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Pendulum program flow chart

The equipment is driven by two servo controllers, one servo is the master station and the other is the
slave station. The control signal of the master station is given by the external, and the control signal of
the slave station is given by the master station.
Equipment operation can be divided into: free state, start, stop, brake, alarm several states.
Equipment control process:
1, after the power supply servo ready signal (master, slave servo ready), then by the external system to
enable the signal, the device is in a free state (zero speed, no torque output); if the equipment to lock ,
The external signal can be set to X3, the device into the braking state (zero speed, with torque output),
the X3 is set to 0 return to the free state.
2, when the device needs to start, first ensure that the device is in a free state, and then set the X1, then
enter the start state, the device began to swing, and the host output point Q5 output.
3, when the swing angle reaches the E08 set value, the device enters the free state; until the host
receives the external system parking signal (X2 = 1), then the host to the machine to stop the signal and
control the device parking; when the parking in placeThe host output point Q5 is not output.
4, abnormal alarm, if it is from the machine alarm then the host can still run normally, through an
external given signal to control the parking or braking; when the host alarm, the host fault relay alarm
signal, the host received the host alarm The signal is immediately parked by the slave control device.
5, the proposed external system according to the host Q5 state to give a brake signal (host X3).
Precautions:
1, no load case can be reduced according to the scene of the host and the machine E02 set value.
2, when the E02 set is large, the host and slave E03 settings should not be too large, or may cause the
servo controller in the parking / braking current is too high or the temperature is too high and alarm.
**********************************************
Pendulum master station
**********************************************
E02 Torque: The output torque at start-up state, such as when load.
Set value: 700 Setting range: 0 ~ 700

Positioning command setting PSG: In the positioning control, the deceleration curve is set by
the positioning command (PSG). When performing positioning control, it is necessary to set the
PSG to a value greater than zero, and the command has the function of starting the positioning.
The PSG value adapted to the moment of inertia or friction of the driven machine can be set.
Figure 8-3 shows a simplified diagram of the PSG value and the deceleration curve. In the case
of mechanical dynamic overshoot, use a smaller PSG value. The PSG value is set in the same
way as the SFT. When positioning control is performed, the slope of the motor acceleration
curve is determined by parameter E11 (SFT), and the slope of the motor deceleration curve is
determined by PSG. As shown in Figure 8-3.

E03 Percentage of braking, unit (%): The output torque corresponds to the percentage of the output
torque in the stop and braking states. The output torque of the brake state is E02 * E03 / 100.
Setting value: 45 Setting range: 10 ~ 100

E04 Reduction ratio: If the reduction ratio is 120: 1, set to 120.


Set value: 120

External axis input pulse multiplier 1 setting ÷B: Output set value = External input pulse number
× E03/E04
E05 Starting angle, unit (degrees): the minimum angle when starting from the set value is too large may
cause the device to swing the first time can not reach the angle and can not be normal swing.
Set value: 5
E06 commutation speed, unit (0.01HZ): After the pendulum is completed, the speed threshold is
changed when the starting speed is less than the set value, and the output torque is set to 0. Press E10
to set the time to wait for the commutation.
Set value: 200
E07 Detection start speed, unit (0.01HZ): After completion of the pendulum, the commutation speed
threshold is completed and the current start / braking torque is given when the current speed is greater
than the set value.
Set value: 500
E08 Maximum angle setting, unit (degrees): The maximum angle setting when swinging, the output
torque is set to 0 when the current angle reaches the set value, and the device enters the free swing
state.
Set value: 90
E09 temperature alarm threshold 800
E10 commutation delay: start delay after reaching the commutation speed (E06) set value, and start the
detection of E07 after the delay is finished. Calculation formula, time t = set value / 400, unit (seconds),
set the value is too small may cause mechanical back and forth shock, too large torque is given a short
time.
Set value: 200

E11 parking delay: the last stage of the stop by the set value time to determine the torque to ensure that
the device is completely stopped, the formula, time t = set value / 400, unit (seconds).
Set acceleration SFT: Set value = (ΔHz × 20) / t, △ Hz is the frequency change amount, and t is
the time used (unit: second). As shown in Figure 8-3.
E 12 for shaft encoder
Set the following mode: 0: Normal positioning, no external axis pulse input is required. 1:
Position synchronization, external shaft encoder. 2: External axis positioning, external encoder.
3: Position following 1, external encoder or pulse train input. When the external axis pulse is
reversed, the number of pulses following the hysteresis is not compensated, and the motor
directly follows in the reverse direction. 4: Position following 2, external encoder or pulse train
input. When the external axis pulse is reversed, the number of pulses after the completion is
compensated, and the motor follows in the reverse direction.

Set value: 800


**********************************************
X0 enabled
X1 starts
X2 stops
X3 brake
**********************************************
Q0 servo ready
Q1 Positive torque (X1 output to slave)
Q2 Negative moment (output to slave X2)
Q3 brake (X3 output to slave)
Q4 stop status (X4 output to slave)
Q5 non-stop status (no output other than the external signal or parking in place when there is no output,
the device starts to output)
Q7 Servo fan output point
**********************************************
Fault relay: output to the station X5
TA: Abnormal output common
TB: Abnormal output normally closed contact
TC: Abnormal output normally open contact
When the main station alarm is output, the alarm signal is output from the fault relay to the signal input
terminal X5 of the slave station. When the master station receives the main station alarm signal, the
slave station controls the device to stop immediately.
**********************************************
Pendulum from the station
**********************************************
E02 Torque: The output torque at start-up state, such as when load.
Set value: 700 Setting range: 0 ~ 700
E03 Percentage of braking, unit (%): The output torque corresponds to the percentage of the output
torque in the stop and braking states. The output torque of the brake state is E02 * E03 / 100.
Setting value: 60 Setting range: 10 ~ 100
E09 temperature alarm threshold 800
**********************************************
X0 enabled
X1 positive moment (given by master station Q1)
X2 Negative moment (given by master Q2)
X3 brake (given by master Q3)
X4 stop state (given by master Q4)
X5 main station alarm stop (given by master station fault relay)
**********************************************
Q0 servo ready
Q1 Positive torque (for monitoring)
Q2 Negative moment (for monitoring)
Q3 brake (for monitoring)
Q4 stop status (for monitoring)
Q7 Servo fan output point
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