "73" (SPD) is assigned to an intelligent input terminal, you can switch between the speed control and position control modes during operation.

-Only the four high-order digits of data are displayed when the data (e.g., position setting) to be displayed consists of a large number of many digits.

Related code

P012: Control pulse setting

P023: Position loop gain setting

P060: Multistage position setting 0

P061: Multistage position setting 1

P062: Multistage position setting 2

P063: Multistage position setting 3

P064: Multistage position setting 4

P065: Multistage position setting 5

P066: Multistage position setting 6

P067: Multistage position setting 7

P068: Zero-return mode selection

P069: Zero-return direction selection

P070: Low-speed zero-return frequency

P071: High-speed zero-return frequency

P072: Position range specification (forward)

P073: Position range specification (reverse)

P074: Teaching selection

C169: Multistage speed/position determination time

C001 to C008: Terminal [1] to terminal [8] functions

Item	Function code	Data/range of data	Description
Control pulse setting	P012		APR2: Absolute position control
Position loop gain setting	P023		HAPR: High-resolution absolute
			position control
		Position range specification
Multistage position setting 0	P060	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P061	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P062	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P063	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P064	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P065	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P066	(reverse) to position range
		specification (forward)
		Position range specification
Multistage position setting 0	P067	(reverse) to position range
		specification (forward)
Zero-return mode selection	P068	00
		01
		02
Zero-return direction selection	P069	00	For forward rotation
		01	For reverse rotation
Low-speed zero-return frequency	P070	0.00 to 10.00 (Hz)
High-speed zero-return	P071	0.00 to 99.99 / 100.0 to 400.0
frequency		(Hz)
Position range specification	P072	0 to +268435456	When APR2 is selected
(forward)		0 to +1073741823	When HAPR is selected
Position range specification	P073	0 to +268435456
(reverse)		0 to +1073741823
		00	Multistage position setting 0 (P060)
		01	Multistage position setting 0 (P060)
		02	Multistage position setting 0 (P060)
Teaching selection	P074	03	Multistage position setting 0 (P060)
		04	Multistage position setting 0 (P060)
		05	Multistage position setting 0 (P060)
		06	Multistage position setting 0 (P060)
		07	Multistage position setting 0 (P060)

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