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Sharp CP-SR421 Manual de usuario Pagina 340

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16. FULLY CLOSED LOOP SYSTEM (available in the future)
16 - 3
16.1.2 Selecting procedure of control mode
(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
"4500"
"0"
ࡈ࡞ࠢࡠ࡯࠭࠼ᯏ⢻ㆬᛯ1
([Pr.PE01])
ㆇォࡕ࡯࠼ㆬᛯ
([Pr.PA01])
"_ _ _ 1"
"_ _ _ 0"
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ
࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
"_ _ 0 _"
ࠨ࡯ࡏࠕࡦࡊ
"_ _ 1 _"
(16.3.1㗄(2)(a)ෳᾖ)
ࠦࡦ࠻ࡠ࡯࡜ߩ
࡙࡯ࠩ࡯࠭ࡑ࠾ࡘࠕ࡞ෳᾖ
ࠝࡈ
ࠝࡦ
(16.3.1㗄(2)(b)ෳᾖ)
࠺ࡘࠕ࡞ࡈࠖ࡯࠼
ࡃ࠶ࠢ೙ᓮ
࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
"1㨪4499"
ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
ࡈ࡞ࠢࡠ࡯࠭࠼࠺ࡘࠕ࡞
ࡈࠖ࡯࠼ࡃ࠶ࠢࡈࠖ࡞࠲
([Pr.PE08])
࠮ࡒࠢࡠ࡯࠭࠼ࠪࠬ࠹
ࡓ
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
ࠨ࡯ࡏࡕ࡯࠲஗ᱛᤨ(0㨪˶)
ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ
ㆇォਛ(˶㨪)
࠮ࡒࠢࡠ࡯࠭࠼೙ᓮ
࠮ࡒࠢࡠ࡯࠭࠼೙ᓮࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ
+
+
+
-
࠺ࡘࠕ࡞ࡈࠖ࡯࠼ࡃ࠶ࠢࡈࠖ࡞࠲
ࠨ࡯ࡏࡕ࡯࠲
࡝࠾ࠕࠛࡦࠦ࡯࠳
૏⟎೙ᓮེ
ࡂࠗࡄࠬ
ࡈࠖ࡞࠲
ࡠ࡯ࡄࠬ
ࡈࠖ࡞࠲
˶(ᵈ)
๟ᵄᢙ[rad/s]
ㆇォ⁁ᘒ
೙ᓮ⁁ᘒ
Note. "Ȧ" (a dual feedback filter band) is set by [Pr. PE08].
Servo amplifier
Operation mode selection
([Pr. PA01])
Refer to section 16.3.1 (2) (a)
Semi closed loop system
Semi closed loop
control
Refer to the controller
user's manual.
On
Off
Refer to section 16.3.1 (2) (b)
Fully closed loop function
selection 1
([Pr. PE01])
Fully closed loop system
Fully closed loop dual
feedback filter
([Pr. PE08])
to
to
or more)
Semi closed loop control
Dual feedback
control
Fully closed loop control
Servo motor
Position
control unit
High-pass
filter
Low-pass
filter
Linear encoder
(Note)
Fully closed loop
control
Semi closed loop
control
Dual feedback filter
Control status
Operation status
Servo motor during a stop (0 to Ȧ)
In operation (Ȧ or more)
Frequency
Fully closed loop control
Semi closed loop control
"1㨪17999"
"18000"
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