bnp-b2365(eng)b.pdf - 第301页

5. Spindle Adjustment 5 - 56 (3) Disturbance observer The disturbance observer estimate s the disturbance torque and compensate s accordi ngly, thereby minimizing cutting time disturbance, frictional resi stan ce, and to…

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5. Spindle Adjustment
5 - 55
< Spindle parameters>
No. Abbr. Parameter name Unit
Setting
range
Standard
value
SP003 PGC0 C-axis non-cutting position loop gain rad/s 1 to 100 15
SP129 SPECC*
C-axis specifications
(The standard value is set according to the servo drive for interpolation
control.)
HEX
0000 to
FFFF
Standard:
0000
High-gain:
0008
SP130 PGC1 First position loop gain for cutting on C-axis rad/s 1 to 100 15
SP131 PGC2 Second position loop gain for cutting on C-axis rad/s 1 to 100 15
SP132 PGC3 Third position loop gain for cutting on C-axis rad/s 1 to 100 15
SP133 PGC4 Stop position loop gain for cutting on C-axis rad/s 1 to 100 15
SP134 VGCP0* C-axis non-cutting speed loop gain proportional item 0 to 5000 63
SP135 VGCI0* C-axis non-cutting speed loop gain integral item 0 to 5000 60
SP136 VGCD0* C-axis non-cutting speed loop gain delay advance item 0 to 5000 15
SP137 VGCP1* First speed loop gain proportional item for C-axis cutting 0 to 5000 63
SP138 VGCI1* First speed loop gain integral item for cutting on C-axis 0 to 5000 60
SP139 VGCD1* First speed loop gain delay advance item for cutting on C-axis 0 to 5000 15
SP140 VGCP2* Second speed loop gain proportional item for cutting on C-axis 0 to 5000 63
SP141 VGCI2* Second speed loop gain integral item for cutting on C-axis 0 to 5000 60
SP142 VGCD2* Second speed loop gain delay advance item for cutting on C-axis 0 to 5000 15
SP143 VGCP3* Third speed loop gain proportional item for cutting on C-axis 0 to 5000 63
SP144 VGCI3* Third speed loop gain integral item for cutting on C-axis 0 to 5000 60
SP145 VGCD3* Third speed loop gain delay advance item for cutting on C-axis 0 to 5000 15
SP146 VGCP4* Speed loop gain proportional item for stop of cutting on C-axis 0 to 5000 63
SP147 VGCI4* Speed loop gain integral item for stop of cutting on C-axis 0 to 5000 60
SP148 VGCD4* Speed loop gain delay advance item for stop of cutting on C-axis 0 to 5000 15
SP149 CZRN C-axis zero point return speed r/min 1 to 500 50
SP150 CPDT C-axis zero point return deceleration point 1 to 1000 1
SP151 CPSTL C-axis zero point return shift amount (low byte) 0000
SP152 CPSTH C-axis zero point return shift amount (high byte)
1/1000
deg
(HEX)
00000000
to
FFFFFFFF
0000
SP153 CINP C-axis in-position width
1/1000
deg
(HEX)
0000 to
FFFF
03E8
SP154 CODRL* Excessive error width on C-axis (low byte) D4C0
SP155 CODRH* Excessive error width on C-axis (high byte)
1/1000
deg
(HEX)
00000000
to
FFFFFFFF
0001
SP156 OVSH C-axis overshoot compensation 0.1% 0 to 1000 0
SP159 CPY0 C-axis non-cutting variable excitation ratio % 0 to 100 50
SP160 CPY1 C-axis cutting variable excitation ratio % 0 to 100 100
SP161 IQGC0* Current loop gain magnification 1 for non-cutting on C-axis % 1 to 1000 100
SP162 IDGC0* Current loop gain magnification 2 for non-cutting on C-axis % 1 to 1000 100
SP163 IQGC1* Current loop gain magnification 1 for cutting on C-axis % 1 to 1000 100
SP164 IDGC1* Current loop gain magnification 2 for cutting on C-axis % 1 to 1000 100
SP165 PG2C C-axis position loop gain 2 rad/s 0 to 999 0
SP166 PG3C C-axis position loop gain 3 rad/s 0 to 999 0
<Servo parameters>
No. Abbr. Parameter name Unit
Setting
range
Standard
value
SV003 PGN1 Position loop gain 1 rad/s 1 to 200 33
SV004 PGN2 Position loop gain 2 rad/s 0 to 999 0
SV057 SHGC SHG control gain rad/s 0 to 1200 0
5. Spindle Adjustment
5 - 56
(3) Disturbance observer
The disturbance observer estimates the disturbance torque and compensate s accordi ngly, thereby
minimizing cutting time disturbance, frictional resi stan ce, and torsion vibration. It is also effective in
suppressing vibration that is caused by spe ed advance compensation control.
The disturbance observer function is enabled in all control modes (not just the C-axis control)
during a spindle control input 4/bitF=1 (increased spindle hold force). The position loop gain and
speed loop gain settings a re set separately during disturbance observer operation.
<Setting method>
[1] Calculate the inertia for all axes including the spindle motor, then set the motor inertia rate as
the disturbance observer load inertia rate (SP233) value.
[2] Set the disturbance observer low path filter frequency (SP234) to the observer filter band
(observer pole) value to suppress the estimated high-frequency disturbance and vibration. The
standard setting is "100".
[3] Set the disturbance observer gain (SP235) to the observer gain value. This activates the
disturbance observer function. Begin with a setting of "100", then, if no vibration occurs,
increase the setting value in increments of "50" to increase the com pensation efficacy.
[4] If the disturbance observer setting facilitates vibration, decrease the speed loop gain
proportional item for increased spindle holding force (SP168) and the speed loop gain integral
item for increased spindle holdin g force (SP169) values by 10 to 20% at the same rate.
[5] Although the position loop gain can be set individually by the position loop gain for increased
spindle holding force (SP167) setting during disturbance observer operation, it should be set to
the same value as the other settings if the interpolati on servo axis is performing SHG control.
No. Abbr. Parameter name Details
Setting
range
Standard
SP167 PGU* Position loop gain for
increased spindle
holding force
Set the position loop gain for when the disturbance observer is
valid.
0 to 100
(rad/s)
15
SP168 VGUP* Speed loop gain
proportional item for
increased spindle
holding force
Set the speed loop gain proportional item for when the
disturbance observer is valid.
0 to 5000 63
SP169 VGUI* Speed loop gain
integral item for
increased spindle
holding force
Set the speed loop gain integral item for when the disturbance
observer is valid.
0 to 5000 60
SP170 VGUD* Speed loop gain
delay advance item
for increased spindle
holding force
Set the speed loop gain delay advance item for when the
disturbance observer is valid.
0 to 5000 15
Set "the motor inertia + motor axis conversion load inertia" in
respect to the motor inertia.
Jl＋Jm
SP233 (JL)＝
Jm
×100
SP233 JL* Disturbance
observer Load inertia
rate
Jm
Jl
: Motor inertia
: Motor axis conversion load inertia
0 to 5000
(%)
0
SP234 OBS1* Disturbance
observer low path
filter frequency
Set the frequency of the low path filter for when the disturbance
observer is valid.
0 to 1000
(rad/s)
0
SP235 OBS2* Disturbance
observer gain
Set the gain for the disturbance observer. 0 to 500
(%)
0
POINT
Disturbance observer control is valid in all control modes d uring a spindle control
input 4/bitF.
5. Spindle Adjustment
5 - 57
5-3-6 Adjusting the spindle synchronous control
(1) Confirming the default parameters
Confirm that the parameters are correctly set according to the machine specifications. The
parameters are set with the following co nditions for spindles used for synchronous control.
(a) Position loop gain
The same value must be set for the spindle drive units used for synchronous co ntrol.
Spindle synchronous position loop gain : SP010
Spindle synchronous position loop gain 2 : SP189
Spindle synchronous position loop gain 3 : SP190
<Spindle parameters>
No. Abbr. Parameter name Unit
Setting
range
Standard
value
SP010 PGS Spindle synchronization position loop gain rad/s 1 to 100 15
SP177 SPECS* Spindle synchronous specifications HEX
0000 to
FFFF
0000
SP178 VGSP* Spindle synchronous speed loop gain proportional term 0 to 1000 63
SP179 VGSI* Spindle synchronous speed loop gain integral term 0 to 1000 60
SP180 VGSD* Spindle synchronous speed loop gain delay advance term 0 to 1000 15
SP181 VCGS* S pindle synchronous Targ e t va l u e of va r i a b le sp e e d lo o p pr o p or t i o na l g a i n % 0 to 100 100
SP182 VCSS*
Spindle synchronous Change starting speed of variable speed loop
proportional gain
r/min 0 to 32767 0
SP183 SYNV Spindle synchronous Sync matching speed r/min 0 to 1000 20
SP185 SINP Spindle synchronous In-position width 1/16 deg 1 to 2880 16
SP186 SODR* Spindle synchronous Excessive error width (1pulse=0.088deg) pulse 0 to 32767 32767
SP187 IQGS* Spindle synchronous Current loop gain magnification 1 % 0 to 1000 100
SP188 IDGS* Spindle synchronous Current loop gain magnification 2 % 0 to 1000 100
SP189 PG2S Spindle synchronous Position loop gain 2 rad/s 0 to 999 0
SP190 PG3S Spindle synchronous Position loop gain 3 rad/s 0 to 999 0