Sharp CP-SR421 Manuale Utente Pagina 183
- Pagina / 404
- Indice
- RISOLUZIONE PROBLEMI
- SEGNALIBRI
Valutato. / 5. Basato su recensioni clienti
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 20
(b) Switching timing chart
ಾ឵߃ᓟࠥࠗࡦ
63.4%
CDT = 100ms
ಾ឵߃೨ࠥࠗࡦ
ฦࠥࠗࡦߩᄌൻ
ࠦࡦ࠻ࡠ߆ࠄߩ
ᓮᜰ
OFF
ON
OFF
Model loop gain 100 ĺ 50 ĺ 100
Load to motor inertia ratio/load to motor
mass ratio
4.00 ĺ 10.00 ĺ 4.00
Position loop gain 120 ĺ 84 ĺ 120
Speed loop gain 3000 ĺ 4000 ĺ 3000
Speed integral compensation 20 ĺ 50 ĺ 20
Vibration suppression control 1 - Vibration
frequency
50 ĺ 60 ĺ 50
Vibration suppression control 1 -
Resonance frequency
50 ĺ 60 ĺ 50
Vibration suppression control 1 - Vibration
frequency dDmping setting
0.20 ĺ 0.15 ĺ 0.20
Vibration suppression control 1 -
Resonance frequency dDmping setting
0.20 ĺ 0.15 ĺ 0.20
Vibration suppression control 2 - Vibration
frequency
20 ĺ 30 ĺ 20
Vibration suppression control 2 -
Resonance frequency
20 ĺ 30 ĺ 20
Vibration suppression control 2 - Vibration
frequency dDmping setting
0.10 ĺ 0.05 ĺ 0.10
Vibration suppression control 2 -
Resonance frequency dDmping setting
0.10 ĺ 0.05 ĺ 0.10
(2) When you choose switching by droop pulses
In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to
motor mass ratio
4.00 [Multiplier]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio/load to
motor mass ratio after gain
switching
10.00 [Multiplier]
PB30 PG2B Position loop gain after gain
switching
84 [rad/s]
PB31 VG2B Speed loop gain after gain
switching
4000 [rad/s]
PB32 VICB Speed integral compensation after
gain switching
50 [ms]
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
PB28 CDT Gain switching time constant 100 [ms]
Control command from
controller
Before-switching gain
A
fter-switching gain
Gain switching
- MR-J4-_B 1
- 6DIHW\,QVWUXFWLRQV 2
- :$51,1* 2
- &$87,21 2
- &$87,21 3
- ',6326$/2):$67( 7
- (Note 4) 17
- (2) MR-J4-700B 18
- [Pr. PC09], [Pr. PC10] 22
- MR-J4-10B 23
- Inside of the display cover 24
- Bottom face 24
- Chapter 24
- 1 - 10 25
- (2) MR-J4-350B 25
- Front cover 29
- Setting tab 29
- Next servo amplifier 30
- CN1A or cap 30
- 1 - 16 31
- 1 - 17 32
- (3) MR-J4-500B 32
- Servo system controller or 33
- 40 mm or more 35
- 2. INSTALLATION 36
- శࠦ࠼ㇱ ࠤࡉ࡞ㇱ 37
- 3. SIGNALS AND WIRING 44
- 3 s to 4 53
- If polarity of diode is 70
- Servo motor speed 76
- 6,*1$/6$1':,5,1* 79
- 4. STARTUP 81
- Servo amplifie 82
- Servo moto 82
- ᓮゲήലࠬࠗ࠶࠴ 86
- Alarm No 89
- (2 digits) 89
- Flickering 90
- 67$5783 91
- SW2-1ࠍ"ࠝࡈ(ਅ)"ߦ⸳ቯ 97
- 5. PARAMETERS 100
- 3$5$0(7(56 124
- [Pr. PC24] 134
- 0 r/min 134
- (0 mm/s) 134
- 6. NORMAL GAIN ADJUSTMENT 146
- Speed loop gain setting 159
- Speed [r/min] 163
- Model loop gain setting 163
- Notch depth 165
- Notch frequency 167
- Has vibration or unusual 168
- [Pr.PB23] 169
- ゲᝄᛥࡈࠖ࡞࠲ㆬᛯ 169
- 1: ࡑ࠾ࡘࠕ࡞⸳ቯ 169
- Manual setting 170
- Disabled 170
- Low-pass filter selection 170
- Setting value 171
- Has vibration of workpiece 172
- Motor-side vibration 174
- (droop pulses) 174
- Position 175
- Load side 175
- Setting 176
- Frequency 176
- 7 - 21 184
- (b) Switching timing chart 184
- CAUTION 187
- (Warning) 189
- Instantaneous power 190
- 8. TROUBLESHOOTING 192
- 287/,1('5$:,1*6 200
- 205
- $SSUR[ $SSUR[ 205
- $SSUR[ 205
- / /7( 206
- 208
- 10. CHARACTERISTICS 210
- Operating 211
- Air flow 213
- Time constant IJ [ms] 215
- WARNING 218
- Cautions 218
- Servo amplifier 221
- MR-D05UDL3M-B 221
- 2.2 ± 0.07 222
- Protective tube 223
- Unbalance torque 225
- Positive 227
- Negative 227
- [Unit: mm] 231
- N/- P/+ PR 237
- 237
- (Note 1) 244
- Power supply 246
- Environment 246
- 2CR17335A WK17 250
- 6V 1650mAh 250
- (Note 2) 254
- CR-10201 259
- Approx. 22.5 261
- Approx. 65 261
- Leakage current [mA] 264
- 28.5 ± 1 28 ± 1 269
- 4.5 ± 0.5 269
- &RYHU 274
- /RFNLQJSDUW 274
- 05%$79 274
- :$51,1* 276
- 86,1*672)81&7,21 277
- 67272)% 279
- 672&20 279
- 72)&20 279
- WARNING 288
- Linear servo motor 290
- Installation and wirin 292
- Absolute position linear 292
- Incremental linear encoder 292
- 14 - 7 294
- [Pr. PL03] 295
- [Pr. PL02] 295
- Has [AL. 27 Initial magnetic 296
- occurred? 296
- 14 - 10 297
- Servo-off status 298
- During the magnetic 298
- (servo-on status) 298
- [Pr.PL01] 301
- Position detection method 302
- [Pr. PL08] 302
- Stop interval [pulse] 303
- 1048576 (initial value) 303
- 1048576 pulses × n 306
- SW2-1ࠍ"ࠝࡦ()"ߦ⸳ቯ 308
- Differ 310
- ࠨࡏࡠ࠶ࠢᤨ 313
- Servo system controller 319
- 15 - 5 322
- 15.3.1 Startup procedure 322
- 15 - 8 325
- [Pr.PL08] 329
- 0: Position detection method 329
- [Pr.PL04] 332
- EM1 (Forced stop 1) 336
- 16 - 2 339
- Semi closed loop control 340
- Fully closed loop control 340
- SSCNET III/H controller 341
- Load-side encoder 342
- Do as necessary 345
- Operation mode 346
- Linear encoder 347
- Linear encoder head 347
- Geared servo motor 347
- Pulley diameter 348
- Servo motor-side cumulative 349
- Droop pulses 350
- Linear encoder home position 351
- Proximity dog signal 352
- JOG operation 352
- Servo motor s 355
- [Pr. PE03] 357
- 'ZRNCPCVKQP 359
- 16 - 23 360
- APPENDIX 362
- 24 V DC 365
- EMG stop 370
- 2.3mm 0.05mm 384
- 40 mm or longer 388
- 2) 3) 4) 1) 392
- ࠕ࠽ࡠࠣࡕ࠾࠲ch1ജㆬᛯ 394
- (MO1-LG㑆ߦജߔࠆାภ) 394
- REVISIONS 399
- MITSUBISHI ELECTRIC 404
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