MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第140页
4. Spindle Adjustment 4 - 49 [2] Speed loop gain adjustment In the same manner as for the position loop gain, a speed loop gain can be set separately fro m the one used during deceleration for a o peratio n t hat begins …
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
4. Spindle Adjustment
4 - 49
[2] Speed loop gain adjustment
In the same manner as for the position loop gain, a speed loop gain can be set separately fro m
the one used during deceleration for a o peratio n that begins from the orientation completed O N
status, following orientation deceleration control. Although the servo lock rigidity can be
improved by increasing the speed loop g ain during stop, vibration tends to be generated.
To change the post-orientation speed loop gain, enable a gain change by SP097/bitC=1
parameter setting, then set the desired speed loop proportional gain magnification and integral
gain magnification. The proportional and integral gains should be increased at the same rate,
and should be decreased if vibration occurs.
The effective speed loop gains are common to all coils, and are calculated using the formulas
shown below. If a magnification setting of "0" is set, a "256" setting is adopted.
SP227
Effective speed loop proportional gain = SP098 ×
256
SP228
Effective speed loop integral gain = SP099 ×
256
No. Abbr. Parameter name Details
Setting
range
Standard
SP098 VGOP Speed loop gain
proportional term in
orientation control
mode
Set the speed loop proportional gain in orientation control mode.
When the gain is increased, rigidity is improved in the
orientation stop but vibration and sound become larger.
0 to 1000 63
SP099 VGOI Orientation control
mode speed loop
gain integral term
Set the speed loop integral gain in orientation control mode. 0 to 1000 60
SP227 OXVKP* Speed loop
proportional gain
magnification after
orientation
completed
0 to 2560
(1/256-fold)
0
SP228 OXVKI* Speed loop
cumulative gain
magnification after
orientation
completed
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation control, set the magnification of each gain changed
to after orientation completed.
0 to 2560
(1/256-fold)
0
4. Spindle Adjustment
4 - 50
[3] Speed loop delay compensation adjustment
This adjustment selects the delay compensation control used at normal orientation stops for
tool changes, etc. Because the full-cl osed loop co ntrol used by the spin dle side detector, etc., is
prone to overshooting at stops, the speed loop gain delay advance term (SP100) value is
adjusted upward.
SP100 value that is too high, however, will result in stop position inconsistency, particularly on
high-friction machines. In cases where stop position accuracy is required on spindles with high
frictional torques, set SP100=0, and select PI control.
<Examples of using PI control>
•
Positioning a workpiece with a lathe
• A machine that indexes a 5-plane machining atta chment
No. Abbr. Parameter name Details
Setting
range
Standard
SP100 VGOD* Orientation control
mode speed loop
gain delay advance
term
Set a loop gain delay advance gain in orientation control mode.
When this parameter is set to "0", PI control is applied.
0 to 1000 15
POINT
When forward and reverse run stop posi t ions differ even with PI control, machine's
backlash may be large. In such cases, accuracy can be improved by setting
orientation po sitioning direction as one direction only (unidirectio nal). (Refer to
spindle parameter SP097/bit0, 1)
[4] Torque limit adjustment
The torque during post-orientation stops is limited by the parameter shown below. In case of
performing a mechanical lock at orientation stops, be sure to lower the torque limit value to
avoid interference between the spindle motor and the machine.
If the torque limit inputs 1 to 3 are turned ON even during an orientation stop, however, the
torque limit will be applied.
No. Abbr. Parameter name Details
Setting
range
Standard
SP104 TLOR* Torque limit value
after orientation
completed l
Set the torque limit value after orientation completed.
If the external torque limit signal is input, the torque limit value
set by this parameter is made invalid.
0 to 120
(%)
100
CAUTION
In case of locking the spindle mechanically at orientation stop s, be sure to enter a
torque limit to restrict the motor's output torqu e. (Reco mmended torque limit:
10% or less)