bnp-b2365(eng)b.pdf - 第202页

4. Servo Adjustment 4 - 3 4-1-2 Output data settings No. Abbrev. Parameter name Explanation SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel. SV062 DA2NO D/A out…

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4. Servo Adjustment
4 - 2
CAUTION
"Chapter 4 Servo adjustment" explains the methods when controlling with the
high-gain specifications.
4-1 D/A output specifications for servo drive unit
The MDS-C1-V1/V2 servo drive unit has a function to D/A output the various control data.
The servo adjustment data required for setting the servo parameters to match the machine can be D/A
output. Measure using a hi-coder, oscilloscope, etc.
4-1-1 D/A output specifications
Item Explanation
No. of channels 2ch
Output cycle 888µs (min. value)
Output precision 8bit
Output voltage range 0V to 2.5V (zero) to +5V
Output magnification
setting
±1/256 to ±128-fold
Output pin
CN9 connector
MO1 = Pin 9
MO2 = Pin 19
GND = Pins 1, 11
Function
Phase current feedback output function
L axis U phase current FB : Pin 7
L axis V phase current FB : Pin 17
M axis U phase current FB : Pin 6
M axis V phase current FB : Pin 16
Others
The D/A output for the 2-axis unit
(MDS-C1-V2) is also 2ch. When using
the 2-axis unit, set -1 for the output
data (SV061, 62) of the axis that is not
to be measured.
With the MDS-C1-V1/V2 Series, there is a 2.5V offset voltage (2.5V when data is 0), so the zero level
position must be adjusted on the hi-corder side.
+2.5 [V]
0 [V]
Speed FB
Single
shot
Current FB
+2.5 [V]
0 [V]
+5 [V]
+5 [V]
Scroll
Memory
Example of D/A out pu t wa veform
MO19
Name
LG
LUIFB
MUIFB
2
5
1
Pin
6
4
3
10
7
8
CN9 connector
MO2 19
Name
LG
LVIFB
MVIFB
12
15
11
Pin
16
14
13
20
17
18
4. Servo Adjustment
4 - 3
4-1-2 Output data settings
No. Abbrev. Parameter name Explanation
SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel.
SV062 DA2NO D/A output channel 2 data No.
No. Output data Original data unit
Output magnification
standard setting value
(SV063, SV064)
Output unit for standard
setting
Output
cycle
-1 D/A output not selected
For 2-axis drive unit (MDS-C1-V2). Set the parameters to another axis in the drive unit that is not D/A
output.
13 (2000r/min) 1000r/min/V 3.55ms
0
ch1: Speed feedback r/min
9 (3000r/min) 1500r/min/V 3.55ms
ch2: Current command Stall % 131 Stall 100%/V 3.55ms
1 Current command Stall % 131 Stall 100%/V 3.55ms
2 -
3 Current feedback Stall % 131 Stall 100%/V 3.55ms
4 -
5 -
6 Position droop NC display unit/2 328 (Display unit = 1µm) 10µm/0.5V 3.55ms
7 -
8 Feedrate (F∆T)
(NC disiplay unit/2)/
Communication cycle
55 (1µm, 3.5ms) 1000 (mm/min)/0.5V 3.55ms
9 -
10 Position command NC display unit/2 328 (Display unit = 1µm) 10µm/0.5V 3.55ms
11 -
12 Position feedback NC display unit/2 328 (Display unit = 1µm) 10µm/0.5V 3.55ms
13 -
14
Collision detection
estimated torque
Stall % 131 Stall 100%/V 3.55ms
15
Collision detection
disturbance torque
Stall % 131 Stall 100%/V 3.55ms
64
Current command
(high-speed)
Internal unit 8 (adjustments required) - 888µs
65
Current feedback
(high-speed)
Internal unit 8 (adjustments required) - 888µs
77
Estimated disturbance
torque
Internal unit 8 (adjustments required) - 888µs
125
Test output saw tooth
wave
0V to 5V 0 (256) Cycle: 227.5ms 888µs
126 Test output oblong wave 0V to 5V 0 (256) Cycle 1.7ms 888µs
127 Test output 2.5V (data 0) 2.5V 0 (256) - 888µs
4-1-3 Setting the output magnification
Normally, set the standard setting value for the output scale (SV063, SV064). When "0" is set, the
magnification will be the same as "256".
DATA ×
SV063
256
×
5 [V]
256
(
8 bit
)
+ 2.5 [V] (Offset) = Output voltage [V]
(Example) To output current FB with stall 100%/V unit (SV061=3, SV063=131)
100 ×
131
256
×
5
256
+ 2.5 = 3.499 [V]
No. Abbrev. Parameter name Explanation Setting range
SV063 DA1MPY D/A output channel 1
output scale
SV064 DA2MPY D/A output channel 2
output scale
Set the output magnification with a 1/256 unit.
When "0" is set, the magnification will be the same as "256".
-32768 to 32767
(1/256-fold)
4. Servo Adjustment
4 - 4
4-2 Gain adjustment
4-2-1 Current loop gain
No. Abbrev. Parameter name Explanation Setting range
SV009 IQA Current loop q axis lead
compensation
SV010 IDA Current loop d axis lead
compensation
1 to 20480
SV011 IQG Current loop q axis gain
SV012 IDG Current loop d axis gain
Set the gain of current loop.
As this setting is determined by the motor’s electrical
characteristics, the setting is fixed for each type of motor.
Set the standard values for all the parameters depending on
each motor type.
1 to 8192
4-2-2 Speed loop gain
(1) Setting the speed loop gain
The speed loop gain 1 (SV005: VGN1) is an important parameter for determining the
responsiveness of the servo control. During servo adjustment, the highest extent that this value
can be set to becomes important. The setting value has a large influence on the machine cutting
precision and cycle time.
[1] Refer to the following table and set the standard VGN1 according to the size of the entire load
inertia (motor and machine load inertia).
[2] If the standard speed gain setting value is exceeded, the current command fluctuation will
increase even if the speed feedback fluctuates by one pulse. This can cause the machine to
vibrate easily, so set a lower value to increase the machine stability.
<When machine resonance does not occur at the standard VGN1>
Set the standard VGN1. Use the standard value if no problem (such as machine resonance)
occurs. If sufficient cutting precision cannot be obtained at the standard VGN1, VGN1 can be
raised above the standard value as long as a 70 percent margin in respect to the machine
resonance occurrence limit is maintained. The cutting accuracy can also be improved by adjusting
with the disturbance observer.
<When machine resonance occurs at the standard VGN1>
Machine resonance is occurring if the shaft makes abnormal sounds when operating or stopping,
and a fine vibration can be felt when the machine is touched while stopped. Machine resonance
occurs because the servo control responsiveness includes the machine resonance points. (Speed
control resonance points occur, for example, at parts close to the motor such as ball screws.)
Machine resonance can be suppressed by lowering VGN1 and the servo control responsiveness,
but the cutting precision and cycle time are sacrificed. Thus, set a vibration suppression filter and
suppress the machine resonance (Refer to section "4-3-2 Vibration suppression measures"), and
set a value as close as possible to the standard VGN1. If the machine resonance cannot be
sufficiently eliminated even by using a vibration suppression filter, then lower the VGN1.
Load inertia scale (%)
Isolated motor
100
200
0
500
400
300
100 200 400 600300 500
Load inertia scale (%)
Standard
VGN1
Isolated motor
100
200
0
500
400
300
100
200 400 600300 500
HC52~HC152
HC202~HC902
HC53~HC203
<HC>
HC353~HC703
HA40N
HA80N/100N/900N
HA43N~HA103N
<HAN>
HA053~HA33N
HA200N~HA700N
HA203N~HA703N
High-gain specifications High-gain specifications