Chapter 8 Adjustment
8–2
8-1 Measurement of adjustment data
The intelligent servomotor has a function to D/A output the various control data. To adjust the servo
and set the servo parameters that match the machine, it is necessary to use the D/A output and
measure the internal status of the servo. Measure using a hi-coder, synchroscope, etc.
8-1-1 D/A output specifications
<Output specifications>
No. of channels
: 1ch.
Output cycle
: 888
µ
sec (min. value)
Output precision
: 8bit
Output voltage range : 0V to 2.5V to 5V
Output pins
: On intelligent servo I/F unit
Output scale setting : ±1/256 to ±128 times
Output resistance
: 1k
Ω
<Output function>
•
Offset amount adjustment function
•
Output clamp function
•
Low path filter function
<Measurement method>
Connect the measuring instrument to the I/F unit check pin. When observing the waveform, turn the
I/F unit DIP switch OFF.
Note that the DIP switch must be turned ON when the power is turned ON. Do not connect a
measuring instrument having a low input impedance when turning the power ON.
8-1-2 Setting the output data
No.
Abbrev.
Parameter name
Explanation
SV061 DA1NO D/A output channel 1 data No.
Input the No. of the data to be output to each D/A output channel.
No.
Output data
Standard output unit
Output cycle
21 Motor load level
100%/1.25V
113.7 msec
22 Amplifier load level
100%/1.25V
113.7 msec
23
Regenerative load
level
100%/1.25V
910.2 msec
24 PN bus wire voltage
200V/V (1/200)
888
µ
sec
25 Speed cumulative item
–
888
µ
sec
26 Cycle counter
0–125V
888
µ
sec
27
–
3.55 msec
28
–
29
–
3.55 msec
30
–
3.55 msec
31
to
99
–
100 5 V test output
–
–
101
Saw-tooth wave test
output
1.25 to 3.75V
Cycle 113.7 msec
888
µ
sec
102
Rectangular wave test
output
2.5 to 3.75V
Cycle 227.5 msec
888
µ
sec
103
Setting prohibited
No.
Output data
Standard output unit
Output cycle
0 0 V test output
For offset amount adjustment
1 Speed feedback
2000rpm/1V
888
µ
sec
2 Current feedback
Rated current/0.5V
888
µ
sec
3 Speed command
2000rpm/1V
888
µ
sec
4 Current command
Rated current/0.5V
888
µ
sec
5 V-phase current value
40A/V
888
µ
sec
6 W-phase current value
40A/V
888
µ
sec
7
Estimated disturbance
torque
Rated current/0.5V
888
µ
sec
8
–
9
–
10
–
11 Position droop
4 mm/V
3.55 msec
12 Position droop(
×
10)
400
µ
m/V
3.55 msec
13 Position droop(
×
100)
40
µ
m/V
3.55 msec
14 Feedrate (F
∆
T)
40000 (mm/min)/V
888
µ
sec
15 Feedrate (F
∆
T
×
10)
4000 (mm/min)/V
888
µ
sec
16
–
3.55 msec
17
–
3.55 msec
18
–
3.55 msec
19
q axis current
cumulative value
–
888
µ
sec
20
d axis current
cumulative value
–
888
µ
sec
∼
