Fuji Electric Faldic-a Series, User Manual

Page: 140 / 251

6-2 MHT258a (Engl.)
6.1.2 Operation at stopping
The status when the motor is stopping can be selected.
System parameter 81
Para. Name Setting range Initial value Change
81 Operation at stopping 0 : Speed zero
1 : Servo lock
2 : External brake (P-action)
3 : External brake (free-run) 0 Power
A selected operation at stopping affects to any of speed control, position control and torque control.
- Speed control - Position control - Torque control
Operation at stopping Speed control Position control Torque control
Speed zero Zero-speed Servo lock Zero-torque
Servo lock Servo lock Servo lock Zero-torque
External brake (P-action) External brake (P-action) External brake (P-action) External brake (zero-torque)
External brake (free-run) External brake (free-run) External brake (free-run) External brake (free-run)
1) Speed zero
The motor is stopping without holding the corrent position by “servo lock” assuming that the speed command is zero, If the motor is rotated
by the load machine system, a counter force is activated in the opposite direction to the driven direction (as the speed is not zero.)
In speed control, if “servo lock” is selected as the operation at stopping, the motor can be stopped retaining the current position. “Servo lock”
should be done at the speed lower than “speed zero width” set by basic para. 52.
Set the “operation at stopping” at “zero-speed” in order to generate an analog speed command voltage with the host controller and to obtain
feedback signal via the freq. dividing output from amplifier.
2) Servo lock
The motor can be stopped retaining the current position (current position of motor’s encoder).
3) External brake (P-action)
The motor can be stopped by the motor’s brake, by using the “brake timing” outputted from amplifier. The motor output shaft is mechanically
locked and the control system gain on the amplifier side is lowered.
4) External brake (free-run)
The motor can be stopped by the motor’s brake, by using the “brake timing” outputted from amplifier. Noise or vibration will not be generated
because the no motor control is made.
See 5.7.1 for the use of external brake.
K80791234
K80791234 K80791234
K80791234
L1 L1 L1 L1
L2
L2 L2
L2
L3 L3 L3 L3
DB
DB DB
DB
P1 P1 P1 P1
N NN N
P+
P+ P+
P+
U
UU
U
V
VV
V
W WW W
CHARGE CHARGE CHARGE CHARGE
FALDIC FALDIC FALDIC FALDIC
SHIFT
SHIFT SHIFT
SHIFT
ENT
ENT ENT
ENT
RYS201S3-VVS
RYS201S3-VVS RYS201S3-VVS
RYS201S3-VVS
MODE
MODE MODE
MODE
ESC
ESC ESC
ESC
K80791234
K80791234 K80791234
K80791234
L1 L1 L1 L1
L2
L2 L2
L2
L3 L3 L3 L3
DB
DB DB
DB
P1 P1 P1 P1
N NN N
P+
P+ P+
P+
U
UU
U
V
VV
V
W WW W
CHARGE CHARGE CHARGE CHARGE
FALDIC FALDIC FALDIC FALDIC
SHIFT
SHIFT SHIFT
SHIFT
ENT
ENT ENT
ENT
RYS201S3-VVS
RYS201S3-VVS RYS201S3-VVS
RYS201S3-VVS
MODE
MODE MODE
MODE
ESC
ESC ESC
ESC
APS30
APS30 APS30
APS30
PWR
PWR PWR
PWR
ALM ALM ALM ALM
ＳＸ ＳＸ ＳＸ ＳＸ
SCPU32 SCPU32 SCPU32 SCPU32
LOADER LOADER LOADER LOADER
RUN RUN RUN RUN
TERM
TERM TERM
TERM
SLV SLV SLV SLV
STOP STOP STOP STOP
CPU CPU CPU CPU
No. No. No. No.
ONL ONL ONL ONL
ERR ERR ERR ERR
RUN
RUN RUN
RUN
ALM
ALM ALM ALM
BAT BAT BAT BAT
O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7
E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5
O N L C H 1 O N L C H 1 O N L C H 1 O N L C H 1
E R R C H 2 E R R C H 2 E R R C H 2 E R R C H 2
E M G + O T ‑ O T E M G + O T ‑ O T E M G + O T ‑ O T E M G + O T ‑ O T
2 0 2 0 2 0 2 0
1
11
1
B / A
B / A B / A
B / A
HP2
HP2 HP2
HP2
O N L O N L O N L O N L
E R R E R R E R R E R R
PE1
PE1 PE1
PE1
PH
PH PH
PH
PL
PL PL
PL
DA
DA DA
DA
C H
C H C H
C H
N o .
N o . N o .
N o .
SCPU32 SCPU32 SCPU32 SCPU32
LOADER LOADER LOADER LOADER
RUN RUN RUN RUN
TERM
TERM TERM
TERM
SLV SLV SLV SLV
STOP STOP STOP STOP
CPU CPU CPU CPU
No. No. No. No.
ONL ONL ONL ONL
ERR ERR ERR ERR
RUN
RUN RUN
RUN
ALM
ALM ALM ALM
BAT BAT BAT BAT
O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7 O N L 0 1 2 3 4 5 6 7
E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5 E R R 8 9 1 0 1 1 1 2 1 3 1 4 1 5
Speed command
Pulse train (freq. dividing output)