Instruction manual

8. OUTPUT MODULES
8 − 4
8.1 Rollers
The operation of rollers and the parameter settings required to use rollers are
explained here.
8.1.1 Roller operation
This section describes the operation of the roller.
(1) Operation
(a) The roller speed is controlled to a speed which is the speed of the drive
module multiplied by the gear ratio/speed change gear ratio of the
transmission module.
[Roller speed] =
Drive module speed
(PLS/s)
×
[gear ratio]
×
speed change
gear ratio
(Units: PLS)
Drive module
Gear...gear ratio
Clutch
Speed change gear
..... speed change gear ratio
Roller
(b) If a clutch is used, the roller is controlled from the point when the clutch is
turned ON.
(2) Control details
(a) The roller has no current value.
However, when a switch is made from the virtual mode to the real mode, the
current value corresponding to the position reached by travel in the virtual
mode is established.
[The current value is a ring address in the range −2147483648 (−2
31
) PLS to
2147483647 (2
31
−1) PLS.]
(2
31
–1)
–2
31
Current value
(b) Backlash compensation processing is continued in accordance with the
settings made in the fixed parameters regardless of switches between the
real mode and virtual mode.
(c) The peripheral velocity of the roller is monitored by means of a peripheral
device and the roller peripheral velocity register.
For the calculation formula for the roller peripheral velocity, see Section
8.1.2, and for details on the roller peripheral velocity register, see Section
8.5.2.