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(5-1) Example of parameter settings for Master-Slave control
<How to achieve speed 5 : 1 between master and slave>
Code
Function
[A044]
Main Control mode
[P011]
Encoder pulse (ppr)
[P012]
Vector control mode
Mode of the pulse train
[P013]
input
Stop
[P014]
orientation
[P015]
Speed while orientation
[P016]
Direction of orientation
Orientation
[P017]
range
Position of an electronic
[P019]
gear
Numerator of an
[P020]
electronic gear
Denominator of an
[P021]
electronic gear
Feed
[P022]
(FFWG)
[P023]
Position loop gain (G)
(Note 1)
N [P020] = 1024
D [P021] = 1024 x 5 = 5120
5
REF
N/D
[P019]=01
(REF side)
Fig 11. Electronic gear of APR control
Master SJ300
P24
ORT
SJ-FB
SAP
SAN
SBP
SBN
EAP
EAN
EBP
EBN
EZP
EZN
EP5
EG5
Motor
Fig 12. Wiring and timing chart example of Master-Slave control
© 2002 Hitachi America, Ltd.
position
while
completion
forward
gain
Gf (P022)
1
+
G (P023)
-
FB
P24
STAT
AP
SAP
AN
SAN
BP
SBP
BN
SBN
EAP
EAN
EBP
EBN
EZP
EZN
EP5
EG5
Set value
Master
05 (V2)
1,024
00 (ASR)
*
60
3.00 Hz
00 (FW)
20
-
01 (REF side)
-
-
-
-
Common condition :
+
+
APR
Slave SJ300
SJ-FB
AP
AN
BP
BN
Motor
Slave
05 (V2)
1,024
01 (APR)
Depends
*
encoder
-
15 pulses * 4 = 60
-
-
-
5 pulses * 4 = 20
(Note 1)
1,024
(Note 1)
5,120
1,024 * 5 (Note 1)
Depends
Depends
s
Encoder = 1,024 ppr for both master and
slave motor
s
Master is driven by ASR
s
Master is stopped by positioning (3Hz of
orientation speed)
s
Master stops 15 pulses after a Z pulse is
given during orientation (3 pulses for the
slave)
s
Both master and slave motors stop at the
same time.
s
Orientation completion range is 5 pulses
STAT
ON
ORT
Master
Motor
speed
slave
Based on the
set ramp time
Remarks
on
the
ON
Orientation
mode
19
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