Q170226E01.pdf - 第265页

RH5 7.2 AC Servomotor Adjustment SERVICE MANUAL 7.2−10 DA3SEC−84−300−A0 Parameter No. Name Default Cn−16 W ait time from SV OFF to brake command 50 50 50 Cn−17 T orque command filter constant (4) (4) (4) Cn−18 Outer torq…

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7.2 AC Servomotor Adjustment
SERVICE MANUAL
RH5
7.2−9
DA3SEC−84−300−A0
AC Motor Driver Setting T able (RH5 (LL) <NM−8245A>)
=REFERENCE=
x Values ( ) are required to fine adjust.
x Adjust Cn−17 if the motor oscillates after the table has stopped.
x Use the motor driver as follows:
X axis: SGDA−02ASY25, Y axis: SGDA−04ASY25, Z axis (40/62−feeder):
SGDA−08ASY120, Z axis (80−feeder): CACR−DR15BA13SY8, Cam shaft:
SGDB−20ADS
x Adjust the offset of Cn−00−003 via the digital operator. (Refer to ‘7.3’.)
x Values marked with an asterisk show new parameters corresponding to the positioning delay error.
x After setting Cn−01 and Cn−0A, turn OFF the power to the machine.
X/Y/Z axis (40/62−feeder)
Parameter
N
Name Default
No.
X axis Y axis Z axis
Cn−00−003 Offset
Cn−01 Memory switch 1 FFDCBA9876543210
0001000000000000
Cn−02 Memory switch 2 0000000000000000
Cn−03 Speed command gain 1100 1100 1400
Cn−04 Speed loop gain (200) (200) (200)
Cn−05 Consult speed loop integrated *50 *50 *50
Cn−06 Emergency stop torque 300 300 316
Cn−07 Soft start time (acceleration) 0 0 0
Cn−08 Normal rotation torque limit 300 300 316
Cn−09 Reverse rotation torque limit 300 300 316
Cn−0A Encoder pulse dividing ratio 1000 1000 500
Cn−0B Rotation detection level 20 20 20
Cn−0C Mode switch (torque command) 200 200 200
Cn−0D Mode switch (speed command) 100 100 100
Cn−0E Mode switch (acceleration command) 0 0 0
Cn−0F Zero clamp level 10 10 10
Cn−10 JOG speed 500 500 500
Cn−11 Encoder pulse count 2048 2048 2048
Cn−12 Delay time from brake command to SV OFF 0 0 0
Cn−13 Torque command gain 30 30 30
Cn−14 Speed control at torque control I 4500 4500 4500
Cn−15 Speed level at which output brake
command
100 100 100
RH5
7.2 AC Servomotor Adjustment
SERVICE MANUAL
7.2−10
DA3SEC−84−300−A0
Parameter
No.
Name Default
Cn−16 Wait time from SV OFF to brake command 50 50 50
Cn−17 Torque command filter constant (4) (4) (4)
Cn−18 Outer torque limit on normal rotation side 100 100 100
Cn−19 Outer torque limit reverse rotation side 100 100 100
Cn−1A Position loop gain 40 40 40
Cn−1F Internal setting speed select (1st speed) 100 100 100
Cn−20 Internal setting speed select (2nd speed) 200 200 200
Cn−21 Internal setting speed select (3rd speed) 300 300 300
Cn−22 Special coincidence signal output width 10 10 10
Cn−23 Soft start time (deceleration) 0 0 0
7.2 AC Servomotor Adjustment
SERVICE MANUAL
RH5
7.2−11
DA3SEC−84−300−A0
Z axis (80−feeder)
Parameter
No.
Name Default
Cn−00−0003 Offset
Cn−01 Memory switch 1 0001000000000000
Cn−02 Memory switch 2 0000000000000000
Cn−03 Speed command gain 1400
Cn−04 Speed loop gain (180)
Cn−05 Constant speed loop integrated 50
Cn−06 Emergency stop torque 269
Cn−07 Soft start time (acceleration) 0
Cn−08 Normal rotation torque limit 269
Cn−09 Reverse rotation torque limit 269
Cn−0A Encoder pulse dividing ratio 640
Cn−0B Rotation detection level 20
Cn−0C Mode switch (torque command) 200
Cn−0D Mode switch (speed command) 50
Cn−0E Mode switch (acceleration command) 0
Cn−0F Zero clamp level 10
Cn−10 JOG speed 100
Cn−11 Encoder pulse count 2048
Cn−12 Delay time from brake command to SV OFF 20
Cn−13 Torque command gain 30
Cn−14 Speed control at torque control I 4000
Cn−15 Speed level at which output brake command 100
Cn−16 Wait time from SV OFF to brake command 50
Cn−17 Torque command filter constant (15)
Cn−18 Outer torque limit on normal rotation side 100
Cn−19 Outer torque limit on reverse rotation side 100
Cn−1A Position loop gain 40
Cn−1B Positioning complete width 7
Cn−1C Bias 0
Cn−1D Feed forward 0
Cn−1E Over flow 10000
Cn−1F Internal setting speed select (1st speed) 100
Cn−20 Internal setting speed select (2nd speed) 200
Cn−21 Internal setting speed select (3rd speed) 300
Cn−23 Soft start time (deceleration) 0
Cn−24 Sub−soft start time (acceleration) 0
Cn−25 Soft start switching speed (acceleration) 30
Cn−26 Sub−soft start time (deceleration) 0
Cn−27 Soft start switching speed (deceleration) 30