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1 PRODUCT OUTLINE
The principle of "position control" and "speed control" operation is shown below.
Position control
The total No. of pulses required to move the designated distance is obtained in the
following manner.
Total No. of pulses
required to move
designated distance
No. of pulses required for
motor to rotate once
Designated distance
Movement amount of machine (load)
side when motor rotates once
* The No. of pulses required for the motor to rotate once is the "encoder resolution"
described in the motor catalog specification list.
When this total No. of pulses is issued from the D75P2 to the servo amplifier, control to
move the designated distance can be executed.
The machine side movement amount when one pulse is issued to the servo amplifier is
called the "movement amount per pulse". This value is the min. value for the workpiece
to move, and is also the electrical positioning precision.
Speed control
The above "total No. of pulses" is an element required for movement distance
control, but when carrying out positioning control or speed control, the speed must
also be controlled.
This "speed" is controlled by the "pulse frequency".
Positioning
module
Servo
amplifier
Servomotor
Detector
Speed = Pulse frequency
Movement amount = No. of pulses
Feedback pulses =
Pulses generated by detector
Feedback pulse
(Pulse
encoder)
A
ta td
0.4 1.2 0.4
(s)
Pulse frequency
[pps]
This area is the total
No. of commanded
pulses.
Movement amount t = 2
Fig. 1.1 Relationship between position control and speed control
POINT
The D75P2 controls the position with the "total No. of pulses", and the speed with
the "pulse frequency".