MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第138页

4. Spindle Adjustment 4 - 47 [5] Speed clamp value adjustment The orientation control mode's p osition l oop control cha nging speed is determine d automatically, based on the position loop gain, the decel eration r…

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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)
0
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)
0
• 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)
0
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)
0
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)
0
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
0
(Note) bitD is valid only for MDS-C1-SPH.
SP037 SFNC5 Spindle function 5
4. Spindle Adjustment
4 - 48
(5) Adjustments during orientation stop
[1] Position loop gain adjustment
Stop position accuracy can be improved by increasing the post-orientation servo rigidity. To
increase the post-orientation position loop gain, enable a gain change by the SP097/bitC
parameter setting, then set the desired position loop gain magnification. A separate position
loop gain (other than that used during deceleration) can be set for operation that begins from
the orientation completed ON status that follows orientation deceleration control.
The effective position loop gain values for each coil are calculated using the formulas shown
below. If a magnification setting of "0" is set, a "256" setting is adopted.
SP119 SP225
Effective position loop gain (H coil) = SP001 (SP002) ×
256
×
256
SP120 SP226
Effective position loop gain (L coil) = SP001 (SP002) ×
256
×
256
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
<For MDS-C1-SP/SPH/SPM>
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
F EDCBA98765 4 3 2 10
ostp orze ksft gchg ips2 zdir vg8x mdir fdir oscl pyfx dmin odi2 odi1
bit Meaning when set to 0 Meaning when set to 1 Standard
C gchg
Gain changeover during orientation
invalid
Gain changeover during
orientation valid
0
SP097 SPECO Orientation
specification
SP225 OXKPH* Position loop gain
magnification after
orientation
completed
(H coil)
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation, set the position loop gain magnification (H coil)
changed to after orientation completed.
0 to 2560
(1/256-fold)
0
SP226 OXKPL* Position loop gain
magnification after
orientation
completed (L coil)
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation, set the position loop gain magnification (L coil)
changed to after orientation complete.
0 to 2560
(1/256-fold)
0