Sharp CP-SR421 Manuale Utente Pagina 354
- Pagina / 404
- Indice
- RISOLUZIONE PROBLEMI
- SEGNALIBRI
Valutato. / 5. Basato su recensioni clienti
16. FULLY CLOSED LOOP SYSTEM (available in the future)
16 - 17
16.3.3 Operation from controller
The fully closed loop control compatible servo amplifier can be used with any of the following controllers.
%CVGIQT[
/QFGN
4GOCTMU
Motion controller Q17nDSCPU
Simple motion module QD77MS_
Speed control (II) instructions (VVF and VVR) cannot
be used.
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery (MR-BAT6V1SET) need not be
installed to the servo amplifier. When an rotary encoder is used, an absolute position detection system can
be configured by installing the encoder battery (MR-BAT6V1SET) to the servo amplifier. In this case, the
battery life will be shorter because the power consumption is increased as the power is supplied to the two
encoders of motor side and load side.
(1) Operation from controller
Positioning operation from the controller is basically performed like the semi closed loop control.
(2) Servo system controller setting
When using fully closed loop system, make the following setting.
[[Pr.PA01], [Pr.PC17], [Pr.PE01], [Pr.PE03] to [Pr.PE05], [Pr.PE34] and [Pr.PE35] are written to the
servo amplifier and then are enabled using any of the methods indicated by ż in Parameter valid
conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.
Parameter valid
conditions
Settings
Motion
controller
Simple motion
module
Setting item
Controller
reset
Power
supply
Offĺon
Q17nDSCPU QD77MS_
Command
resolution
Load-side encoder resolution
unit
MR-J4-B fully closed loop servo amplifier setting MR-J4-B fully closed loop controlServo
parameter
Motor setting Automatic setting
Home position setting condition selection ([Pr. PC17])
Set the items as required.
Fully closed loop selection ([Pr. PA01] and [Pr. PE01])
Fully closed loop selection 2 ([Pr. PE03])
Fully closed loop control error detection speed deviation
error detection level
([Pr. PE06])
Valid at setting
regardless of the valid
conditions
⸳ቯᤨߦല
Fully closed loop control error detection position
deviation error detection level
([Pr. PE07])
Fully closed loop electronic gear numerator ([Pr. PE04]
and [Pr. PE34])
Fully closed loop electronic gear denominator ([Pr. PE05]
and [Pr. PE35])
Fully closed loop dual feedback filter ([Pr. PE08]) Valid at setting
regardless of the valid
conditions
⸳ቯᤨߦല
Unit setting mm/inch/degree/pulse Positioning
control
parameter
ᓮ↪
ࡄࡔ࠲
Number of pulses per revolution (AP)
Travel distance per revolution (AL)
For the setting methods, refer to (2) (a), (b) in this section.
- 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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