sh030106u.pdf - 第493页
14. USIN G A LINEAR SER VO MOTOR 14 - 26 (1) Operation method For the system using the increm enta l linear encoder, the m agnet ic pole de tecti on is automat ically performed at the fir st serv o-on aft er the pow er-o…
14. USING A LINEAR SERVO MOTOR
14 - 25
(b) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. This function is
used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of
MR Configurator2.
Operation Screen control
Start Click "Operation start".
Pause Click "Pause".
Stop Click "Stop".
Forced stop Click "Forced stop".
(2) Operation procedure
1) Turn off the power.
2) Turn "ON (up)" SW2-1.
Set SW2-1 to "ON (up)".
1
ON
2 3 4
Turning "ON (up)" SW2-1 during power-on will not enable the test operation mode.
3) Turn on the servo amplifier.
When initialization is over, the display shows the following screen.
After 1.6 s
After 0.2 s
Blinking
4) Start operation with the personal computer.
14.3.5 Operation from controller
The linear servo can be used with any of the following controllers.
Servo system controller Model
Motion controller R_MTCPU/Q17_DSCPU
Simple motion module RD77MS_/QD77MS_ /LD77MS_
14. USING A LINEAR SERVO MOTOR
14 - 26
(1) Operation method
For the system using the incremental linear encoder, the magnetic pole detection is automatically
performed at the first servo-on after the power-on. For this reason, when performing the positioning
operation, create the sequence which surely confirms the servo-on status as the inter lock condition of
the positioning command.
Also, some parameter settings and the home position return type differ according to the controller type.
(2) Servo system controller setting
(a) Setting precautions
The following parameters will be enabled by cycling the servo amplifier power after the controller
writes the parameters to the servo amplifier.
Setting item
Set content
Motion controller
R_MTCPU/Q17_DSCPU
Simple motion module
RD77MS_/QD77MS_ /
LD77MS_
Command resolution Linear encoder resolution unit
Parameter
Servo amplifier setting MR-J4-B Linear
Motor setting Automatic setting
No.
(Note)
Symbol
Name
Initial
value
PA01 **STY Operation mode 1000h 1040h
PC01 ERZ Error excessive alarm level 0
Set the items as required.
PC03 *ENRS Encoder output pulse selection 0000h
PC27 **COP9 Function selection C-9 0000h
PL01 **LIT1
Linear servo motor/DD motor function
selection 1
0301h
PL02 **LIM Linear encoder resolution - Numerator 1000
PL03 **LID
Linear encoder resolution -
Denominator
1000
PL04 *LIT2
Linear servo motor/DD motor function
selection 2
0003h
PL05 LB1 Position deviation error detection level 0
PL06 LB2 Speed deviation error detection level 0
PL07 LB3
Torque/thrust deviation error detection
level
100
PL08 *LIT3
Linear servo motor/DD motor function
selection 3
0010h
PL09 LPWM Magnetic pole detection voltage level 30
PL17 LTSTS
Magnetic pole detection - Minute
position detection method - Function
selection
0000h
PL18 IDLV
Magnetic pole detection - Minute
position detection method -
Identification signal amplitude
0
Positioning
control
parameter
Unit setting mm
Number of pulses (AP)
Travel distance (AL)
Refer to (2) (b) in this section.
Note. The parameter whose symbol is preceded by * is enabled with the following conditions.
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After settin
g
the parameter, c
y
cle the power of the servo amplifier.
14. USING A LINEAR SERVO MOTOR
14 - 27
(b) Settings of the number of pulses (AP) and travel distance (AL)
AP
AL
Position feedback
[mm]
Command
[mm]
+
-
Speed feedback
[mm/s]
AL
AP
User
Controlle
r
Servo amplifier
Linear servo
motor
Linear encoder
Differ-
entiation
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following
conditions.
When the linear encoder resolution is 0.05 µm
Number of pulses (AP) [pulse]
=
1
0.05
=
20
1
14.3.6 Function
(1) Linear servo control error detection function
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate
properly. To detect this state and to stop operation, the linear servo control error detection function is
used as a protective function.
The linear servo control error detection function has three different detection methods: the position
deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with
[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with
[Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier internal value
1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear encoder
2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Servo amplifier
Linear servo motor
Linear encoder
Figure 14.1 Outline of linear servo control error detection function