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
4 - 6
4.2.4 Servo parameters
The parameters to be set are shown below.
[Basic servo parameters
Setting range Default
mm inch degree PULSENo. Item
Setting range Units Setting range Units Setting range Units Setting range Units
Initial value Units
Remarks
1* AMP. SETTING
2* RESISTANCE
3*
DYNAMIC
BRAKE
4* MOTOR TYPE
5*
MOTOR
CAPACITY
6
MOTOR
REVOLUTION
(R)
7
FEEDBACK
PULSE (N)
Set automatically in accordance with the system settings
8*
SPIN
DIRECTION
0: Forward rotation (CCW) when the positioning address increases.
1: Reverse rotation (CW) when the positioning address decreases.
0 –
•
Set the direction of rotation as seen
from the load side.
Forward rotation:
Reverse rotation:
9
AUTO
TUNING*
1
0: VELOCITY
1: POS. & VEL.
2: NONE
1*
2
–
• Set the gain (speed/position,
speed) for executing automatic
setting.
10
GAIN
ADJUSTMENT
MODE
SELECTION*
3
0: Interpolation mode
1: Auto tuning mode 1
2: Auto turning mode 2
3: Manual mode 1
4: Manual mode 2
1 –
• Sets the gain at which the
automatic setting is executed.
For details of each mode, refer to
the following.
11
SERVO
RESPONSE
1 to 12 (MR-H-B(N))/15(MR-J2S-B, MR-J2M-B)/5(MR-J2-B) (invalid during automatic tuning) 1 –
• Set in order to increase servo
responsiveness.
*1: Cannot be set with MR-J2S-B and MR-J2M-B.
*2: For MR-J2(S)-B and WR-J2M-B, the default will be "2".
*3: Cannot be set with MR-H-B(N) and MR-J2-B.
Set the gain for executing automatic setting.
• Interpolation mode : Fixes the position control
gain 1/speed control gain 1.
• Auto tuning mode 1 : Normal auto tuning
• Auto tuning mode 2 : Fixes the load inertia ratio.
• Manual mode 1 : Executes the simplified
manual adjustment.
• Manual mode 2 : Executes the adjustment
of all gains manually.
POINT
When the items marked with * in the above table are changed, reset the Q-PLC
CPU or turn off the PLC READY (M2000) and turn it on again before turning the
servo power supply on.
[Gain adjustment mode selection]
Auto tuning Manual
Inter-
polation
mode
Mode 1 Mode 2 Mode 1 Mode 2
LOAD INERTIA
RATIO
¡ ¡
POSITION
CONTROL GAIN 1
¡ ¡
VELOCITY LOOP
GAIN 1
¡ ¡ ¡
POSITION LOOP
GAIN 2
¡ ¡ ¡ ¡
VELOCITY LOOP
GAIN 2
¡ ¡ ¡
VEL. INTEGRAL
COMPS.
¡ ¡ ¡
¡: Items to be set automatically