Position control unit

Transcription

1 Ver. HGE 3 EVOPK POE Ver. HGE 3 EVOPK POE Ver. HGE 3 EVOPK POE Ver. HGE 3 EVOPK POE J-F7 - MEHTOLIK-II Multi-axes position controller via high-speed MEHTOLIK-II Up to 6 axes controlled with minimum wiring. Only one cable between devices is needed. High-speed bus MEHTOLIK-II is specially designed for motion control upports position, speed and torque control. Programming languages: ladder, function blocks. mart active parts for OMO HMIs terminals reduce engineering time. ccess to the complete system from one point. etwork setup, servo drives configuring and monitoring, and PL programming. ystem configuration Personal computer software: X-One J series J-F7 MEHTOLIK-II 6 axes max. Input 00V igma-ii series ervo Drive V V 5 6 GDH- GDH- GDH- GDH- 00V 5 6 Limit switches contact sensors JUP-5 MEHTOLIK-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor 9

2 pecifications Model J-F7 lassification J-series PU bus unit pplicable PLs J-series J-series V. 3.0 or later in order to use function blocks (recomended JG-PU5 or Possible unit number settings 0 to F ontrol method MEHTOLIK-II (position, speed and torque control) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHTOLIK-II interface ontrolled axes 6 maximum I/O allocations ommon operating memory area ords allocated in PU bus unit area: 5 words (5 output words, 0 input words) xis operating memory area llocated in one of the following areas (user-specified): IO, work, auxiliary, holding, DM, or EM area. umber of words allocated: 50 words (5 output words, 5 input words) highest axis o. used ontrol units Position command unit ommand unit: depends on the electronic gear setting in the servo parameters. Default setting: pulses peed command unit for position control ommand units/s cceleration/deceleration speeds for 0,000 command units/s position control peed command unit for speed control 0.00% of the motor's maximum speed Torque command unit for torque control 0.00% of the motor's maximum torque ontrol command Position command range -,7,83,68 to,7,83,67 (command units) range peed command range for position control 0 to,7,83,67 (command units/s) cceleration/deceleration speeds for to 65,535 (0,000 command units/s ) position control peed command range for speed control % to % The upper limit is restricted by the maximum speed of the servo motor. Torque command range for torque control % to % The upper limit is restricted by the maximum torque of the servo motor. ontrol functions ervo lock/unlock Locks and unlocks the servo driver. Position control Positions to an absolute position or relative position according to the specified target position and target speed specified from the ladder program. Origin determination Origin search: establishes the origin using the specified search method. Present position preset: changes the present position to a specified position to establish the origin. Origin return: returns the axis from any position to the established origin. bsolute encoder origin: establishes the origin using a servo motor that has an absolute encoder, without having to use an origin search. Jogging Outputs a fixed speed in the or direction. Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt input is received while the axis is moving. peed control Performs speed control by sending a command to the servo driver speed loop. Torque control Performs torque control by sending a command to the servo driver current loop. top functions Deceleration stop: decelerates the moving axis to a stop. Emergency stop: positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis. Linear interpolation Up to 8 axes can be interpolated by using two interpolators ( axes per interpolator) vailable in unit version. or higher uxiliary functions cceleration/deceleration curves ets either a trapezoidal (linear) curve, an exponential curve, or an -curve (moving average). Torque limit estricts the torque upper limit during position control. Override Multiplies the axis command speed by a specified ratio. Override: 0.0% to 37.67% ervo parameter transfer eads and writes the servo driver parameters from the ladder program in the PU unit. Monitoring function Monitors the control status of the servo driver's command coordinate positions, feedback position, current speed, torque, etc. oftware limits Limits software operation for controlling positioning. Backlash compensation ompensates for the amount of play in the mechanical system according to a set value. External I/O One MEHTOLIK-II interface port ervo driver I/O / limit inputs, origin proximity inputs, external interrupt inputs to 3 (can be used as external origin inputs) Programming tandard ladder Directly over F unit memory area methods Function blocks Using standard PL open function blocks mart active parts Internal current consumption eight Use of OMO HMIs smart active parts optimizes PU usage and engineering time 360 m or less for 5 VD 95 g 30 Motion controllers

3 JUP-5 - MEHTOLIK-II interface unit Item Details Type JUP-5 pplicable servo drive GDH-@@@E models (version 38 or later) Installation method Mounted on the GDH servo drive side: 0. Basic Power supply method upplied from the servo drive control power supply. specifications Power consumption MEHTOLIK -II Baud rate/transmission cycle 0 MHz / 0.5 ms or more. MEHTOLIK-II communications communications ommand format Operation specification Positioning using MEHTOLIK-I/II communications. eference input MEHTOLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control cceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully closed control Position control with fully closed feedback is possible. Fully closed system Encoder pulse output in the servo drive 5 V differential line-driver output (complies with EI standard -) specifications Fully closed encoder pulse signal quad B line-driver Maximum receivable frequency for Mpps servo drive Power supply for fully closed To be prepared by customer. encoder Input signals in the servo drive ignal allocation changes possible Forward/reverse run prohibited, zero point return deceleration L External latch signals,, 3 Forward/reverse torque control Internal functions Position data latch function Position data latching is possible using phase, and external signals,, 3 Protection Parameters damage, parameter setting errors, communications errors, DT errors, fully closed encoder detecting disconnection LED indicators : alarm, : MEHTOLIK-I/II communicating omenclature J-F7 - position control unit LED indicators MLK - MEHTOLIK-II network status U - ontroller in U E - error EH - PL PU unit error EM - MEHTOLIK-II slave unit error UIT no. setting switch MEHTOLIK-II communications connectors: onnects to MEHTOLIK-II nodes 3

4 JUP-5 - MEHTOLIK-II interface unit otary switch () Used to set the MEHTOLIK-II station address 5 LED() larm status LED() MEHTOLIK-II communication status DIP switch () Used to for MEHTOLIK-II communications setting MEHTOLIK-II communications 6 and connectors: onnects to the MEHTOLIK-II system fully closed encoder signal connector Used for fully closed signal connection Ground wire onnected to ground mark on the servo drive Dimensions J-F7 - position control unit JUP-5 - MEHTOLIK-II interface unit Units: mm pprox. weight: 0. kg FG terminal M onnector to EVOPK ame plate Motion controllers

5 Installation MEHTOLIK-II interface connections To other MEHTOLIK-II station Backup battery*.8 to.5 V Zero point return deceleration L* with /DE O Forward run prohibit with P-OT OFF everse run prohibit with -OT OFF External latch * with /EXT O External latch * with /EXT O External latch 3* with /EXT3 O P / H 0 Ω / P H For the terminal station, connect a terminator (JEPM-60) + V P represents twisted-pair wires. BT (+) P BT (-) +VI /DE P-OT -OT /EXT /EXT /EXT 3 6 MEHTOLIK I/F unit type JUP-5 * onnect when using an absolute encoder and when the battery is not connected to 8. * et the signal assignment with the user constants represents shield. 3.3k Ω ervo drive type GDH (For EVOPK connection, see sigma-ii chapter) PG0V P /P PB /PB P /P ,, L 0 L 0 L 03 G External power supply Fully-closed encoder for speed/position detection larm code output Maximum operating voltage 30 VD Maximum output current 0 md 5 /OI+ Positioning completed 6 (O when positioning is completed) /OI- 7 /BK+ BK output* 8 /BK- (O when brake is released) 9 /-DY+ ervo ready output 30 /-DY- (O when ready) 3 LM+ ervo alarm output 3 LM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector shell Maximum output current 50 md FG onnect shield to connector shell. PG Ordering information Position controller unit ame MEHTOLIK-II position controller unit Model J-F7 MEHTOLIK-II related devices ame emarks Model MEHTOLIK-II For igma-ii series servo drives. JUP-5 interface unit (Firmware version 38 or later) MEHTOLIK-II Terminating resistor JEPM-60 terminator MEHTOLIK-II cables 0.5 meter JEPM meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM ervo system ote: efer to servo systems section for more information omputer software pecifications X-One version. or higher Model X-One 33

6 LL DIMEIO HO E I MILLIMETE. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I09E-E-0 In the interest of product improvement, specifications are subject to change without notice. 3 Motion controllers