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《目次》《索引》

TI 71M01D03-03

1st Edition : 2007.03.12-00

GOOD

BAD

Overshoot!

Torque saturated!

(flat form)

A huge position pulse

deviation!

How to improve...

Too short acceleration time.

Set longer acceleration time.

Hunching!

No position pulse

deviation

(well following)

How to improve...

It may be caused by unbalance between
velocity control bandwidth and position
control bandwidth. Decline position
control bandwidth at #008.

Reference

What is good proportion of the wave form?

Refer to the following example.
(this is an example, and it may differ depending on the motion
pattern.)

GOOD

BAD

Unstable motion!

（knurling wave form)

Smooth wave

form

Long settling time

7-3

Содержание DrvGIII

Страница 1: ...ARSERV system This manual is the auxiliary instruction in regard to these Technical Information hereinafter called as TI and product handling Contents of this manual may be revised without notice due...

Страница 2: ...Auto tuning can not be completed 1 5 1 8 Direct entry of inertia or mass 1 5 STEP2 Servo stiffness setup 2 1 2 1 Improve servo stiffness as much as possible 2 1 2 2 Filter set up 2 2 2 3 Set notch fil...

Страница 3: ...sitioning command 6 4 6 2 2 Create the table data 6 4 6 2 3 Use copy and paste function 6 5 6 2 4 Test operation of table data using software 6 6 6 2 5 Execute table data operation by PLC 6 6 6 2 6 Ph...

Страница 4: ...e factory default settings Refer to Q3 of Q A in the Appendix For further details refer to the Technical Information Device configuration when tuning Symbols in this maual i Warning Warning to avoid u...

Страница 5: ...stiffness adjustment STEP 6 1 Homing 2 1 Filter setting STEP 3 Calculation of acc and dec time STEP 0 Setup Positioning setup ii STEP 5 1 Homing STEP 4 Scaling STEP 5 2 Pulse command operation STEP 6...

Страница 6: ...DEVICE MANAGER Check COM port number from Port COM and LPT ex COM1 1 Setup Flow 1 1 2 2 3 3 4 5 4 5 6 6 See also 8 3 2 Communication Settings in the TI 0 1 Note Above windows are just sample It may d...

Страница 7: ...e the drive is connected with the motor Connection is completed Now you can send variety of commands to the drive Continue the operation according to this manual 7 7 8 9 8 9 If the drive stings are no...

Страница 8: ...motor may unexpectedly move Operation Flow Click Terminal button Terminal Window Command entry edit box Transmission receiption edit box See also 8 4 2 Terminal in the TI Terminal window is displayed...

Страница 9: ...8 4 2 1 9 3 Epexegesis Entry method Registration is completed However parameter 110 to 122 require recycling main power or driver reset 96 for the registration Ex1 How to resister change the value of...

Страница 10: ...call your nearest contact with the error number 0 5 If error LED is righted Operation Flow 0 6 Error monitoring Click START Click Error mon Error is displayed Click STOP Cause and measure are displaye...

Страница 11: ...traint of your instrument 1 1 Execute auto tuning Operation Flow Click Drive Click Yes Click Servo on Click Drive Click Regist Click Auto tuning operation If an error is called or motor oscillates Ref...

Страница 12: ...ut 20 from calculated values however it s been no problem at all If the value is marked contrast to the calculated value execute the auto tuning again or proceed to 1 7 Auto tuning can not be complete...

Страница 13: ...ick Filter setup Hereinafter this window shall be referred if it is described as Filter setup window Filter setup window 10 11 10 12 12 002 for velocity control bandwidth 008 for position control band...

Страница 14: ...ording to the following instruction Motor oscillates widely when executing auto tuning Please be careful Refer 0 4 Change parameters via terminal window also Example of terminal window 51 51 Check val...

Страница 15: ...please enter load inertia mass value directly according to the following steps The unit is 1 1000 kgm 2 or kg 1 8 Direct entry of inertia mass Enter calculated value of load inertia mass then press re...

Страница 16: ...much as possible Operation Flow Shift cursor of Servo stiffness setup to the right until a esonance appears Servo setting window See also 7 1 How to Tune the Servo in the TI 1 1 Seek the max value of...

Страница 17: ...f resonance is not eliminated Check notch filter 2 2 4 Set the first lad compensation filter Check First lag compensation filter Check 40 160 Check 30 120 Check 20 80 Caution First lag compensation fi...

Страница 18: ...e result of this computation may not be optimized Use the result as the reference Also the above acc dec time may differ depending on the PLC Set appropriate value upon checking the definition of PLC...

Страница 19: ...and pulses Rotate 90 degrees Command pulse 90000 Rotate 206 32 degrees Command pulse 206320 For index command If total number of indexing points can not be divided by 360 it helps to simplify computat...

Страница 20: ...nd by pulse trains Command by table data Go to STEP 6 2 Moveing command by table data Set the scaling data fixed in the previous page Proceed the setup with referring to 0 4 Change parameters via term...

Страница 21: ...ive Models UD1A UD1B UR1A UR1B UR1E UR5B UR5E Z pulse generated by Hardware Software Z pulse ON duty Approx 10 1 excl UD1B 004 UD1B 006 UD1C Software UR5C Approx 50 UD1B 004 UD1B 006 1 Z pluses 1 rev...

Страница 22: ...g across inaccurate edge Detection accuracy of home sensor output If the home sensor is turned ON OFF near the accurate edge the home position may be shifted by an amount equivalent to 1 pulse of the...

Страница 23: ...rive CPU ready Servo ready COIN signal Pos command pulse1 Pos command pulse1 Pos command pulse2 Pos command pulse1 Monitor pulse1 Monitor pulse1 Monitor pulse2 Monitor pulse2 Z pulse Z pulse Pin Defin...

Страница 24: ...type Command pulse type is the kind of pulse command issued by PLC Please choose it from the following 3 options PLS SIGN input UP DOWN CW CCW input A B input Refer to the following table for the spe...

Страница 25: ...er 1 4 Select Command pulse type 3 4 5 5 Select Monitor pulse type 6 6 Click Regist 2 Parameter setup window is displayed Selected pulse types are registered Now setting and Now rebooted windows are p...

Страница 26: ...tion error is output Refer to 5 2 Main Power Supply Control Power Supply Terminal TB1 for details Warning Ex Sensor EE SX670 made by Omron Refer 5 5 Sensor Terminal TB4 for sensor input specifications...

Страница 27: ...Table data 2 5 5 Select Homing Complete Table setup window Hereinafter this window shall be referred if it is described as Table setup window 6 6 Select Enable for Coin waiting 7 7 Click Regist Table...

Страница 28: ...ng operation again until the measurement result is inside the target 5 6 5 Click Servo off Click Error reset 6 Shift sensor dog around 0 5 deg On motor 7 7 Click Servo on 8 Drive window is displayed S...

Страница 29: ...ABS are available to choose INC Commanding relative moving distance ABS Commanding absolute distance from home position Here INC positioning command is set as an example Select INC positioning from Co...

Страница 30: ...11 Refer to ex2 Table data is registered and the creation of moving profile is completed Enter axis command pulse for 1 s Refer to ex1 12 14 15 16 Select Type2 multi turn for Optional direction for ro...

Страница 31: ..._ERR_RESET 01 02 19 20 21 22 23 24 25 OUT_POS OUT_COIN OUT_DRDY OUT_SRDY 8 3 4 13 13 14 14 15 16 15 16 Signal Pin Definition Remark CN4 Interface power Interface power Error reset Drive execution comm...

Страница 32: ...ion PLC Positioning signal Drv G T V Executed table number ON ON Motor Settling time Positioning signal becomes ON state after coin signal turns ON if Coin waiting is set Valid when creating table dat...

Страница 33: ...g time Operation Flow 1 2 1 2 3 4 Click Oscilloscope Click EASY SETUP Select 06 Check of current command Click OK Signals necessary to be measured are automatically selected 4 5 5 Click START While di...

Страница 34: ...forms become easy to look 7 3 Measure 8 9 10 11 12 6 7 8 9 Click CURSOR Check ON 10 Select dT or dV 11 12 Select channel to measure Select cursor to move Indicated only if dT is selected Represent Y...

Страница 35: ...se deviation well following How to improve It may be caused by unbalance between velocity control bandwidth and position control bandwidth Decline position control bandwidth at 008 Reference What is g...

Страница 36: ...tion Flow 7 6 Download parameters 3 4 5 6 7 3 4 5 6 7 Click Backup Click Upload Uploading is displayed then parameters are displayed Click Save as Click Open Click Download Parameters are stored in th...

Страница 37: ...iable load more than 1 5 times may lead this vibration vibration frq a few Hz moving angle a few to a few dozens deg Low frequency vibration Wind up Phase shift osscilation Resonance High frequency vi...

Страница 38: ...hapes and formulas are as below Load inertia Column Rectangle Rectangle Column Axis go through center of gravity Axis does not go through center of gravity a b a b r a r a b J 1 8 M a2 b2 J 1 12 M a2...

Страница 39: ...em setup register 1 is displayed Position control I P control Velocity control Proportional Control mode Position mode Refer to Select appropriate control mode and method Regist button becomes valid o...

Страница 40: ...03 03 1st Edition 2007 03 12 00 YOKOGAWA ELECTRIC CORPORATION Advanced Stage Division DDM Center YOKOGAWA ELECTRIC CORPORATION 2 9 32 Naka cho Musashino shi Tokyo 180 8750 JAPAN URL http www yokogawa...

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