NSK MEGATORQUE M-ESB-YSB2020AB300, Руководство пользователя

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B B 3 3 t t y y p p e e B B 5 5 t t y y p p e e
2 2 3 3 t t y y p p e e 2 2 5 5 t t y y p p e e
2.7. Specifications of Driver Unit
2.7.2. Functional Specification
2.7.2. Functional Specification
Table 2-11
Items Specifications
Position
control
*1
Programmable Indexer (64 channels
*2
)
Pulse train position command
*4
(CW/CCW, Pulse and direction, and
quadrature)
RS-232C serial communication, Jog, Home Return operation
Velocity
control
*1
RS-232C serial communication, Analog velocity command
*3
: ± 10 V
Control
mode
Torque
control
*1
RS-232C serial communication, Analog torque command
*3
: ± 10 V
Resolution of position
sensor (Resolver)
819 200 [pulse/rev]
Maximum velocity 3 [s
-1
]
Output format
ø A • ø B : Line driver
ø Z
: Line driver/Open collector, selectable
[Unit: pulse/rev]
ø A • ø B ø Z (MSB)
51 200
*5
50
Position feed back
output signal
Input
Emergency stop, Servo ON, Internal program channel switching
*2
Programmable Indexer start, Jog
*2
, Home Return start
*2
, Select rotational
direction
*2
, Interruption of Programmable Indexer
*2
, Home position limit
sensor, Clear
*2
, Over travel limit
*2
, Velocity loop integration OFF
*2
, Velocity
loop lower gain
*2
, Prohibition of pulse train/analog command input
*2
Control
signal
Output
Driver Unit ready, Home Return completed/Home position detected,
In-Position,
Warning
*3
, Brake / Brake control
*2
, Home position defined
*2
, Velocity
threshold
*2
, Target proximity/In target
*2
Alarm
Excess position error, Velocity error over, Software thermal sensor,
RS-232C error, Travel limit over, CPU error, Resolver circuit error,
Over current, Heat sink overheat, Abnormal main AC line voltage, Control AC
line under voltage
Monitors
Analog velocity monitor, Analog velocity control monitor
*3
, RS-232C
communication monitor, (Current position, Alarm state, Servo parameter, etc.)
Communication Asynchronous RS-232C serial communication, Baud rate: 9 600bps
Data backup EEPROM (500 000 times of erasing/overwriting data is possible.)
*1: The parameter SL sets control mode.
à
SL1: Torque control mode
à
SL2: Velocity command
à
SL3: Position control mode
*2: These functions have some limitation for B3 and 23 type Driver Units.
à
Refer to “2.7.3. Function List of Respective Driver Unit Types.”
*3: Function of B5 and 25 types Driver Unit.
*4: Pulse train or line receiver inputs are available.
(Please specify either one of them when ordering.)
*5: Quadruple multiplication of this value is 204 800 [pulse/rev]. This is equivalent to a
quarter of position sensor resolution.