Omron CS1W-MC221 -, Руководство по эксплуатации

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System Parameters Section 3-3
Servo Parameters The following values are set and adjusted as servo parameters.
Set the in-position (positioning complete width) based on the accuracy
required by the system. It will take longer to position the equipment if the in-
position is set lower than is necessary.
Use the following initial position loop gain settings for mechanical system
rigidity and make minor adjustments while watching system response.
General machining tools: 50 to 70 (1/s)
General machines and assembly equipment: 30 to 50 (1/s)
Industrial robots: 10 to 30 (1/s)
Position loop feedforward gain is effective when the position loop gain is small
(25 (1/s) or less). Feedforward gain is not passed through the error counter
but is directly added to the speed reference voltage, thus increasing the
response speed of the Servo system. Set position loop feedforward gain only
after completing adjustment of the Servo Driver and the position loop gain.
Always increase it gradually starting from 0%. Overshooting will increase if the
position loop feedforward gain is too large.
3-3-3 System Parameter Addresses
Specify system parameters at the following addresses in internal MC Unit
memory. Specify the address using hexadecimal if you are using an IOWR/
IORD instruction to specify the address. In the table, R means the parameter
is read-only and R/W means the data can be read and written. The number in
parentheses in the address range column is the decimal address. When
transferring system parameters, the number of words to transfer is 0002 hex.
Parameter name Function
Error counter warning value Sets the number of error counter pulses
used to detect an error counter warning
or error counter overflow.
In-position Sets the number of error counter pulses
used to decide if positioning has been
completed.
Position loop gain Adjusts the gain used to adjust servo
system response.
Position loop feedforward gain Adjusts the gain used to adjust servo
system response.
Backlash correction Sets the backlash correction value for the
mechanical system.
Brake OFF time Sets the brake OFF time (the duration
from the brake OFF output of the MC Unit
to the actual brake OFF operation) when
the output port is set for a brake output.
Brake ON time Sets the brake ON time (the duration from
the brake ON output of the MC Unit to the
actual brake ON operation) when the out-
put port is set for a brake output.
Parameter R/W Addresses
Unit parameters R 0FA0 to 0FA9 hex (4000 to 4009)
Memory management
parameters R 1004 to 100D hex (4100 to 4109)
Machine
parameters X axis R 1068 to 1080 hex (4200 to 4224)
Y axis R 1081 to 1099 hex (4225 to 4249)
Z axis R 109A to 10B2 hex (4250 to 4274)
U axis R 10B3 to 10CB hex (4275 to 4299)