bnp-b2365(eng)b.pdf - 第291页
5. Spindle Adjustment 5 - 46 [3] Speed loop delay compensation adjustment This adjustment selects the delay co mpensati on control u sed at normal orientation stops f or tool changes, etc. Becau se the full-clo sed loop …
5. Spindle Adjustment
5 - 45
[2] Speed loop gain adjustment
In the same manner as for the position loop gain, a speed loop gain can be set separately from
the one used during deceleration for a operatio n that begins from the orientation complete d ON
status, following orientation deceleration control. Although the servo lock rigidity can be
improved by increasing the speed loop g ain during stop, vibration tends to be generated.
To change the post-orientation speed loop gain, enable a gain change by SP097/bitC=1
parameter setting, then set the desired speed loop proportional gain magnification and integral
gain magnification. The proportional and integral gains should be increased at the same rate,
and should be decreased if vibration occurs.
The effective speed loop gains are common to all coils, and are calculated using the formulas
shown below. If a magnification setting of "0" is set, a "256" setting is adopted.
SP227
Effective speed loop proportional gain = SP098 ×
256
SP228
Effective speed loop integral gain = SP099 ×
256
No. Abbr. Parameter name Details
Setting
range
Standard
SP098 VGOP* Speed loop gain
proportional term in
orientation control
mode
Set the speed loop proportional gain in orientation control mode.
When the gain is increased, rigidity is improved in the
orientation stop but vibration and sound become larger.
0 to 1000 63
SP099 VGOI* Orientation control
mode speed loop
gain integral term
Set the speed loop integral gain in orientation control mode. 0 to 1000 60
SP227 OXVKP Speed loop
proportional gain
magnification after
orientation
completed
0 to 2560
(1/256-fold)
0
SP228 OXVKI Speed loop
cumulative gain
magnification after
orientation
completed
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation control, set the magnification of each gain changed
to after orientation completed.
0 to 2560
(1/256-fold)
0
5. Spindle Adjustment
5 - 46
[3] Speed loop delay compensation adjustment
This adjustment selects the delay compensation control used at normal orientation stops for
tool changes, etc. Becau se the full-clo sed loop cont rol use d by the spin dle end d etector, etc., is
prone to overshooting at stops, the speed loop gain delay advance term (SP100) value is
adjusted upward.
SP100 value that is too high, however, will result in stop position inconsistency, particularly on
high-friction machines. In cases where stop position accuracy is required on spindles with high
frictional torques, set SP100=0, and select PI control.
<Examples of using PI control>
•
Positioning a workpiece with a lathe
• A machine that indexes a 5-plane machining atta chment
No. Abbr. Parameter name Details
Setting
range
Standard
SP100 VGOD* Orientation control
mode speed loop
gain delay advance
term
Set a loop gain delay advance gain in orientation control mode.
When this parameter is set to "0", PI control is applied.
0 to 1000 15
POINT
When forward and reverse run stop posi t ions differ even with PI control, machine's
backlash may be large. In such cases, accuracy can be improved by setting
orientation po sitioning direction as one direction only (unidirectional). (Refer to
spindle parameter SP097/bit0, 1)
[4] Torque limit adjustment
The torque during post-orientation stops is limited by the parameter shown below. In case of
performing a mechanical lock at orientation stops, be sure to lower the torque limit value to
avoid interference between the spindle motor and the machine.
If a torque limit is commanded by a spindle control input 1 even during an orientation stop,
however, the torque limit will be applied.
No. Abbr. Parameter name Details
Setting
range
Standard
SP104 TLOR* Torque limit value
after orientation
completed l
Set the torque limit value after orientation completed.
If the external torque limit signal is input, the torque limit value
set by this parameter is made invalid.
0 to 120
(%)
100
CAUTION
In case of locking the spindle mechanically at orientation stop s, be sure to enter a
torque limit to restrict the motor's output torqu e. (Reco mmended torque limit:
10% or less)
5. Spindle Adjustment
5 - 47
(4) Setting orientation positioning accuracy check
The positioning accuracy at orientation control is checked by the parameters shown below. An
error is detected if the positioning pulse error amount from the reference position (Z-phase)
exceeds the orientation control pulse miss check value (SP114). When an error is detected, the
spindle continues rotating until the next reference position is detected, and a positioning retry then
occurs. The "A9" warning is activated during the posi tioning retry, and the "5C" alarm is a ctivated if
the number of retries exce eds the number of orientation retry times (SP118).
No. Abbr. Parameter name Details
Setting
range
Standard
SP114 OPER Orientation control
pulse miss check
value
An alarm "5C" will occur if the pulse miss value at the
orientation stop exceeds this setting value. (Note that this is
invalid when set to "0".)
In this parameter, set the value to fulfill the following conditions.
SP114 setting value > 1.5 × SP004
(orientation in-position width)
0 to 32767
(360deg
/4096)
0
SP118 ORCT Orientation control
number of retry times
Set the number of times to retry when an orientation or
feedback error occurs.
The warning (A9) is issued while retrying orientation, and an
alarm (5C) is issued when the set number of times is exceeded.
0 to 100
(time)
0