Sharp CP-SR421 Manuale Utente Pagina 340
- Pagina / 404
- Indice
- RISOLUZIONE PROBLEMI
- SEGNALIBRI
Valutato. / 5. Basato su recensioni clienti
16. FULLY CLOSED LOOP SYSTEM (available in the future)
16 - 3
16.1.2 Selecting procedure of control mode
(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
"4500"
"0"
ࡈ࡞ࠢࡠ࠭࠼ᯏ⢻ㆬᛯ1
([Pr.PE01])
ㆇォࡕ࠼ㆬᛯ
([Pr.PA01])
"_ _ _ 1"
"_ _ _ 0"
ࡈ࡞ࠢࡠ࠭࠼ᓮ
ࡒࠢࡠ࠭࠼ᓮ
"_ _ 0 _"
ࠨࡏࠕࡦࡊ
"_ _ 1 _"
(16.3.1㗄(2)(a)ෳᾖ)
ࠦࡦ࠻ࡠߩ
࡙ࠩ࠭ࡑ࠾ࡘࠕ࡞ෳᾖ
ࠝࡈ
ࠝࡦ
(16.3.1㗄(2)(b)ෳᾖ)
࠺ࡘࠕ࡞ࡈࠖ࠼
ࡃ࠶ࠢᓮ
ࡒࠢࡠ࠭࠼ᓮ
"1㨪4499"
ࡈ࡞ࠢࡠ࠭࠼ࠪࠬ࠹ࡓ
ࡈ࡞ࠢࡠ࠭࠼࠺ࡘࠕ࡞
ࡈࠖ࠼ࡃ࠶ࠢࡈࠖ࡞࠲
([Pr.PE08])
ࡒࠢࡠ࠭࠼ࠪࠬ࠹
ࡓ
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
ࠨࡏࡕ࠲ᱛᤨ(0㨪˶)
ࡈ࡞ࠢࡠ࠭࠼ᓮ
ㆇォਛ(˶㨪)
ࡒࠢࡠ࠭࠼ᓮ
ࡒࠢࡠ࠭࠼ᓮࡈ࡞ࠢࡠ࠭࠼ᓮ
+
+
+
-
࠺ࡘࠕ࡞ࡈࠖ࠼ࡃ࠶ࠢࡈࠖ࡞࠲
ࠨࡏࡕ࠲
࠾ࠕࠛࡦࠦ࠳
⟎ᓮེ
ࡂࠗࡄࠬ
ࡈࠖ࡞࠲
ࡠࡄࠬ
ࡈࠖ࡞࠲
˶(ᵈ)
ᵄᢙ[rad/s]
ㆇォ⁁ᘒ
ᓮ⁁ᘒ
Note. "Ȧ" (a dual feedback filter band) is set by [Pr. PE08].
Servo amplifier
Operation mode selection
([Pr. PA01])
Refer to section 16.3.1 (2) (a)
Semi closed loop system
Semi closed loop
control
Refer to the controller
user's manual.
On
Off
Refer to section 16.3.1 (2) (b)
Fully closed loop function
selection 1
([Pr. PE01])
Fully closed loop system
Fully closed loop dual
feedback filter
([Pr. PE08])
to
to
or more)
Semi closed loop control
Dual feedback
control
Fully closed loop control
Servo motor
Position
control unit
High-pass
filter
Low-pass
filter
Linear encoder
(Note)
Fully closed loop
control
Semi closed loop
control
Dual feedback filter
Control status
Operation status
Servo motor during a stop (0 to Ȧ)
In operation (Ȧ or more)
Frequency
Fully closed loop control
Semi closed loop control
"1㨪17999"
"18000"
- 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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