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Part 5 Chapter 5 Servo Adjustments Edition 1.0 5-5-4 CP-6 Series Mechanical Reference 5.2 Servo Adjustments The following section discusses CP-6 series servo amplifier adjustments. The two adjustments to be discussed are…

Part 5 Chapter 5 Servo Adjustments

Edition 1.0 5-5-3 CP-6 Series Mechanical Reference

Servo Amplifiers

The amplifier takes instructions from the servo card and provides the power to the

motors. This controls the actual movement of the motor (via the motor windings). The

locations of each are depicted below.

Servo Motors

Each servo motor found on FUJI machines need to be precisely controlled. In order to

control these motors, a monitoring device called a “pulse generator” or “encoder” is

mounted to the motor shaft. The encoder monitors the rotation of the motor shaft by

tracking a circular disk attached to that shaft. A fixed number of holes are cut into this

disk which allows an infrared LED to shine through these holes. In this way the encoder

can track shaft motion. The number of holes cut into the disk determines the encoders’

resolution. Also, on one point of the encoder disk, a single hole is present which sends a

“home” pulse signal once per revolution.

The servo amplifier judges the rotational direction by comparing phase A with phase B,

to see which phase is leading the other.

Distance traveled is determined by the number of pulses received.

Speed is determined by the frequency of the pulses that are received.

CAM

F θ

CP-6

Nozzle

change

Servo box 1 Servo box 2

Operation box 1

CP6M5076

Part 5 Chapter 5 Servo Adjustments

Edition 1.0 5-5-4 CP-6 Series Mechanical Reference

5.2 Servo Adjustments

The following section discusses CP-6 series servo amplifier adjustments. The two

adjustments to be discussed are:

• Zero adjustments

• Gain adjustments

Performing zero adjustments on CP-6 series amplifiers will require the use of a digital

operator.

Note: Manual zero adjustments will be necessary for analog input amplifiers, D1 and D2. For X,

Y, Z, FRQ, FQ and NC amplifiers on the CP643E and CP643ME machines, adjustments

are performed on the amplifier itself. For all other amplifiers the digital operator below is

used.

RESET

Servopack

Digital

Operator

Jusp-0p02A

DSPL

SET

ALARM

JOG

SVON

DATA

ENTER

Yaskawa

Digital Operator

CP6M5077

Part 5 Chapter 5 Servo Adjustments

Edition 1.0 5-5-5 CP-6 Series Mechanical Reference

5.2.1 CP-642 Servo Adjustments

When performing servo adjustments on the CP-642, the machine should be booted up in

“Mechacheck mode”, the boot-up procedure for which is detailed in the section below.

Note: The procedure explained below is valid from ROM versions 305 or later.

Before Starting Adjustments

1) Boot-up the machine in “Mechacheck mode”.

[3] (axis change button) + RESET + POWER ON

Following this, both shutters should be raised to avoid collision with the device

tables.

2) Ensure the cam axis is at 0° and that all stopper solenoids are set to OFF.

3) Specify the axis to be adjusted:

[SERVO] (F5) → [+ PAGE], [- PAGE]

4) Prepare axis movement:

[SERVO MOVE] (F1)

5) Perform zero-setting.

Zero Adjustment

<D-Axis>

[V_TEST] (F3) → [ZERO] (F3) → START

The current servo count appears on the screen. The value will fluctuate.

Turn the ZERO volume on the amp slowly to eliminate any fluctuation.

When the counter becomes stable, press CYCLE STOP.

Refer to the figure below for the location of the ZERO volume.

<C-Axis>

[V_TEST] (F3) → [ZERO] (F3) → START

The current servo count appears on the screen. The value will fluctuate.

When adjusting the amp, perform automatic zero adjustment first and then manual

adjustment.

Automatic Zero Adjustment

[MODE] (sw 4)

→ [C] [n] [-] [0] [0] will be displayed

→ [DATA] (sw 1 + sw 4)

→ [0] [0] [-] [0] [0] will be displayed

→ [▲] (sw 2)

→ [0] [0] [-] [0] [1] will be displayed

→ [MODE] (sw 4)

ZERO

CP6M5078