Practical examples
Section 5-2
336
• The Following Error is proportional to the speed if you use only
Proportional Gain in the position loop.
• The torque, which is given by
DRIVE_MONITOR
as a percentage of the
nominal torque of the motor when you set
DRIVE_CONTROL=11
) is
proportional to the acceleration according to the formula:
Torquetotal = Jtotal × a + Torquefriction
where
Torque
friction
is usually small,
α
is the angular acceleration, and
J
the
inertia of the system.
5-2-5
Position with product detection
A ballscrew moves forward at a creep speed until it reaches a product, a
microswitch (IN(2)) turns on.
The ballscrew is stopped immediately, the position at which the product is
sensed is indicated and the ballscrew returns at a rapid speed back to the start
position.
5-2-5-1 Example
start:
WAIT UNTIL IN(1)=ON
A
B
C
speed
Forward
Moveabs
IN(1)
IN(2)
t
CANCEL
WAIT IDLE
PRINT "Product position"
SPEED=100
MOVEABS(0)
WAIT IDLE
Start:
WAIT UNTIL IN(1)=ON
WAIT UNTIL IN(1)=ON
SPEED=10
FORWARD
WAIT UNTIL IN(2)=ON
Summary of Contents for SYSMAC CJ Series
Page 2: ......
Page 70: ...Specifications Section 2 4 58...
Page 84: ...FINS commands Section 3 4 72...
Page 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Page 370: ...Section 358...
