6.Servo system setting

6. Servo system setting

6.1 Servo amplifier setting

Using the axis selection switch (CS1) of the servo amplifier, set the axis No. of the servo. For an axis not used, set one of 8 to E. The correspondence between the control axis No. of the servo and the controller

axis is determined by setting the parameter. Refer to "this manual/7.1.2Details of parameters" and "this

manual/8.2.2Details of parameters". Here, for details of the axis selection switch (CS1) of the servo

amplifier, refer to "Instruction Manual for Servo Amplifier".

Axis selection switch (CS1)

Servo Amplifier

Fig. 6.1.1 Control axis selection switch

Table 6.1.1 Control axis No. of servo

Setting value of axis selection switch (CS1)

9 to F

Content

Do not set

6.2 Parameter setting of servo amplifier

Set the parameter of servo amplifier by setup software of exclusive use. (Refer to "4.1 Necessary products " in this manual) Please install to the personal computer previously and prepare.

(1) The addition axis function does not support the incremental system. Please select the absolute position detection by parameter No.PA03.

(2) Set the rotation direction (forward run/reverse run) of the motor from the robot controller. Be sure to set the rotation direction of the basic parameter No. 14 POL motor of the servo amplifier to "0"

(CCW).

(3) According to an target operated by the servomotor, set the parameters of the gain, etc. For the details of setting, refer to "Instruction Manual for Servo Amplifier".

(4) The addition axis function does not support full closed system amplifier. If MR-J3-*BS is used, select the "Semi closed system" in the control mode select of basic setting parameter PA01. The movement according to instructions cannot be performed if the "Full closed system" is selected incorrectly. (The initial-setting value is the "Semi closed system")

(5) When using the linear servo motor and the direct drive motor, it is necessary to use the test mode of operation of the amplifier and to do "magnetic pole position detection" in advance. And, change parameter No.PS01 to disable the magnetic pole detection after completing magnetic pole position detection. (Please refer to the instruction manual of servo amplifier for detail of the method)

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