Mitsubishi MELSEC-F, Training Manual

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Positioning Control Contents
vii
1. The World of Positioning Control...........................................................1-1
1.1 Welcome to the new world! ................................................................................. 1-1
1.2 Diversified actuators ............................................................................................ 1-2
1.3 Positioning method type ...................................................................................... 1-4
2. Positioning by AC Servo System...........................................................2-1
2.1 When an AC servo system is introduced............................................................. 2-1
2.2 Examples of AC servo systems ........................................................................... 2-3
3. Components of Positioning Control and Their Roles ............................3-1
3.1 Positioning controller ........................................................................................... 3-4
3.1.1 Command pulse and feed quantity............................................................................ 3-4
3.1.2 Command pulse and feed speed .............................................................................. 3-4
3.1.3 Setting the acceleration/deceleration time ................................................................ 3-5
3.1.4 Backlash correction function ..................................................................................... 3-5
3.1.5 Zero point return function .......................................................................................... 3-6
3.2 Servo amplifier and servo motor.......................................................................... 3-7
3.2.1 Positioning control in accordance with command pulse ............................................ 3-7
3.2.2 Deviation counter function ......................................................................................... 3-7
3.2.3 Servo lock function .................................................................................................... 3-7
3.2.4 Regenerative brake function ..................................................................................... 3-8
3.2.5 Dynamic brake function ............................................................................................. 3-8
3.3 Drive mechanism ................................................................................................. 3-9
3.3.1 Concept of drive system movement quantity ............................................................ 3-9
3.3.2 Setting the target position........................................................................................ 3-11
4. Advanced Positioning ............................................................................4-1
4.1 Interpolation control ............................................................................................. 4-1
4.2 Other controls ...................................................................................................... 4-3
5. Actual Positioning..................................................................................5-1
5.1 Demonstration Equipment ................................................................................... 5-1
5.1.1 Basic Set ................................................................................................................... 5-1
5.1.2 Comprehensive Set ................................................................................................... 5-1
5.2 Operation of the demonstration equipment ......................................................... 5-2
5.2.1 Program example ...................................................................................................... 5-3
5.2.2 Writing the program ................................................................................................... 5-4
5.2.3 Parameters ................................................................................................................ 5-5
5.2.4 Operation................................................................................................................... 5-7
6. Product Line up .....................................................................................6-1
6.1 Position controller ................................................................................................ 6-1
6.2 Servo amplifier..................................................................................................... 6-5
6.3 Servo motor ......................................................................................................... 6-7
Appendix A: .............................................................................................. A-1
A-1: Tentative Selection of Motor Capacity .................................................................A-1
A-1-1: Motor effective torque................................................................................................A-2
A-1-2: Load inertia moment..................................................................................................A-4