4 AUXILIARY AND APPLIED FUNCTIONS

4.2.1 Current value control

The current value when using the ABS encoder is controlled by following functions.

(1)The validity of an encoder data during operation is checked.

(a)Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.)

(b)Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.)

(2)The following values can be monitored by the current value history monitor of MT Developer.

Monitor conditions

Monitor value

Multiple CPU system power ON/OFF

Encoder current value,

Servo command value,

 

Home position return completion

Monitor current value

 

(a)Current value history monitor Month/day/hour/minute

The time such as at the completion of home position return and servo amplifier power supply ON/OFF is indicated.

In order to indicate the time correctly, turn on SM801 (clock data read request) in the Motion SFC program after setting the clock data of special register.

(b)Encoder current value

When using the MR-J3-B, the multiple revolution data and within-one- revolution data read from the encoder is indicated.

(Note) : For the encoder current value in the home position data area, the encoder current value when the motor is within the in-position range at the completion of home position return is displayed (not encoder value of home position).

(c)Servo command value

The command value issued to the servo amplifier is indicated.

(d)Monitor current value

The current value controlled in the Motion CPU is indicated.

(Note) : A value near the feed current value is indicated. However, because the monitor current value and feed current value are different data, it is not abnormal even if a different value is indicated.

(e)Alarms

When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated.

(3)By setting of the "Allowable travel during power off", if the encoder data changes exceeding the setting range during power-off, it checks at servo amplifier power- on. (An error is displayed at the abnormal.)

"Allowable travel during power off" cannot be set for the Linear servo amplifier.

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