bnp-b2365(eng)b.pdf - 第92页

3. Setup 3 - 5 3-2 Setting the initial parameters for the servo drive unit (High-gain specifications) The servo parameters mu st be set before the se rvo system can be started up . The servo parameters are input from the…

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3. Setup
3 - 4
3-1-3 Servo standard specifications and high-gain specifications
(1) Two-part system compliance
With the MDS-C1-V1/V2 Series, control is possible with the standard servo (MDS-B-V1/V2) control
mode and high-gain servo (MDS-B-V14/V24) control mode. When replacing an older model
(MDS-B Series) with this series, the servo parameter settings are automatically recognized and the
control mode is determined. Thus, the model can be changed from either a standard servo or
high-gain servo without changing the servo parameters.
When using the MDS-C1-V1/V2 unit and newly adjusting the machine, select the high-gain
specifications. The high-gain specifications are set as the default.
(2) Judging the control mode
Whether the servo drive unit starts up with the standard servo specifications or high-gain servo
specifications depends on the servo parameter SV009 to SV012 and SV033/bit8, 9 settings.
Parameter High-gain Standard Standard High-gain High-gain
SV009
SV010
SV011
SV012
SV009 = 4096 or more, and
SV010 = 4096 or more, and
SV011 = 768 or more, and
SV012 = 768 or more
Setting that does not satisfy even
one of the following conditions:
SV009 = 4096 or more
SV010 = 4096 or more
SV011 = 768 or more
SV012 = 768 or more
SV009=*
SV010=*
SV011=*
SV012=*
SV009=*
SV010=*
SV011=*
SV012=*
SV009=*
SV010=*
SV011=*
SV012=*
SV033/bit8 0 0 1 0 1
SV033/bit9 0 0 0 1 1
(Note) * indicates that there are no limits.
(3) Servo monitor unit type display
Whether the system is running with the high-gain servo or standard servo control mode can be
confirmed with the unit type displayed on the NC SERVO MONITOR screen.
Unit type For standard servo specifications For high-gain servo specifications
MDS-C1-V1- C1V1s C1V1-
MDS-C1-V2-{{ C1V2s{{ C1V2-{{
MDS-C1-V1-45S C1V1s4S C1V1-4S
MDS-C1-V1-70S C1V1s7S C1V1-7S
MDS-C1-V2-3510S C1V2s3510 C1V2-3510
MDS-C1-V2-3520S C1V2s3520 C1V2-3520
MDS-C1-V2-4545S C1V2s4S4S C1V2-4S4S
MDS-C1-V2-7070S C1V2s7S7S C1V2-7S7S
MDS-C1-V2-9090S C1V2s9S9S C1V2-9S9S
CAUTION
1. To change the control mode to the high-gain servo specifications after
replacing the unit from a standard servo (MDS-B-V1/V2), the parameters
must be changed and adjusted for high-gain servo use.
2. If alarm 7F occurs after setting the servo parameters, turn the servo drive
unit power ON again.
3. Setup
3 - 5
3-2 Setting the initial parameters for the servo drive unit
(High-gain specifications)
The servo parameters must be set before the servo system can be started up. The servo parameters
are input from the NC. The input method differs according to the NC being used, so refer to each NC
Instruction Manual.
3-2-1 Setting the standard parameters
When starting up the system, first set the standard parameters listed in "3-2-2 List of standard
parameters for each servomotor". For the parameters shown below, check the machine and servo
system specifications and determine the setting value.
(1) Basic specification pa rameters
[1] When performing absolute position control, set SV017/bit7=1. This may be automatically set by
NC system parameter setting, depending on NC model. (Setting on the servo parameter screen
is not valid.)
[2] When performing absolute position control with speed and current synchronous control, set
SV081/bit4=1 for master and slave axes. Also set SV017/bit7=1.
[3] For HA053N, HA13N, HA23N, HA33N motors, if the connector direction of the motor end
detector with motor power connector is 90°, set SV017/bit5=1. If the angle is 180°, use a
standard setting (SV017/bit5=0).
Setting basic specification parameters
High-gain specifications
No. Abbrev.
Parameter
name
Explanation
F E D C B A 9 8 7 6 5 4 3 2 1 0
spm mpt mp abs vdir fdir vfb seqh dfbx fdir2
bit Meaning when "0" is set Meaning when "1" is set
5 vdir
Standard setting HA motor (4 pole motor)
Detector installation position 90
degrees (B, D)
7 abs Incremental control Absolute position control
SV017 SPEC*
Servo
specification
selection 1
F E D C B A 9 8 7 6 5 4 3 2 1 0
pabs rabs
bit Meaning when "0" is set Meaning when "1" is set
4 pabs Normal setting
Speed/current synchronous
control absolute position control
SV081 SPEC2*
Servo
specification
selction 2
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.
POINT
Setting of absolute position control (SV017/bit7) may be set automatically by NC
system parameter setting, depending on NC model. In this case, setting on the servo
parameter screen is not valid.
3. Setup
3 - 6
(2) Electronic gear related parameters
The setting range of the following parameters, which configure the electronic gears, may be limited
according to the combination. Refer to section "3-4 Restrictions on servo control" for details.
High-gain specifications
No. Abbrev. Parameter name Explanation
Setting
range (Unit)
SV001 PC1*
Motor side gear
ratio
1 to 32767
SV002 PC2*
Machine side gear
ratio
Set the motor side and machine side gear ratio.
For the rotary axis, set the total deceleration (acceleration) ratio.
Even if the gear ratio is within the setting range, the electronic gears may
overflow and cause an alarm.
1 to 32767
SV018 PIT*
Ball screw pitch Set the ball screw pitch. Set to "360" for the rotary axis.
1 to 32767
(mm/rev)
In the case of the semi-closed loop control
Set the same value as SV020 (RNG2). (Refer to the explanation of
SV020.)
1 to 9999
(kp/rev)
In the case of the full-closed loop control
Set the number of pulses per ball screw pitch.
Detector model name Resolution SV019 setting
OHE25K-ET, OHA25K-ET 100,000 (p/rev) 100
OSE104-ET,OSA104-ET 100,000 (p/rev) 100
OSE105-ET,OSA105-ET 1,000,000 (p/rev) 1000
Relative position detection
scale
Refer to detector
specification manual
PIT/Resolution
(
µm)
AT41 (Mitsutoyo) 1 (µm/p)
The same as
SV018 (PIT)
FME type, FLE type
(Futaba)
Refer to detector
specification manual
PIT/Resolution
(
µm)
MP type (Mitsubishi Heavy
Industries)
Refer to detector
specification manual
PIT/Resolution
(
µm)
AT342 (Mitsutoyo) 0.5 (µm/p)
Twice as big as
SV018 (PIT)
AT343 (Mitsutoyo) 0.05 (µm/p)
20 times as big as
SV018 (PIT)
AT543 (Mitsutoyo)
0.05 (µm/p)
20 times as big as
SV018 (PIT)
LC191M (Heidenhain) 0.1, 0.05 (µm/p)
PIT/Resolution
(
µm)
LC491M (Heidenhain) 0.05 (µm/p)
PIT/Resolution
(
µm)
RCN223(Heidenhain) 8,000,000(p/rev) 8000
RCN723(Heidenhain) 8,000,000(p/rev) 8000
MDS-B-HR - PIT/scale(μm)
SV019 RNG1*
Position detector
resolution
1 to 3000
(kp/pit)
Set the number of pulses per one revolution of the motor end detector.
Detector model name SV020 setting
OSE104, OSA104 100
OSE105, OSA105 1000
SV020 RNG2*
Speed detector
resolution
1 to 9999
(kp/rev)
Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.