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275
Control Units
Section 7-2
For details on specifications, refer to the corresponding operation manuals for
the Servo Drive and Servomotor.
7-2-3
Units of the PCU's Main Controlled Variables
The units for speed and torque depend on the control mode (position, speed,
or torque control). For details, refer to
10-5 Speed Control
, and
10-6 Torque
Control
.
Note
The resolution of the controlled variables that can be monitored by the PCU
depends on the specifications of the connected Servo Drive.
For example, when using a W-series Servo Drive equipped with a FNY-NS115
MECHATROLINK-II I/F Unit, the minimum resolution for the command speed
monitor value and feedback speed in position/torque control is 1,000 com-
mand units/s.
Function
Category
Controlled variable
Unit
Details
Common
Servo Parame-
ter data
Torque limit value
%
(percentage of Servomo-
tor's rated torque)
Monitor value
Feedback present position
Command unit
---
Command present position
Command unit
---
Position deviation
Command unit
---
Position control
Command value Position command value
Command unit
---
Speed command value
Command units/s
---
Servo Parame-
ter data
Acceleration
10,000 command units/s
2
---
Deceleration
10,000 command units/s
2
---
Zero point return approach
speed 1
100 command units/s
---
Zero point return approach
speed 2
100 command units/s
---
Monitor value
Speed monitor value
Command units/s
---
Torque monitor value
%
(percentage of Servomo-
tor's rated torque)
Speed control
Command value Speed command value (for
speed control)
0.001%
(percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Torque limit value
(option command value)
%
(percentage of Servomo-
tor's momentary maxi-
mum torque)
Monitor value
Speed monitor value
0.001%
(percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Torque monitor value
%
(percentage of Servomo-
tor's rated torque)
Torque control
Command value Torque command value
0.001%
(percentage of Servomo-
tor's momentary maxi-
mum torque)
Speed limit value
(option command value)
0.001%
(percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Monitor value
Speed monitor value
Command units/s
---
Torque monitor value
0.001%
(percentage of Servomo-
tor's momentary maxi-
mum torque)
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...