134
Under position control, the number of output pulses sent from the host controller deviates from the revolution
amount of the servomotor because the servomotor free-run while the signal remains turned on.
Under speed control and torque control, as the servomotor automatically become free-run.in case it is used for
vertical transportation purpose, note that there is a risk of falling.
If no signal is assigned on the EI input terminals, it is always regarded as turning OFF.
。
·Edit permission: (Reference value 55)
Editing operation for parameters and so on is limited with an external EI input signal.
The following operation can be executed only while the edit permission remains turned on.
·
Parameter edit mode
·
Positioning data edit mode
·
Additional function mode
When the edit permission assigned to a EI input signal is turned off, only the monitor mode can be executed.
This function can be used to avoid inadvertent operation of the keypad, thereby avoiding movement of the
servomotor, drop of the machine, etc.
·Anti resonance frequency selection 0: (Reference value 57)
·Anti resonance frequency selection 1: (Reference value 58)
Select the anti resonance frequency, which is a vibration suppressing control function.
In a spring characteristic structure such as the robot arm and transfer machine, vibration is caused at the end
of the workpiece upon sudden acceleration or deceleration of the motor. Vibration suppressing control aims at
suppression of vibration of the workpiece in such a system, thereby realizing positioning at a shorter cycle
time.
Four points through combination of anti resonance frequency selection 0 and anti resonance frequency
selection 1 can be specified.
The anti resonance point may vary according to the length of the arm and the weight of the load.
Selection of the anti resonance frequency is shown in the table below.
Anti resonance
frequency selection 1
Anti resonance
frequency selection 0
Vibration suppressing
resonance frequency
Vibration suppressing
workpiece inertia ratio
OFF
OFF
P1.78
P1.79
OFF
ON
P1.80
P1.81
ON
OFF
P1.82
P1.83
ON
ON
P1.84
P1.85
