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4.3.2 Position control (external pulse command)
Parameter
Overview
Reference
chapter
P0-01 control mode selection
Set to 6: external pulse mode
P0-10 pulse instruction form
Set the pulse form
0-CW/CCW
1-AB
2-P+D
P0-11 Motor pulse numbers per rotation*1
P0-12 Motor pulse numbers per
rotation*10000
P0-13 Electronic gear ratio (numerator)
P0-14 Electronic gear ratio (denominator)
P0-92
～
P0-93 32-bit electronic gear ratio
(numerator)
P0-94
～
P0-95 32-bit electronic gear ratio
(denominator)
Setting of command pulse number required
for one revolution of motor
P0-11 and P0-12=0, P0-13/P0-14 are
effective
P0-11
～
P0-14 are 0, P0-92~P0-95 are valid
32-bit electronic gear ratio (numerator):
P0-92*1 + P0-93 *10000
32-bit electronic gear ratio denominator:
P0-94*1 + P0-95 *10000
P0-09 Pulse command setting
You can set the command direction and
filter time of low-speed pulse respectively
4.3.2.1 External pulse position mode
Parame
ter
Setting
value
Meaning
Modify
Effective
P0-01
6
Control the position by external pulse
Servo bb
At once
4.3.2.2 Forward direction of pulse instruction and pulse form
1. set the forward direction of pulse instruction
Parameter
Meaning
Default
setting
Unit
Range
Change
Effective
P0-09.0
n.xxx□
forward direction of
pulse instruction
0
-
0/1
Servo bb
Re-power
on
P0-09 will change the counting direction of the internal counter in the servo system. The counting
direction determines the rotation direction of the motor. Therefore, this parameter can be adjusted if the
actual rotation direction of the motor is different from the expected direction in the position mode.
Parameter
Meaning
Default
setting
Unit
Range
Change
Effective
P0-09.2
n.x□xx
Low speed pulse
command filter time
F
4.167ns
0~F
Servo bb
Re-power
on
P0-09.2 is pulse filter time. It can enhance the anti-interference ability of low-speed pulses (less than
200K). When the input is less than 700K, the maximum filtering time F is recommended. When the input
pulse frequency exceeds 1M, the filtering time should not be more than 7.
Parameter
Meaning
Default
setting
Unit
Range
Change
Effective
P0-09.3
n.□xxx
Predistribution of
input pulse command
filter
1
-
0~7
Servo bb
Re-power
on
P0-09.3 setting value is n (range is 0~7), the received pulse number is 2^-n of normal one. The received
frequency is 2^-n of original one.
For example, pulse number per rotation is 10000, sending frequency is 10KHz, pulse number is 10000,
when P0-09=1000, then U0-12=5000, U0-00 is 2^-n of original one.
