Specifications
Table Of Contents
- Coverpage
- Safety Instructions
- Revision History
- Contents
- Introduction
- 1 Outline
- 2 Explanation of Functions
- 3 Q-PLC Multi-CPU
- 4 Q Motion CPU
- 5 SFC Program
- 6 SV22 Servo Programs
- 6.1 Servo program
- 6.1.1 Servo program configuration
- 6.1.2 List of servo commands
- 6.1.3 Linear control
- 6.1.4 Circular interpolation control using auxiliary point designation
- 6.1.5 Circular interpolation control using radius designation
- 6.1.6 Circular interpolation control using center point designation
- 6.1.7 Fixed-dimension feed control
- 6.1.8 Speed control
- 6.1.9 Speed/position changeover control
- 6.1.10 Speed changeover control
- 6.1.11 Constant-speed control
- 6.1.12 Repeated control (for speed changeover control and uniform speed control)
- 6.1.13 Simultaneous start
- 6.1.14 Zero point return
- 6.1.15 Position follow-up control
- 6.1.16 High-speed oscillation control
- 6.1.17 Helical interpolation control with auxiliary point designated
- 6.1.18 Helical interpolation control with radius designated
- 6.1.19 Helical interpolation control with center point designated
- 6.1.20 Current value change
- 6.1 Servo program
- 7 Operation Control Program
- 8 Windows Personal Computer Operations
- 9 Basic Practice Using the SV22 Real Mode
- 10 Applied Practice with SV22 Real Mode
- 10.1 Details of practice
- 10.2 Q172CPU practice machine system configuration
- 10.3 Practice SFC programs
- 10.4 Writing to the motion CPU
- 10.5 Program for operation
- 10.5.1 JOG operation
- 10.5.2 Main routine SFC program (real mode operation)
- 10.5.3 Execution of servo program (motion control step)
- 10.5.4 Stopping
- 10.5.5 Error reset
- 10.5.6 Current value change
- 10.5.7 Speed change (CHGV)
- 10.5.8 Reading actual current value
- 10.5.9 Continuous positioning
- 10.5.10 M code function
- 10.5.11 Indirect setting of servo program address
- 10.6 Operating the practice machine
- 11 Practicing with the SV22 Virtual Mode
- 11.1 Mechanism program
- 11.2 Details of practice
- 11.3 Starting up SW3RN-CAMP and creating the cam
- 11.4 SFC program for virtual mode
- 11.5 Editing the mechanism
- 11.6 Writing to the motion CPU
- 11.7 Reading of sequence program from Q-PLC CPU
- 11.8 SFC program for practice
- 11.9 Practice machine operations
- 11.10 Exercise (Roller setting)
- Appendix
A - 43
DIRECT CLUTCH
One of the mechanism programs for the virtual
mode.
This is the conveyance module clutch, and is a
clutch with zero setting time for which the
smoothing time constant is not set.
Refer to the term "SMOOTHING CLUTCH".
DISCONTINUOUS CURVE
This refers to a uniform speed curve or uniform
acceleration curve that does not have a
continuous acceleration speed between the
interval containing the start end and final end
of a cam curve.
DOG SIGNAL
The near-point dog of the zero point return.
DRIVE MODULE
One of the mechanism programs for the virtual
mode.
Refers to the virtual servomotor and
synchronous encoder that rotate the main
shaft and auxiliary input shaft.
DRIVE UNIT
The commands output from the motion
controller are low-voltage, low-current
commands with insufficient energy to run the
motor. The drive unit increases the width of
these commands so the motor can be run.
Motion
controller
Drive
unit
Motor
Power supply
DRIVE UNIT READY
This signal is output when the drive unit for the
motor is in a READY state.
This signal remains OFF when the drive unit
power is OFF, or during faults, etc.
DROOP PULSE
Because of inertia (GD2) in the machine, it will
lag behind and not be able to track if the
positioning module speed commands are
issued in their normal state.
Thus, for a servomotor, a method is used in
which the speed command pulses are delayed
by accumulation in a deviation counter. These
accumulated pulses are called the droop
pulse.
The deviation counter emits all pulses and
returns to 0 when the machine stops.
In accurate terms, the difference of the feed
pulse and feedback pulse is the droop pulse.
D/A
Command
pulse
1000 pulses
Counter
droop
200
pulses
Feed pulse
800 pulses
Voltage
Feedback pulses
DWELL TIME
This is the time taken immediately after the
positioning is completed to adjust for the droop
pulses in the deviation counter. The positioning
will not be accurate if this time is too short, so
set a longer time as the dwell time.
DWELL
Dwell refers to the state that is temporarily
stopped without the follower member's
displacement changing as time elapses.
DWELL PERIOD
This is the rotation angle of the input axis when
the output axis is in the dwell state. The sum
with the assigned angle is 360°.
DYNAMIC BRAKE
When protection circuits operate due to power
failures, emergency stops (EMG signal) etc.,
this function is used to short-circuit between
servomotor terminals via a resistor, thermally
consume the rotation energy, and cause a
sudden stop without allowing coasting of the
motor.
Braking power is generated by electromagnetic
brakes only when running motors with which a
large brake torque can be obtained. Because
electromagnetic brakes have no holding
power, they are used in combination with
mechanical brakes to prevent dropping of the
vertical axis.