MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第150页

4. Spindle Adjustment 4 - 59 (4) Stop position by the stop position data The relation between the index stop position and st o p position data is the same as the one during orientation. The position that has been shift e…

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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
to
SP140
HI01
to
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
to
SP154
HO1e
to
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.
4. Spindle Adjustment
4 - 59
(4) Stop position by the stop position data
The relation between the index stop position and stop position data is the same as the one during
orientation. The position that has been shifted with SP007(OPST) e quals to the position of 0° in the
figure below. With the indexing by the motor PLG, the position shown in the figure below is one
viewed from the motor shaft side.
Orientation
,
multi-
p
oint index sto
p
p
osition
View S
0h
(0°)
400h
(90°)
800h
(180°)
C00h
(270°)
Spindle side detector X
Spindle
Spindle
motor
A
BC
DE
F
S
(Note) When "1" is set in SP037(SFNC5)/bit7, the stop position by the external stop position data can be chang ed by
180° in the figure above. (0h: 0°, C00h: 90°, 800h: 180°, 400h: 270°)
No. Abbrev. Parameter name Description
Setting
range
Standard
value
SP037 SFNC5 Spindle function 5
F E D C B A 9 8 7 6 5 4 3 2 1 0
dplg ospcl noplg nsno nosg psdir plgo mago enco
bit Meaning when "0" is set Meaning when "1" is set Standard
7 psdir Position shift (standard) Position shift (reversed direction) 0
4. Spindle Adjustment
4 - 60
(5) Adjusting the orientation control
Execute the section "4-3-3 Adjusting the orientation control". At this time, if the orientation stop
position deviates near the target stop position even if the speed loop gain during orientation
(SP098, SP099) is increased within the range that is free from vibration, change the orientation
stop control to the PI control. Furthermore, if the stop position deviates in the forwar d reverse run
even if changed to the PI control, set so that the orientation dire ction is unidirectional.
No. Abbrev. Parameter name Description
Setting
range
Standard
value
SP097 SPECO
Orientation
specification
F EDCBA98765 4 3 2 10
ostp
orze ksft gchg
ips2 zdir vg8x mdir fdir oscl
pyfx dmin
odi2 odi
1
bit Meaning when "0" is set Meaning when "1" is set Standard
0
odi1 Orientation rotation direction
0
1
odi2
00: Previous (the direction in which the motor has so far rotated under
speed control)
0
10: Backward rotation 01: Forward rotation 11: Prohibited
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
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
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 speed gain
changed to after orientation completed.
0 to 2560
(1/256-fold)
0