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Chapter 11 Manual Control
Normal timing times Unit: [ms]
[Pr.132]
Communication
mode setting
Operation
cycle
t1 t2 t3 t4
MR-J4-B-RJ010
communication
mode
0.88 0.9 to 1.2 5.2 to 10.5 15.0 to 18.5 10.6
1.77 1.7 to 1.8 5.2 to 11.5 18.8 to 21.0 10.4
3.55 3.5 to 3.6 7.2 to 14.5 18.8 to 21.0 10.7
Communication
mode correspond
to CiA402
1.00 0.9 to 1.2 6.9 to 13.0 17.2 to 22.9 13.2 to 13.4
2.00 1.7 to 1.8 7.4 to 14.1 18.8 to 23.5 13.2 to 13.3
4.00 3.5 to 3.6 11.2 to 16.8 18.8 to 23.5 13.2 to 13.3
Delays may occur in the t1 timing time due to the operation status of other axes.
Position control by manual pulse generator operation
In manual pulse generator operation, the position is moved by a "manual pulse
generator 1 pulse movement amount" per pulse. The feed current value in the
positioning control by manual pulse generator operation can be calculated using
the expression shown below.
Feed current value = Number of input pulses
× [Cd.20] Manual pulse generator 1 pulse input magnification
× Manual pulse generator 1 pulse movement amount
[Pr.1] Unit setting mm inch degree PLS
Manual pulse generator
1 pulse movement
amount
0.1µm 0.00001inch 0.00001degree 1PLS
For example, when "[Pr.1] Unit setting" is mm and "[Cd.20] Manual pulse
generator 1 pulse input magnification" is 2, and 100 pulses are input from the
manual pulse generator, the feed current value is as follows.
100 × 2 × 0.1 = 20 [µm] ("[Md.20] Feed current value"=200)
The number of pulses output actually to the servo amplifier is "Manual pulse
generator 1pulse movement amount/movement amount per pulse".
The movement amount per pulse can be calculated using the expression shown
below.
Movement amount per pulse =
[Pr.3] Movement amount per rotation(AL)
[Pr.2] Number of pulses per rotation(AP)
[Pr.4] Unit magnification(AM)
For example, when "[Pr.1] Unit setting" is mm and the movement amount per
pulse is 1μm, 0.1/1 = 1/10, i.e., the output to the servo amplifier per pulse from the
manual pulse generator is 1/10pulse. Thus, the Simple Motion module outputs
1pulse to the servo amplifier after receiving 10pulses from the manual pulse
generator.
Speed control by manual pulse generation operation
The speed during positioning control by manual pulse generator operation is a
speed corresponding to the number of input pulses per unit time, and can be
obtained using the following equation.
Output command frequency = Input frequency
[Cd.20] Manual pulse generator 1 pulse
input magnification
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