MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第148页

4. Spindle Adjustment 4 - 57 (3) Confirming the defau lt parameters Set the signals listed in (1) to the general-purpose I/O signal, and set the initial parameters for each detector used in orientation control. (a) Motor…

4. Spindle Adjustment

4 - 56

[Outline of operation]

After having the motor stop with the orientation stop, change the stop position comman d data while the

orientation command is ON. When the forward (reverse) run indexing signal is turned ON, the motor

starts running again and stops at the target stop position within one rotation.

Note that once the orientation command has been turned OFF, it must be turned ON again to make an

orientation stop; otherwise, indexing operation cannot be carried out.

CAUTION

1. Stop position command dat a (R1 to R12) is read at the rising edge of the

forward (reverse) run indexing signal. Thus even if the stop position

command data is changed during indexing operation, the angle will not be

read until the next forward (reverse) run indexing signal turns ON.

2. When mechanically clamping the spi ndle motor while the orient ation

command is being turned ON, execute a torque limit during clamping by

turning the torque limit input (TL1 to TL3) ON.

3. Once the forward/reverse run indexing signal has been turned ON, even if

the motor is attempted to be turned OFF in the middle of indexing

operation, the motor keep s running until i t s operation is completed. Turn the

orientation co mmand or machine ready completion input OFF to stop the

motor. The m otor is in an uncontrolled state (free run) at this time.

4. The forward/reverse run indexing signal can be turned OFF after outputting

the indexing completion signal a s sh own above, or it can b e turned OFF by

using a timer af ter inputting. In the latter case, the timer must be no shorter

than 50ms.

5. When executing indexing operations, large torque L-gear is used for the

machine with gear step s, and low-speed coil is used for the coil-ch angeover

motor. In this case, shif t the machine gear and gear selection command to

the L-gear before inputting the orientation command. After that, do not

change until turning the orientation start command OFF.

6. The accuracy and least movement increment of indexing may not satisfy

the specifications due to the machine backlash, inertia and friction torque.

In the case with built-in motor, this may be attributed to the PLG adjustment

value, etc., as well.

In order to secure stable accuracy, especially the following two points must

be observed.

(1) Load inertia shall b e less than 3-times the amount of motor inertia.

(2) Friction torque shall be less than 30% of the motor rating.

4. Spindle Adjustment

4 - 57

(3) Confirming the default parameters

Set the signals listed in (1) to the general-purpose I/O signal, and set the initial parameters for

each detector used in orientation control.

(a) Motor PLG

Motor PLG orientation is possible only when the spindle and motor are coupled, or when they are

coupled 1:1 with gears (timing belt). Thus, the parameters SP025(GRA1) to SP032(GRB4) are

exclusively set to 1. PLG with Z-phase must be mounted on the motor to be u sed.

(b) 1024p/rev encoder

An accurate gear ratio (pulley ratio) is required from

the motor shaft to the encoder axis. Make sure that

the correct number of gear teeth is set in

SP025(GRA1) to SP032(GRB4).

SP025 to SP028 = A×C×E

SP029 to SP032 = B×D×F

Set the gear ratio (A:X) between the spindle and

encoder in SP096(EGAR).

Encoder X Spindle

Spindle

motor

B C

D E

Spindle configuration when using

spindle end detector

No. Abbrev. Parameter name Description

Setting

range

Standard

value

Set the gear ratio between the spindle side and the detector

side (except for the motor PLG) as indicated below.

Setting

value

Gear ratio

(deceleration)

0 1 : 1

1 1 : 1/2

2 1 : 1/4

3 1 : 1/8

4 1 : 1/16

SP096 EGAR*

Encoder gear ratio

0 to 4 0

4. Spindle Adjustment

4 - 58

Initial parameters for the multi-point ind exing orientation control are shown below per detector. Confirm

that the parameters are corre ctly set according to the machine specifications.

Initial parameter setting for each detector

No. Abbrev. Parameter name

(a) Motor PLG (b) Encoder

SP001 PGM* Magnetic sensor, motor PLG orientation position loop gain 100 －

SP002 PGE* Encoder orientation position loop gain － 100

SP004 OINP* Orientation in-position width 14 14

SP005 OSP Orientation mode speed clamp value 0 0

SP006 CSP* Orientation mode deceleration rate 20 20

SP007 OPST* In-position shift amount for orientation 0 0

SP025 GRA1 Spindle gear teeth count 1 1 *

SP026 GRA2 Spindle gear teeth count 2 1 *

SP027 GRA3 Spindle gear teeth count 3 1 *

SP028 GRA4 Spindle gear teeth count 4 1 *

SP029 GRB1 Motor shaft gear teeth count 1 1 *

SP030 GRB2 Motor shaft gear teeth count 2 1 *

SP031 GRB3 Motor shaft gear teeth count 3 1 *

SP032 GRB4 Motor shaft gear teeth count 4 1 *

SP037 SFNC5 Spindle function 5 0004 0001

SP096 EGAR Encoder gear ratio － *

SP097 SPECO Orientation specification 0010 0010

SP098 VGOP Speed loop gain proportional term in orientation control mode 63 63

SP099 VGOI Orientation control mode speed loop gain integral term 60 60

SP100 VGOD Orientation control mode speed loop gain delay advance term 15 15

SP101 DINP Orientation advance in-position width 16 16

SP102 OODR Excessive error value in orientation control mode 32767 32767

SP103 FTM Index positioning completion OFF time timer 200 200

SP104 TLOR Torque limit value after orientation completed 100 100

SP105 IQG0 Current loop gain magnification 1 in orientation control mode 100 100

SP106 IDG0 Current loop gain magnification 2 in orientation control mode 100 100

SP107 CSP2* Deceleration rate 2 in orientation control mode 0 0

SP108 CSP3* Deceleration rate 3 in orientation control mode 0 0

SP109 CSP4* Deceleration rate 4 in orientation control mode 0 0

SP114 OPER* Orientation control pulse miss check value 0 0

SP115 OSP2 Orientation control speed clamp value 2 10 10

SP116 OPYVR*

Minimum excitation value after changeover

(2nd minimum excitation rate)

0 0

SP117 ORUT* Fixed control constant 0 0

SP118 ORCT* Orientation control number of retry times 0 0

SP119 MPGH* Orientation control position loop gain H coil magnification 0 0

SP120 MPGL* Orientation control position loop gain L coil magnification 0 0

SP121 MPCSH

Orientation deceleration rate H coil magnification 0 0

SP122 MPCSL* Orientation deceleration rate L coil magnification 0 0

SP129

SP140

HI01

HI12

General-purpose input selection 1 to 12 1: Orientation start

2: Forward run indexing

3: Reverse run indexing

4: Torque limit 1

5: Torque limit 2

6: Torque limit 3

7: Gear selection 1

8: Gear selection 2

1: Orientation start

2: Forward run indexing

3: Reverse run indexing

4: Torque limit 1

5: Torque limit 2

6: Torque limit 3

7: Gear selection 1

8: Gear selection 2

SP141

SP154

HO1e

HO6c

General-purpose output selection open emitter 1 to open

collector 6

1: Orientation completed

2: Index positioning

completed

1: Orientation completed

2: Index positioning

completed

SP225 OXKPH*

Position loop gain magnification after orientation completed

(H coil)

0 0

SP226 OXKPL*

Position loop gain magnification after orientation completed

(L coil)

0 0

SP227 OXVKP*

Speed loop proportional gain magnification after orientation

completed

0 0

SP228 OXVKI*

Speed loop cumulative gain magnification after orientation

completed

0 0

(Note 1) Symbols used in the parameter setting column:

*: Set according to machine specifications, －: Setting irrelevant

(Note 2) Parameters having an abbreviation with "*" (PGM*, etc.) are validated right after the settings are changed by the personal

computer, without turning the spindle drive unit's power ON and OFF.

(Note 3) When adjustment of indexing operation is executed after orientation adjustment, set "1" to SP097 bit4, "10" to SP115, and

any arbitrary value to SP129 to SP154 and add them to the post-adjustment setting values.