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Positioning Control Contents
vii
1. The World of Positioning Control...........................................................1-1
1.1 Welcome to the new world! ................................................................................. 1-1
1.2 Diversified actuators............................................................................................ 1-2
1.3 Positioning method type ......................................................................................1-4
2. Positioning by AC Servo System...........................................................2-1
2.1 When an AC servo system is introduced.............................................................2-1
2.2 Examples of AC servo systems...........................................................................2-3
3. Components of Positioning Control and Their Roles ............................3-1
3.1 Positioning controller ........................................................................................... 3-4
3.1.1 Command pulse and feed quantity............................................................................3-4
3.1.2 Command pulse and feed speed ..............................................................................3-4
3.1.3 Setting the acceleration/deceleration time ................................................................ 3-5
3.1.4 Backlash correction function ..................................................................................... 3-5
3.1.5 Zero point return function ..........................................................................................3-6
3.2 Servo amplifier and servo motor..........................................................................3-7
3.2.1 Positioning control in accordance with command pulse............................................ 3-7
3.2.2 Deviation counter function......................................................................................... 3-7
3.2.3 Servo lock function .................................................................................................... 3-7
3.2.4 Regenerative brake function .....................................................................................3-8
3.2.5 Dynamic brake function.............................................................................................3-8
3.3 Drive mechanism.................................................................................................3-9
3.3.1 Concept of drive system movement quantity ............................................................ 3-9
3.3.2 Setting the target position........................................................................................3-11
4. Advanced Positioning............................................................................4-1
4.1 Interpolation control .............................................................................................4-1
4.2 Other controls ...................................................................................................... 4-3
5. Actual Positioning..................................................................................5-1
5.1 Demonstration Equipment ................................................................................... 5-1
5.1.1 Basic Set ................................................................................................................... 5-1
5.1.2 Comprehensive Set................................................................................................... 5-1
5.2 Operation of the demonstration equipment ......................................................... 5-2
5.2.1 Program example ...................................................................................................... 5-3
5.2.2 Writing the program...................................................................................................5-4
5.2.3 Parameters................................................................................................................5-5
5.2.4 Operation................................................................................................................... 5-7
6. Product Line up .....................................................................................6-1
6.1 Position controller ................................................................................................ 6-1
6.2 Servo amplifier.....................................................................................................6-5
6.3 Servo motor ......................................................................................................... 6-7
Appendix A:.............................................................................................. A-1
A-1: Tentative Selection of Motor Capacity.................................................................A-1
A-1-1: Motor effective torque................................................................................................A-2
A-1-2: Load inertia moment..................................................................................................A-4