Application Examples ASDA Series Application Note
3-78 March, 2015
(46.875 * 110% ) / 60 * (P1- 46) * 4 < 8 * 10
6
Two servos’ setting of P1-46 has to be the same; this is the output resolution of the motor. The
higher the resolution is, the better control of the gantry will be. But, if it exceeds the controllable
range, accuracy would be affected when calculating the deviation between two axes.
After setting up P1-46, please set up P1-72 (Resolution of Linear Scale for Full-Closed Loop
Control): (P1-72) = (P1-46) * 4, both settings of the two servos should be the same.
Step 4: Set up the permitted deviation value of synchronization
Set up P1-73 the permitted deviation value of the two axes (for both servos). When the deviation
exceeds the range, AL.040 will occur. Thus, be sure to consider the position displacement
deviation of two axes that the actual mechanism can tolerate. If the set deviation value goes
beyond the actual mechanism’s tolerance, the mechanical system may be damaged.
For instance, the pitch of the ball screw is 10 mm, P1-46 = 60000 and P1-72 = 240000. If P1-73
is set to 30000 pulse, the deviation of two axes can be calculated as
mm25.110*
240000
30000
, when the deviation of two axes is over 1.25 mm, the alarm will occur.
Step 5: Check if phases of monitoring pulse and feedback pulse are compatible
Prepare the scope from PC software. As demonstrated in Figure 3.5.14, enter the monitoring
address and check if the system setting is correct.
1. At the bottom of the scope, select ADR and 32 bit of CH1 and enter 0x3F9060 in yellow blank,
which is the feedback pulse number of linear scale port (CN5) in the servo drive. This would be
a 32 bit value (monitoring the moving direction of synchronous servo drives).
2. Select 32 bit of CH2 and select Feedback Position in white blank. This is the feedback pulse
number of the motor (monitoring the moving direction of the servo drive that connected to the
scope).
3. Let the host controller issue position command and make two motors moving at the same time,
and then monitor the variation of PC scope. See Figure 3.5.4, the increasing amount of signal
of CH1 and CH2 are in reverse. If DI signal of CN5 is not moving in the same direction, as long
as the gantry synchronous control is activated, the alarm will be triggered because of
exceeding the permitted deviation of two axes. For the setting in this system, when the value
of P1-74 is set to 100, the feedback signal of CN5 will be in reverse direction.
To Next Page
Loading...
Need help?
General
