sh030106u.pdf - 第661页

APPENDIX App. - 30 Note 1. Enc oder pulse unit. 2 . A vailable in pos ition control mode 3. This c annot be used in t he torque control mode. 4. This c an be used wit h MR Confi g urator2 with soft ware version 1.19V or …

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APPENDIX
App. - 29
Setting
value
Output item Description
Setting
value
Output item Description
0A
Feedback position
(Note 1, 2, 3)
(±10 V/1 Mpulse)
1 [Mpulse]
CW direction
CCW direction
1 [Mpulse
]
0
10 [V]
-10 [V]
0B
Feedback position
(Note 1, 2, 3)
(±10 V/10 Mpulse)
10 [Mpulse]
CW direction
CCW direction
10 [Mpulse
]
0
10 [V]
-10 [V]
0C
Feedback position
(Note 1, 2, 3)
(±10 V/100 Mpulse)
100 [Mpulse]
CW direction
CCW direction
100 [Mpulse
]
0
10 [V]
-10 [V]
0D Bus voltage (Note 7)
400 [V]
0
8 [V]
0E
Speed command 2
(Note 3)
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
10
Load-side droop pulses
(Note 3, 4, 5, 6)
(±10 V/100 pulses)
100 [pulse]
CW direction
CCW direction
100 [pulse
]
0
10 [V]
-10 [V]
11
Load-side droop pulses
(Note 3, 4, 5, 6)
(±10 V/1000 pulses)
1000 [pulse]
CW direction
CCW direction
1000 [pulse
]
0
10 [V]
-10 [V]
12
Load-side droop pulses
(Note 3, 4, 5, 6)
(±10 V/10000 pulses)
10000 [pulse]
CW direction
CCW direction
10000 [pulse
]
0
10 [V]
-10 [V]
13
Load-side droop pulses
(Note 3, 4, 5, 6)
(±10 V/100000 pulses)
100000 [pulse]
CW direction
CCW direction
100000 [pulse
]
0
10 [V]
-10 [V]
14
Load-side droop pulses
(Note 3, 4, 5, 6)
(±10 V/1 Mpulse)
1 [Mpulse]
CW direction
CCW direction
1 [Mpulse
]
0
10 [V]
-10 [V]
15
Motor-side/load-side
position deviation
(Note 3, 4, 5, 6)
(±10 V/100000 pulses)
100000 [pulse]
CW direction
CCW direction
100000 [pulse
]
0
10 [V]
-10 [V]
16
Servo motor-side/load-
side speed deviation
(Note 4)
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
17
Internal temperature of
encoder
(±10 V/±128 °C)
128 [°C]
-
128 [°C]
0
10 [V]
-10 [V]
APPENDIX
App. - 30
Note 1. Encoder pulse unit.
2.
A
vailable in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Confi
g
urator2 with software version 1.19V or later.
5. This cannot be used in the speed control mode.
6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control.
7. For 400 V class servo amplifier, the bus volta
g
e becomes +8 V/800 V.
8. For details on the maximum current command
(
maximum torque
)
for ±8 V, refer to app. 10.4 for details.
App. 10.3 Analog monitor block diagram
App. 10.3.1 Semi closed loop control
Droop pulses
Speed
command
Position
control
Speed
control
PWM
Current
control
Current
command
Bus voltage
Speed
command
Current
encoder
+
Servo motor
Encoder
Current feedback
Position feedback
M
Position command
received from a
servo system
controller
Position feedback data
returned to a servo
system controller
Differen-
tiation
Differen-
tiation
Feedback position
standard position (Note)
Feedback
position
+
-
Internal
temperature
of encoder
Servo motor
speed
Torque
+
+
-
-
+
-
Speed
command 2
Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. [Pr.
PC13] and [Pr. PC14] can set up the standard position of feedback position that is output to analog monitor in order to adjust the
output ran
g
e of feedback position. The settin
g
ran
g
e is between -9999 pulses and 9999 pulses.
Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value
Parameter Description Setting range
PC13
Sets the lower-order four digits of the standard position of
feedback position
-9999 to 9999 [pulse]
PC14
Sets the higher-order four digits of the standard position of
feedback position
-9999 to 9999 [10000 pulses]
APPENDIX
App. - 31
App. 10.3.2 Fully closed loop control
FBN
FBD
Droop pulses
Speed
command
Position
control
Speed
control
PWM
Current
control
Current
command
Bus voltage
Speed
command
Current
encoder
+
Servo
motor
Encoder
Current feedback
Position feedback
M
Position
command
Differ-
entiation
Differ-
entiation
Dual filter
Servo motor-side
droop pulses
Load-side
droop pulses
Servo motor-side/load-side
position deviation
+
-
Load-side
encoder
Internal
temperature
of encoder
Fully closed loop
+-
+
-
Differen-
tiation
Differen-
tiation
Servo motor-side/load-side
speed deviation
+
-
+
+
Semi closed loop
+-
Servo motor
speed
Torque
Servo motor-side feedback pulses
(load-side encoder resolution unit)
Load-side feedback pulses
+
+
-
-
+
-
Speed
command 2