Sharp CP-SR421 User Manual Page 355
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- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
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16. FULLY CLOSED LOOP SYSTEM (available in the future)
16 - 18
(a) When using a linear encoder (unit setting: mm)
ᓸಽ
AP
AL
ࠨࡏࡕ࠲ ࠾ࠕࠛࡦࠦ
࠳
⟎ࡈࠖ࠼ࡃ࠶ࠢ
[mm]
ᜰ
[mm]
+
-
ㅦᐲࡈࠖ࠼ࡃ࠶ࠢ
[r/min]
AL
AP
㔚ሶࠡࠕ
࡙ࠩ ࠦࡦ࠻ࡠ ࠨࡏࠕࡦࡊ
ᯏ᪾┵ಽ⸃⢻න
ᯏ᪾┵ಽ⸃⢻න
ࠨࡏࡕ࠲ㅦᐲ
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw
revolution in the following conditions.
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 μm
Number of linear encoder pulses (AP) per ball screw revolution
= Ball screw lead/linear encoder resolution= 20 mm/0.05 μm = 400000 pulses
1࿁ォߚࠅߩࡄ࡞ࠬᢙ[pulse](AP)
1
࿁ォߚࠅߩ⒖േ㊂[μm](AL)
=
400000pulses
20mm
=
400000
20000
(b) When using a rotary encoder (unit setting: deg)
ࠨࡏࡕ࠲
ࡠ࠲ࠛࡦࠦ࠳
(HG-KR߹ߚߪHG-MRࠨࡏࡕ࠲)
4194304pulses/rev
AP
AL
⟎ࡈࠖ࠼ࡃ࠶ࠢ
[deg]
ᜰ
[deg]
+
-
ㅦᐲࡈࠖ࠼ࡃ࠶ࠢ
[r/min]
AL
AP
㔚ሶࠡࠕ
࡙ࠩ ࠦࡦ࠻ࡠ ࠨࡏࠕࡦࡊ
ᯏ᪾┵ಽ⸃⢻න
ᯏ᪾┵ಽ⸃⢻න
ࠨࡏࡕ࠲ㅦᐲ
ᓸಽ
Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor
revolution in the following conditions.
Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev
1࿁ォߚࠅߩࡄ࡞ࠬᢙ[pulse](AP)
1
࿁ォߚࠅߩ⒖േ㊂[deg](AL)
=
4194304pulses
360deg
=
524288
45
Load-side encoder resolution unit
Servo amplifier
Servo motor
Linear encoder
Electronic
gear
User
Controller
Command
Position feedback
Differen
-tiation
Load-side encoder resolution unit
Servo motor s
p
eed
Speed feedback
Number of pulses per revolution [pulse] (AP)
Travel distance per revolution [ȝm] (AL)
Load-side encoder resolution unit
Controller
User
Command
Position feedback
Speed feedback
Load-side encoder resolution unit
Servo motor s
p
eed
Differen
-tiation
Electronic
gear
Servo motor
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
Number of pulses per revolution [pulse] (AP)
Travel distance per revolution [deg] (AL)
Servo amplifier
- MR-J4-_B 1
- 6DIHW\,QVWUXFWLRQV 2
- :$51,1* 2
- &$87,21 2
- &$87,21 3
- ',6326$/2):$67( 7
- (Note 4) 17
- (2) MR-J4-700B 18
- [Pr. PC09], [Pr. PC10] 22
- MR-J4-10B 23
- Inside of the display cover 24
- Bottom face 24
- Chapter 24
- 1 - 10 25
- (2) MR-J4-350B 25
- Front cover 29
- Setting tab 29
- Next servo amplifier 30
- CN1A or cap 30
- 1 - 16 31
- 1 - 17 32
- (3) MR-J4-500B 32
- Servo system controller or 33
- 40 mm or more 35
- 2. INSTALLATION 36
- శࠦ࠼ㇱ ࠤࡉ࡞ㇱ 37
- 3. SIGNALS AND WIRING 44
- 3 s to 4 53
- If polarity of diode is 70
- Servo motor speed 76
- 6,*1$/6$1':,5,1* 79
- 4. STARTUP 81
- Servo amplifie 82
- Servo moto 82
- ᓮゲήലࠬࠗ࠶࠴ 86
- Alarm No 89
- (2 digits) 89
- Flickering 90
- 67$5783 91
- SW2-1ࠍ"ࠝࡈ(ਅ)"ߦ⸳ቯ 97
- 5. PARAMETERS 100
- 3$5$0(7(56 124
- [Pr. PC24] 134
- 0 r/min 134
- (0 mm/s) 134
- 6. NORMAL GAIN ADJUSTMENT 146
- Speed loop gain setting 159
- Speed [r/min] 163
- Model loop gain setting 163
- Notch depth 165
- Notch frequency 167
- Has vibration or unusual 168
- [Pr.PB23] 169
- ゲᝄᛥࡈࠖ࡞࠲ㆬᛯ 169
- 1: ࡑ࠾ࡘࠕ࡞⸳ቯ 169
- Manual setting 170
- Disabled 170
- Low-pass filter selection 170
- Setting value 171
- Has vibration of workpiece 172
- Motor-side vibration 174
- (droop pulses) 174
- Position 175
- Load side 175
- Setting 176
- Frequency 176
- 7 - 21 184
- (b) Switching timing chart 184
- CAUTION 187
- (Warning) 189
- Instantaneous power 190
- 8. TROUBLESHOOTING 192
- 287/,1('5$:,1*6 200
- 205
- $SSUR[ $SSUR[ 205
- $SSUR[ 205
- / /7( 206
- 208
- 10. CHARACTERISTICS 210
- Operating 211
- Air flow 213
- Time constant IJ [ms] 215
- WARNING 218
- Cautions 218
- Servo amplifier 221
- MR-D05UDL3M-B 221
- 2.2 ± 0.07 222
- Protective tube 223
- Unbalance torque 225
- Positive 227
- Negative 227
- [Unit: mm] 231
- N/- P/+ PR 237
- 237
- (Note 1) 244
- Power supply 246
- Environment 246
- 2CR17335A WK17 250
- 6V 1650mAh 250
- (Note 2) 254
- CR-10201 259
- Approx. 22.5 261
- Approx. 65 261
- Leakage current [mA] 264
- 28.5 ± 1 28 ± 1 269
- 4.5 ± 0.5 269
- &RYHU 274
- /RFNLQJSDUW 274
- 05%$79 274
- :$51,1* 276
- 86,1*672)81&7,21 277
- 67272)% 279
- 672&20 279
- 72)&20 279
- WARNING 288
- Linear servo motor 290
- Installation and wirin 292
- Absolute position linear 292
- Incremental linear encoder 292
- 14 - 7 294
- [Pr. PL03] 295
- [Pr. PL02] 295
- Has [AL. 27 Initial magnetic 296
- occurred? 296
- 14 - 10 297
- Servo-off status 298
- During the magnetic 298
- (servo-on status) 298
- [Pr.PL01] 301
- Position detection method 302
- [Pr. PL08] 302
- Stop interval [pulse] 303
- 1048576 (initial value) 303
- 1048576 pulses × n 306
- SW2-1ࠍ"ࠝࡦ()"ߦ⸳ቯ 308
- Differ 310
- ࠨࡏࡠ࠶ࠢᤨ 313
- Servo system controller 319
- 15 - 5 322
- 15.3.1 Startup procedure 322
- 15 - 8 325
- [Pr.PL08] 329
- 0: Position detection method 329
- [Pr.PL04] 332
- EM1 (Forced stop 1) 336
- 16 - 2 339
- Semi closed loop control 340
- Fully closed loop control 340
- SSCNET III/H controller 341
- Load-side encoder 342
- Do as necessary 345
- Operation mode 346
- Linear encoder 347
- Linear encoder head 347
- Geared servo motor 347
- Pulley diameter 348
- Servo motor-side cumulative 349
- Droop pulses 350
- Linear encoder home position 351
- Proximity dog signal 352
- JOG operation 352
- Servo motor s 355
- [Pr. PE03] 357
- 'ZRNCPCVKQP 359
- 16 - 23 360
- APPENDIX 362
- 24 V DC 365
- EMG stop 370
- 2.3mm 0.05mm 384
- 40 mm or longer 388
- 2) 3) 4) 1) 392
- ࠕ࠽ࡠࠣࡕ࠾࠲ch1ജㆬᛯ 394
- (MO1-LG㑆ߦജߔࠆାภ) 394
- REVISIONS 399
- MITSUBISHI ELECTRIC 404
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