Table of Contents
Advertisement
CHAPTER 3 OPERATION
3.3 Operation with VS Type
This section describes the VS type (RST □□□F7-VS2) servo amplifier.
The servo amplifier occupies 16 words of the IQ area.
3.3.1
IQ Area
3
Select the individual module and servo in the system definition of D300win.
Designate an arbitrary station number. Designate "0" as a station number of the servo amplifier itself.
Address
15
0
1
2
3
Feedback speed (1 word)/parameter current value/monitor area 1 (PC ← servo amplifier)
4
5
6
7
8
RDY
Toggle
9
answer 0
answer 1
10
11
12
Speed command (1 word)/write parameter reference value/workpiece inertia ratio (PC ← servo amplifier)
13
Torque command (1 word)/write parameter reference value/antiresonant frequency (PC ← servo amplifier)
14
S-ON
Toggle
15
monitor 0
monitor 1
The bit data specified in words 8 and 9 and bit commands specified in word positions 14 and 15 are
always enabled.
Refer to "2.5.3 Signal Descriptions" for details on each bit information and bit commands.
4000H in the speed command and feedback speed is equivalent to 3000r/min. (4000H: 16384D)
4000H in the torque command and torque is equivalent to 300%.
3-8
Operation with VS Type
14
13
12
11
10
Command position (PC ← servo amplifier)
Feedback position (PC ← servo amplifier)
Torque (1 word)/parameter current value/monitor area 2 (PC ← servo amplifier)
Position data sampling timing (PC ← servo amplifier)
Pulse train input cumulative value (PC ← servo amplifier)
Alarm
Zero
Zero
Homing
INP
detection
deviation
speed
completion
Toggle
CONT
CONT
CONT
CONT
1 Through
2 Through
3 Through
4 Through
Position command (PC → servo amplifier)
Position
FWD
REV
ORG
RST
preset
Z-phase
Interrupt
Position
Toggle
signal
position
command
EMG
detection
detection
operation
command
command
bit
9
8
7
6
Torque
Forced
Data
Deviation
Toggle
limit
stop
error
over
detection
detection
Internal
Position
Interrupt
CONT
Z-phase
command
preset
position
5 Through
detection
pulse zero
response
detection
Position
Torque
Parameter no. reference value
control
control
Interrupt
Deviation
CONT
CONT
input
Free-run
clear
6
enable
5
4
3
2
1
ALM4
ALM3
ALM2
ALM1
error
CSEL
CSEL
CSEL
Over write
2
1
0
completion
SEL
SEL
SEL
Write
7
2
1
0
command
0
ALM0
Read
completion
Read
command
Advertisement
Table of Contents
