NSK Megatorque PS Series - Page 12

— ii —
5. Tuning ------------------------------------------5-1
5.1. Tuning Flowchart------------------------------------------5-1
5.2. Tuning Level 1: Automatic Tuning --------------------5-2
5.2.1. Precaustions for Automatic Tuning------------5-3
5.2.2. initilization of Servo Parameters ---------------5-4
5.2.3. Automatic Tuning ----------------------------------5-5
5.2.4. Trial Running----------------------------------------5-7
5.3. Tuning Level 2: Servo Gain Tuning ------------------5-9
5.3.1. Input of Load Inertia-------------------------------5-9
5.3.1.1. When Load Inertia Is Unknown ---------5-9
5.3.2. Minor Tuning of Servo Gains ----------------- 5-10
5.4. Tuning Level 3: Manual Tuning---------------------- 5-13
5.4.1. Precautions for Manual Tuning---------------5-13
5.4.2. Setting Velocity Loop
Proportional Gain (VG) ------------------------ 5-13
5.5. Setting Filters (Tuning Level 2)----------------------5-15
5.5.1. Setting Low-pass Filter ------------------------- 5-15
5.5.2. Setting Notch Filter ------------------------------ 5-16
6. Operation---------------------------------------6-1
6.1. Preparation -------------------------------------------------6-1
6.1.1. Wiring Check----------------------------------------6-1
6.1.2. Operation Procedure------------------------------6-1
6.2. Position Scale----------------------------------------------6-2
6.2.1. Resolution of Position Scale --------------------6-2
6.2.2. Position of Position Scale------------------------6-3
6.2.3. Setting of Home Position-------------------------6-4
6.2.4. Software Over Travel Limit ----------------------6-6
6.2.4.1. Setting Limits by Teaching ---------------6-7
6.2.4.2. Setting Limits by Direct Input ------------6-8
6.3. Positioning Operation-----------------------------------------6-9
6.3.1. Positioning Command ----------------------------6-9
6.3.2. Program Positioning Operation--------------- 6-10
6.3.2.1. Program Positioning Operation via
Control Inputs and Outputs ----------- 6-12
6.3.2.2. Program Positioning Operation
via RS-232C Communication --------6-14
6.3.2.3. Programming ------------------------------6-15
6.3.2.4. Program Sequence ---------------------- 6-20
6.3.3. Pulse Train Command Positioning Operation --
------------------------------------------------------- 6-23
6.3.3.1. Format of Pulse Train Input------------ 6-26
6.3.3.2. Resolution of Pulse Train---------------6-27
6.3.3.3. Input Timing-------------------------------- 6-28
6.3.4. Jogging --------------------------------------------- 6-29
6.3.4.1. Jogging with Control Input and Output
------------------------------------------------ 6-30
6.3.4.2. Jogging via RS-232C Communication
------------------------------------------------ 6-31
6.3.5. RS-232C Communication Positioning
Operation ------------------------------------------ 6-32
7. General Function-----------------------------7-1
7.1. Control Input----------------------------------------------- 7-1
7.1.1. Emergency Stop: EMST------------------------- 7-1
7.1.2. Alarm Clear: ACLR ------------------------------- 7-2
7.1.3. Hardware Over Travel Limit: OTP and OTM-----
--------------------------------------------------------- 7-3
7.1.4. Servo on: SVON----------------------------------- 7-4
7.1.5. Program Start: RUN
Internal Program Channel Selection: PRG0 to 7
7-6
7.1.6. Stop: STP ------------------------------------------- 7-7
7.1.7. Jogging: JOG
Jog Direction: DIR-------------------------------- 7-9
7.2. Control Output -------------------------------------------7-10
7.2.1. Driver Unit Ready: DRDY----------------------7-10
7.2.2. Warning: WRN------------------------------------7-10
7.2.3. Over Travel Limit: OTPA and OTMA--------7-11
7.2.4. Servo State: SVST-------------------------------7-13
7.2.5. In Operation: BUSY -----------------------------7-14
7.2.6. In-position: IPOS ---------------------------------7-15
7.2.6.1. CFIN Mode (Parameter FW < 0)------7-16
7.2.6.2. IPOS Mode (Parameter FW = 0)------7-17
7.2.6.3. FIN Mode (Parameter FW > 0)--------7-18
7.2.6.4. Parameter IN: In-position Limit --------7-19
7.2.6.5. In-position Stability Timer:
Parameter IS------------------------------7-19
7.2.7. Target Proximity: NEARA and NEARB -------7-20
7.2.8. Position Feedback Signal----------------------7-21
7.2.8.1. Resolution of Position Feedback Signal
-------------------------------------------------7-22
7.2.8.2. Signal Output Timing---------------------7-24
7.3. RS-232C Monitor----------------------------------------7-25
7.3.1. Monitoring Way for Control Input/Output Signal
--------------------------------------------------------7-26
7.3.1.1. Electric Condition Monitor: Monitor IO0
-------------------------------------------------7-27
7.3.1.2. Monitor for Internal Recognition of Input
and Output State: Monitor IO1 --------7-28
7.3.1.3. Monitor for State of Input Functions:
Monitor IO2---------------------------------7-28
7.3.1.4. Monitor for State of Output Functions:
Monitor: IO3--------------------------------7-29
7.3.1.5. Monitor for Individual Function --------7-29
7.3.2. Alarm Monitor -------------------------------------7-30
7.3.2.1. Monitor for All Occurring Alarmas
at Once--------------------------------------7-30
7.3.2.2. Monitor for Alarm History and Event:
Monitor TA?HI ----------------------------7-31
7.3.3. Pulse Train Counter: Monitor RP ------------7-32
7.3.4. Position Feedback Signal Counter:
Monitor FK-----------------------------------------7-32
7.3.5. Current Position Monitor: Monitor TP -------7-32
7.3.6. Software Thermal Loading Monitor: Monitor TJ
-------------------------------------------------------------- 7-33