MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第137页

4. Spindle Adjustment 4 - 46 [4] Position loop gain and decelerati on rate adjustment at coil changeovers When using a coil changeo ver motor, the position loop gain and deceleration rate can be set for each coil. • Coil…

4. Spindle Adjustment

4 - 45

[3] Adjustment of position loop gain deceleration rate

Adjust the orientation time and vibration. Refer to the following table and adjust the parameters

according to the apparent state. When using the motor PLG and magnetic sensor, adjust the

position loop gain with SP001 (PGM). When using the spindle side detector, adjust SP002

(PGE). Adjust SP006 (CSP) after adjusting SP001 and PS002. When performing coil change

over, each coil can be adjusted individually. (Refer to the next page.)

Adjusting the orientation control

Parameter adjustment

State

SP001/SP002 SP006

The operation overshoots when stopping Decrease the setting value Decrease the setting value

The orientation time is long Increase the setting value Increase the setting value

Hunting occurs when stopping Decrease the setting value Do not change the setting value

An excessive error alarm occurs Decrease the setting value Decrease the setting value

To adjust the shortest orientation time for each gear, adjust deceleration rate for each gear by

SP107 (CSP2) to SP109 (CSP4) in the same manner. If an excessive error alarm occurs when

the gear ratio is 1:10 or more, and the state is not improved with the above adjustments, adjust

the speed clamp value (SP 005) as described later.

No. Abbr. Parameter name Details

Setting

range

Standard

SP001 PGM Magnetic sensor,

motor PLG

orientation position

loop gain

The orientation time will be shorter when the value is increased,

and the servo rigidity will increase. On the other hand, the

vibration will increase, and the machine will sway easily.

0 to1000

(0.1rad/s)

100

SP002 PGE Encoder orientation

position loop gain

The orientation time will be shorter when the value is increased,

and the servo rigidity will increase. On the other hand, the

vibration will increase, and the machine will sway easily.

0 to 1000

(0.1rad/s)

100

SP006 CSP Orientation mode

deceleration rate

As the set value is larger, the orientation time becomes shorter.

However, the machine becomes likely to overshoot.

1 to 1000 20

SP107 CSP2 Deceleration rate 2

in orientation control

mode

Set the deceleration rate in orientation mode corresponding to

the gear 001.

When this parameter is set to "0", same as SP006 (CSP).

0 to 1000 0

SP108 CSP3 Deceleration rate 3

in orientation control

mode

Set the deceleration rate in orientation mode corresponding to

the gear 010.

When this parameter is set to "0", same as SP006 (CSP).

0 to 1000 0

SP109 CSP4 Deceleration rate 4

in orientation control

mode

Set the deceleration rate in orientation mode corresponding to

the gear 011.

When this parameter is set to "0", same as SP006 (CSP).

0 to 1000 0

POINT

On machines with large spi ndle-to-motor gear ratios, it may not be possible to

achieve the desired results by adjusting the SP001, SP002, and SP006 parameters,

due to internal clamping. When clamped, the p arameter settings can be chang ed, but

control remains unch anged.

eed FB

ORC

ORCF

Position loop

changeover speed

4. Spindle Adjustment

4 - 46

[4] Position loop gain and deceleration rate adjustment at coil changeovers

When using a coil changeo ver motor, the position loop gain and deceleration rate can be set for

each coil.

• Coil-specific orientation control position loop gain

Compensation magnification values are set for each coil by the SP119, SP120 and SP126

settings, relative to each coil's SP001 or SP002 position loop gain reference value. If a "0" is set,

the SP001 (SP002) setting is adopted.

SP119

Effective position loop gain (H-coil) = SP001 (SP002) ×

256

SP120

Effective position loop gain (L-coil) = SP001 (SP002) ×

256

No. Abbr. Parameter name Details

Setting

range

Standard

SP119 MPGH* Orientation control

position loop gain H

coil magnification

Set the compensation magnification of the orientation position

loop gain for the H coil.

0 to 2560

(1/256-fold)

SP120 MPGL* Orientation control

position loop gain L

coil magnification

Set the compensation magnification of the orientation position

loop gain for the L coil.

0 to 2560

(1/256-fold)

• Coil-specific orientation control deceleration rate

Compensation magnification values are specified for each coil by the SP121, SP122 and

SP127 settings, relative to each coil's SP006 deceleration rate reference value. If a "0" is set,

the SP006 setting is adopted.

SP121

Effective deceleration rate (H coil) = SP006 ×

256

SP122

Effective deceleration rate (L coil) = SP006 ×

256

No. Abbr. Parameter name Details

Setting

range

Standard

SP121 MPCSH* Orientation

deceleration rate H

coil magnification

Set the compensation magnification of the orientation

deceleration rate for the H coil.

0 to 2560

(1/256-fold)

SP122 MPCSL* Orientation

deceleration rate L

coil magnification

Set the compensation magnification of the orientation

deceleration rate for the L coil.

0 to 2560

(1/256-fold)

4. Spindle Adjustment

4 - 47

[5] Speed clamp value adjustment

The orientation control mode's position loop control changing speed is determined

automatically, based on the position loop gain, the deceleration rate, and the gear ratio, etc. A

changing speed that is too high can be limited by the orientation mode changing speed limit

value (SP005) setting. A change to the orientation motor speed clamp value 2 (SP115) occurs

at control input 4/bitC. This clamp speed can be clamped in the spindle side speed by setting

the parameter SP037(SFNC5)/bitD=1. If the gear has two or more stages and the cha nge of the

gear rate is large for the gear stage, clamping in the spindle side speed can be stopped more

stably.

No. Abbr. Parameter name Details

Setting

range

Standard

SP005 OSP Orientation mode

speed clamp value

Set the motor speed limit value to be used when the speed loop

is changed to the position loop in orientation mode.

When this parameter is set to "0", SP017 (TSP) becomes the

limit value.

0 to 32767

(r/min)

F EDCBA98765 4 3 2 10

dplg ospcl noplg nsno nosg psdir plgo magoenco

bit

Meaning when set to 0 Meaning when set to 1 Standard

D ospcl

Orientation speed clamp

motor speed setting

Orientation speed clamp

spindle speed setting

(Note) bitD is valid only for MDS-C1-SPH.

SP037 SFNC5 Spindle function 5