Summary of the content on the page No. 1
[Connections and Settings
in Torque Control Mode]
page
Torque control block diagram..............................132
CN X5 Connector...................................................133
CN X5 Connector ...................................................................... 133
Interface Circuit ......................................................................... 134
Input signal (common) assignment to CN X5 connector pins ... 136
Input signal assignment to CN X5 connector pins - designation
Summary of the content on the page No. 2
Torque control block diagram 132 Absolute (magnitude) Command speed Torque command monitor monitor When pr 02 = 2 or 4 Multiplication Analog torque Input setting Speed control Notch filter Torque f ilter + + Torque command 16bitA/D Sign( ) ± Motor 1st ratio Gain Pr 5C Pr 11 limit SPR / 1st 1st time Pr 1D Pr 14 – – frequency constant TRQR 1st Inverse Pr 5D Pr 12 differential 2nd time 1st width Pr 1E Pr 1C constant Offset 2nd ratio Pr 52 Internal speed limit Pr 19 2nd 8 Limit Pr 2 Pr 5E fr
Summary of the content on the page No. 3
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] CN X5 Connector CN X5 Connector Circuits Available for Torque control mode Ω Ω Ω Ω Ω Ω Ω Ω Ω Ω Ω Ω Ω 133 7 1 COM+ 4.7k 33 2 INH 3 30 CL PULS1 4 Servo-ON 29 PULS2 SRV-ON P-operation/2nd gain 220 5 switching 27 GAIN SIGN1 6 28 SIGN2 DIV 220 13 Zero speed clamp (Pr06) 26 GND ZEROSPD 21 Control mode switching 32 OA+ C-MODE A-phase 330 22 output Alarm clear 31 A-CLR OA- 48 CCW overtravel inhibit 9 OB+ B
Summary of the content on the page No. 4
CN X5 Connector Interface Circuit Input Circuit SI SI Connecting to 12–24V 7 COM+4.7kΩ sequence input signals Servo-ON or other input • Connect to a contact of switch and relay, or a transistor Relay of an open collector output. • Use a switch or relay for micro current so that insufficient 12–24V 7 COM+4.7kΩ contact can be avoided. Servo-ON or other input • Lower limit of the power supply (12 to 24V) should not be less than 11.4V in order to secure the appropriate level of pr
Summary of the content on the page No. 5
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Output Circuit Sequence output circuit SO1 SO2 Install as per the fig. Shows without fail • This comprises a Darlington driver with an open collector. SO1 ALM+ This is connected to a relay or photo coupler. or other signal ALM– • There exists a collector-to-emitter voltage VCE(SAT) of or other signal 12–24V approx. 1V at transistor ON, because of Darlington con- nection of
Summary of the content on the page No. 6
CN X5 Connector Input signal (common) assignment to CN X5 connector pins Input Signals (Common) and their Functions Signal Pin No. Symbol Function I/F circuit Control signal 7 COM + • Connect to (+) of an external power supply (12VDC to – power (+) 24VDC). • Use source voltage of 12V±10% – 24V±10%. Control signal 41 COM – • Connect to (–) of an external power supply (12VDC to power (–) 24VDC). • The required capacity depends on the I/O circuit configuration. 0.5A or larger is recommended. •
Summary of the content on the page No. 7
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Signal Pin No. Symbol Function I/F circuit Command pulse 33 INH The function differs depending on the control mode. SI input inhibit page 134 Position control • Enter command pulse input inhibit. • You can disable this input with Pr43 (disable command pulse input inhibit). Pr43 value Meaning 1(Factory-setting) The INH signal (input) is disabled. 0 • With COM– closed, the pulse command signal (PU
Summary of the content on the page No. 8
CN X5 Connector Input signal assignment to CN X5 connector pins - designation(logic) Input Signals (Speed Control) and their Functions Signal Pin No. Symbol Function I/F circuit < At speed control > Speed (torque) 14 SPR/TRQR AI • This becomes speed command input (analogue) 0–±10V command page 134 • You can set-up the relationship between the command (15) (GND) voltage level and the motor speed, with Pr50 (Speed Command Input Gain) . • Use Pr51 to inverse the polarity of the command input. < A
Summary of the content on the page No. 9
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Signal Pin No. Symbol Function I/F circuit • Signal which is selected at Pr0A (ZSP Output Selection) will Zero speed 12 ZSP SO2 be turned on. detection page 135 Pr0A value Function Output(transistor) turns ON during the In-toque limiting. 0 Output(transistor) turns ON when the motor speed becomes 1 lower than that of the preset speed with Pr61(Zero speed). (Factory-setting) Output(transistor) tu
Summary of the content on the page No. 10
Trial run at Torque Control Mode Operation with CN X5 Connected 1) Connect CN X5. 2) Connect the control signal (COM+/COM–) to the power supply (12 to 24 VDC) . 3) Turn the main power (driver) ON. 4) Check the defaults of the parameters. 5) Connect between SRV-ON (CN X5 pin 29) and COM- (CN X5 pin 41) to make Servo-On active. The motor will be kept excited. 6) Apply an appropriate DC voltage between Torque command input TRQR (CN X5 pin 14) and GND (CN X5 pin 15) and verify the motor rotating dir
Summary of the content on the page No. 11
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] MEMO 141
Summary of the content on the page No. 12
Real time auto gain tuning Outline Gain auto Filter auto Load inertia of the machine is estimated Position/speed setting tuning Torque Motor command command at real time, and the optimum gain is set current Position/speed Applied Current Motor control filter control up automatically based on the estimated Operation command under actual operation conditions result. A load, which has a resonance, also Resonant frequency estimate can be handled owing to the adaptive fil- Load inertia estimate ter.
Summary of the content on the page No. 13
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Parameters, which are set up automatically The following parameters The following parameters are also set up are tuned automatically. to the following fixed values automatically. Parameter No. Name Parameter No. Name Set value 11 1st speed loop gain 27 Disturbance torque observer filter selection 0 12 1st speed loop integration time constant 30 2nd gain action set-up 1 13 1st speed detection filter
Summary of the content on the page No. 14
Parameter Setting Parameters for Function Selection Default setting is shown by [ ] Parameter Setting Parameter Name Function/Description No. range 00 Axis address 0 – 15 In communications with a host device such as a personal computer that uses [1] RS232C/485 with multiple axes, you should identify to which axis the host accesses and use this parameter to confirm axis address in terms of numerals. • At power on, settings of the rotary switch ID on the front panel (0 – F) will be programme
Summary of the content on the page No. 15
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Default setting is shown by [ ] Parameter Setting Parameter Name Function/Description No. range 04 Overtravel input 0 – 1 In the case of linear driving, in particular, to prevent mechanical damage due to inhibit overtraveling of work, you should provide limit switches on both ends of the axis, as shown below, whereby driving in a direction of switch action is required to be inhibited. Work CW
Summary of the content on the page No. 16
Parameter Setting Default setting is shown by [ ] Parameter Setting Parameter Name Function/Description No. range 08 Torque monitor 0 – 12 The parameter selects/sets a relationship between voltage output to the torque (IM) selection monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or number of deviation pulses. Setting value IM Signals Relationship between output level and torque or number of deviation pulses [0] Torque 3V / rated (100%) torque 1 3V / 31Pulse 2
Summary of the content on the page No. 17
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning Default setting is shown by [ ] Parameter Setting Parameter Name Unit Function/Description No. range 11 1st Velocity loop 1 – 3500 Hz • The parameter defines responsiveness of the speed loop. You need to gain [35]* set this speed loop gain high so as to improve responsiveness of the entire servo system by incr
Summary of the content on the page No. 18
Parameter Setting Parameters for real time auto gain tuning Default setting is shown by [ ] Parameter Setting Parameter Name Unit Function/Description No. range 20 Inertia ratio 0 – 10000 % • Defines the ratio of load inertia to the motor's rotor inertia. [100]* Pr20 = (rotor inertia / load inertia) x 100[%] • When you execute auto gain tuning, load inertia will be estimated and the result will be reflected in this parameter. Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio h
Summary of the content on the page No. 19
Connections and Settings in Torque Control Mode [Connections and Settings in Torque Control Mode] Default setting is shown by [ ] Parameter Setting Parameter Name Unit Function/Description No. range 27 Disturbance 0 –255 – • Cut-off frequency of the filter for disturbance torque observer is set. torque observer Set value Cutoff Frequency filter selection [0]* Disturbance Observer Disabled 1 – 255 Enabled, filter cutoff frequency [Hz] = 3.7 x setting A larger value provides stronger disturban
Summary of the content on the page No. 20
Parameter Setting Parameters for Switching to 2nd Gains Default setting is shown by [ ] Parameter Setting Parameter Name Unit Function/Description No. range 30 2nd gain action 0 – 1 – • The parameter selects switching of PI/P operation and the 1st/2nd gain set up switching. Setting value Gain Selection/Switching 0 The 1st Gain (Possible to switch PI/P) *1 [1]* Possible to switch the 1st/2nd gain *2 *1 Switching of 1 PI/P operation is done through gain switching input (GAIN CN X5 27-pin)
