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■Notes:
・For waveform graphic measurement, the following data is used. (See the
main control unit block diagram in the instruction manual for amplifier.)
* Command speed: In the position control mode, a value after command
scaling is used, and in the velocity control mode and
torque control mode, a value after acceleration or
deceleration is used.
* Actual speed: Input value of seed detection.
* Torque: Value after torque limiting.
* Position error: Value on the error counter.
・PANATERM
®
allows the measurement time to vary from 83 to 21242 ms. In
addition, the maximum data storage capacity of the servo amplifier is
500 and the measurement cycle is used for data storage at the sampling
time of 0.166 ms.
The measurement cycle is displayed on the monitor. The measurement cycle
Is 0.17 ms at the shortest measurement time of 83 ms and 42.48 ms at the
Longest measurement time of 21242ms. Graph display takes place in such a
manner that the computed values are plotted for each measurement cycles
and the time between measurement cycles linked by lines.
For this reason, continuous measurement can take place only at the
minimum measurement time of 83 ms (0.166 ms × 500 = 83 ms).
・In some sampling cycles, area sizing may occur, and the waveforms may look
different from the actual ones when waveforms including especially high
frequency components (Torque waveform, exe.) are displayed. In this case,
set the sampling cycle shorter.
・When “Velocity command” is displayed during execution of position control,
if the position loop gain has been set lower and the position error is
high, part of data may be missing on the velocity command display.
・If any reset by re-applying power to the amplifier, during waveform
graphic measurement, once terminate the waveform graphic screen.
・If the waveform graphic data is printed in environment in which the
printer cannot be used correctly, PANATERM
®
may terminate or give no
response. Before printing, carefully check the printer.
・Waveform graphic does not provide for instrumentation. Be sure to use the
speed and torque data as approximations.
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