sh030106u.pdf - 第552页

17. APPLICATIO N OF FUNCTIONS 17 - 1 17. APPLICATION OF FUNCTIONS This chapt er exp lains ap pli cation of using s ervo am plifier func tio ns. 17.1 J3 c ompatibi lity mod e POINT The fully closed loop c ontrol i n the J…

16. FULLY CLOSED LOOP SYSTEM

16 - 26

Symbol Name Explanation Unit

Motor side cumu. feedback

pulses (before gear)

Feedback pulses from the servo motor encoder are counted and displayed. (Servo

motor encoder unit)

When the set value exceeds 999999999, it starts with 0.

Click "Clear" to reset the value to 0.

The "-" symbol is indicated for reverse.

pulse

g) Encoder information The load-side encoder information is displayed.

The display contents differ depending on the load-side encoder type.

ID: The ID No. of the load-side encoder is displayed.

Data 1: For the incremental type linear encoder, the counter from powering on is

displayed. For the absolute position type linear encoder, the absolute position

data is displayed.

Data 2: For the incremental type linear encoder, the distance (number of pulses) from

the reference mark (Z-phase) is displayed. For the absolute position type

linear encoder, "00000000" is displayed.

h) Polarity

For address increasing direction in the servo motor CCW, it is indicated as "+" and for

address decreasing direction in the servo motor CCW, as "-".

i) Z phase pass status

If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor

encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop

control/fully closed loop control switching", the Z-phase pass status of the load-side

encoder is displayed.

Fully closed loop changing

device

Only if the fully closed loop system is "Semi closed loop control/fully closed loop control

switching", the device is displayed.

The state of the semi closed loop control/fully closed loop control switching signal and

the inside state during selection are displayed.

Parameter (Feedback pulse

electronic gear)

The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])

are displayed/set for servo motor encoder pulses in this parameter. (Refer to section

16.3.1 (5).)

Parameter (Dual feedback

filter)

The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this

parameter.

Parameter (fully closed loop

selection)

The parameter for the fully closed loop control is displayed or set.

Click "Parameter setting" to display the "Fully closed loop control - Basic" window.

1) Fully closed loop selection ([Pr. PE01])

"Always valid" or "Switching with the control command of controller" is selected here.

2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])

Setting of feedback pulse electronic gear

3) Load-side encoder cable communication method selection ([Pr. PC26])

4) Selection of encoder pulse count polarity ([Pr. PC27])

Polarity of the load-side encoder information is selected.

5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment

function ([Pr. PC27])

Select the non-signal detection status for the pulse train signal from the A/B/Z-phase

input interface encoder used as a linear encoder or load-side encoder.

17. APPLICATION OF FUNCTIONS

17 - 1

17. APPLICATION OF FUNCTIONS

This chapter explains application of using servo amplifier functions.

17.1 J3 compatibility mode

POINT

The fully closed loop control in the J3 compatibility mode is available for the

servo amplifiers with software version A3 or later.

Specifications of the J3 compatibility mode of the servo amplifier with software

version A4 or earlier differ from those with software version A5 or later.

The J3 compatibility mode is not compatible with the master-slave operation

function.

17.1.1 Outline of J3 compatibility mode

MR-J4W_-_B servo amplifiers and MR-J4-_B_(-RJ) servo amplifiers have two operation modes: "J4 mode" is

for using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-B

servo amplifiers.

When you connect a servo amplifier with SSCNET III/H communication for the first controller communication

by factory setting, the operation mode will be fixed to "J4 mode". To restore the factory settings or select a

desired mode, change the settings using the application "MR-J4(W)-B mode selection" or "MR Mode

Change".

The application "MR-J4(W)-B mode selection" or "MR Mode Change" is included in MR Configurator2 with

version 1.12N or later. The application "MR-J4(W)-B mode selection" is packed with MR Configurator2 of

software version 1.12N or later.

For information on the operating conditions of the application "MR-J4(W)-B mode selection" and "MR Mode

Change", refer to the operating conditions of MR Configurator2. (Refer to section 11.7.)

17.1.2 Operation modes supported by J3 compatibility mode

The J3 compatibility mode supports the following operation modes.

Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B

MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B

MR-J3-B fully closed loop control mode MR-J3-_B-RJ006 MR-J3-_BS

MR-J3-B linear servo motor control mode MR-J3-_B-RJ004 MR-J3W-_B

MR-J3-B DD motor control mode MR-J3-_B-RJ080W MR-J3W-_B

Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is

compatible with their settings.

In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3

series. By enabling the J3 extension function, control response will be equal to MR-J4 series using a

controller compatible with SSCNET III.

17. APPLICATION OF FUNCTIONS

17 - 2

17.1.3 J3 compatibility mode supported function list

The following shows functions which are compatible with J4 mode and J3 compatibility mode. The letters

such as "A0" described after

and mean servo amplifier software versions which compatible with each

function. Each function is used with servo amplifiers with these software versions or later.

Compatibility

(

: J4 new, : Equivalent to J3, : Not available)

Function Name MR-J4 series

MR-J3/MR-J3W series

(Note 8)

J4 mode

J3 compatibility

mode

Basic specification

Speed frequency response 2.5 kHz 2.1 kHz 2.1 kHz

Encoder resolution 22 bits (Note 1) 18 bits (Note 1) 18 bits

SSCNET III/H

communication or

SSCNET III

communication

Communication baud rate 150 Mbps 50 Mbps 50 Mbps

Maximum distance between stations 100 m 50 m 50 m

Basic function

Absolute position detection system

A0 A0

Fully closed loop control (Note 9)

(Two-wire type only)

(Note 13)

(Two-wire type only)

(Note 13)

MR-J3-_B-RJ006

MR-J3-_S

Linear servo motor driving

(Two-wire type/

four-wire type only)

(Note 13)

(Two-wire type/

four-wire type only)

(Note 13)

MR-J3-_B-RJ004

MR-J3W-_B

Direct drive motor driving A0 A0

MR-J3-_B-RJ080W

MR-J3W-_B

Motor-less operation A0 (Note 2) A0 (Note 2)

Rotation direction selection/travel

direction selection

A0 A0

Encoder output pulses

A/B-phase pulse output

A0 (Note 3) A0 (Note 3)

Z-phase pulse output A0 (Note 4) A0 (Note 4) (Note 4)

Input/output

Analog monitor output

A0 (Note 5) A0 (Note 5)

Motor thermistor A0 A0

MR-J3-_B-RJ004

MR-J3-_B-RJ080W

MR-J3W-_B

Position control mode A0 A0

Speed control mode A0 A0

Control mode Torque control mode A0 A0

Continuous operation to torque

control mode

A0 A0

Auto tuning mode 1 A0 A0

Auto tuning mode 2 A0 A0

Auto tuning

2 gain adjustment mode 1

(interpolation mode)

A0 A0

2 gain adjustment mode 2 A0

Manual mode A0 A0