5-88
The Tool Magazine Loop Control Block Diagram is shown in the Figure below; detailed functions of
each Block are described in the following Sections.
Tool magazine command processing unit
Command
mov emen t
average
Pn330
Digital input contact
POS1~POS6
PTRG
HOLD
Position
Controller
1
2
0
Command
smooth filter
Pn329
Position
command
direction
definition
Pn314.0
Low
frequency
vibr ation
suppression
Pn336~Pn344
PTRG trigger delay
Pn334
Digital input contact
ORG, SHOME
CWL, CCWL
Input contact
KSPD
Tool magazine setting parameters
One-time
smoothing
Acceleration/
deceleration
Pn313
S-type
Acceleration/
deceleration
Pn322
Pn323
S-type
acceleration/
deceleration
separation
Pn322
Pn323
Pn333
Backlash
compensation
Pn331
Pn359
Set the current position as
zero point
Tool magazine
function switch
Digital input contact
MDC, MDC2,
MDC3
Acceleration/
deceleration
metho d
Pn332.0
Tool disc
Numerator
deceleration
ratio
Pn326
Tool magazine
quantity
Pn324
Tool change speed
Pn327, Pn335
Tool disc
Denominator
deceleration
ratio
Pn306
Execute the origin reset
function; set the position
after completed as the zero
point
Reset to zero
met hod
Pn315.2
0
1
Origin reset Cn041.2, Pn355,
Pn315.1
Pn317~Pn321
Tool Magazine Position Controller
Motor Position
Feedback
Clear Position
Error to Zero
Pulse Clearing
Mode Pn315.0
Digital Input
Contact
CLR
Position Proportional
Gain 1
Pn310
Position Proportional
Gain 2
Pn311
Position Feed
Forward Gain
Pn312
Speed Control
Circuit
Speed Feed
Forward
Smoothing Filter
Cn033
Position
Command
Processing Unit
1
0
Position Error
Un-07
Position
Feedback
Un-14
Un-16
Un-24
Un-25
Gain Switching
Method
Cn015.1
Cn021~Cn024
Digital Input
Contact
G-SEL
Torque Control
Circuit
Internal Torque
Limit 1
Cn010/Cn011
Digital Input
Contact
TLMT
Analog Torque
Limit TIC
A/D
Torque Voltage
Offset
Adjustment
Tn104
OFF
ON
Torque
Proportioner
Tn103
External Analog
Voltage Limit
Un-11
Torque Limit
Un-12
Un-13
Torque Limit
Torque Limit
Switching
Delay Time
Cn058
Internal Torque
Limit 2
Cn056/Cn057
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