sh030106u.pdf - 第450页

12. ABSOLUTE PO SITION DETECTIO N SYSTEM 12 - 3 12.2 Bat tery 12.2.1 Usi ng MR-B AT6V1S ET batter y (1) Configurat ion d iagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revolu…

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12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 2
12.1.2 Structure
The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each
battery connection.
Servo system controller Servo amplifier
CN1A
Servo motor
CN2
Battery
CN4
12.1.3 Parameter setting
Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system.
Absolute position detection system selection
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system
)
[Pr. PA03]
1
12.1.4 Confirmation of absolute position detection data
You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display"
to open the absolute position data display screen.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 3
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery
(1) Configuration diagram
CYC0
Current position
Home position data
LS0
Position data
LS
Detecting the
number of
revolutions
CYC
Detecting the
position at
one revolution
Servo motor
Cumulative revolution counter
(1 pulse/rev)
One-revolution counter
High speed
serial
communication
Servo amplifierServo system controller
MR-BAT6V1SET
Battery
Position control
Speed control
Step-down
circuit
(6 V 3.4 V)
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Maximum revolution range Home position ± 32767 rev.
(Note 1)
Maximum speed at power
failure [r/min]
Rotary servo motor
6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
Direct drive motor
500
(only when acceleration time until 500 r/min is 0.1 s or more)
(Note 2)
Battery backup time
Rotary servo motor
Approximately 20,000 hours
(equipment power supply: off, ambient temperature: 20 ˚C)
Approximately 29,000 hours
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Direct drive motor
Approximately 5,000 hours
(equipment power supply: off, ambient temperature: 20 ˚C)
Approximately 15,000 hours
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or hi
g
her, position mismatch ma
y
occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1SET. Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] ma
y
occur.
3. The powe
r
-on time ratio 25% is equivalent to 8 hours power on for a weekda
y
and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be
used with direct drive motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.
(1) Configuration diagram
CYC0
Current position
Home position data
LS0
Position data
Servo amplifierServo system controller
Step-down
circuit
(6 V 3.4 V)
MR-BAT6V1BJ
Position control
Speed control
LS
Detecting the
number of
revolutions
CYC
Detecting the
position at
one revolution
High speed
serial
communication
Battery
Servo motor
Cumulative revolution counter
(1 pulse/rev)
One-revolution counter
Step-down circuit
Lithium primary battery
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Maximum revolution range Home position ± 32767 rev.
(Note 1)
Maximum speed at power
failure [r/min]
Rotary servo motor
6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
(Note 2)
Battery backup time
Rotary servo motor
Approximately 20,000 hours
(equipment power supply: off, ambient temperature: 20 ˚C)
Approximately 29,000 hours
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or hi
g
her, position mismatch ma
y
occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] ma
y
occur.
3. The powe
r
-on time ratio 25% is equivalent to 8 hours power on for a weekda
y
and off for a weekend.