MDS-C1-SPA Series INSTRUCTION MANUALib1500152(eng)a.pdf - 第152页

4. Spindle Adjustment 4 - 61 (6) Adjusting the indexing speed When "1" is set in SP0 97(SPECO) bit 4, the indexing speed is the value set in SP115(OSP2). Carry out indexing operations and a djust to t he desira…

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

bit Meaning when "0" is set Meaning when "1" is set Standard

odi1 Orientation rotation direction

odi2

00: Previous (the direction in which the motor has so far rotated under

speed control)

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)

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)

4. Spindle Adjustment

4 - 61

(6) Adjusting the indexing speed

When "1" is set in SP097(SPECO) bit 4, the indexing speed is the value set in SP115(OSP2).

Carry out indexing operations and adjust to the desirable speed. Swaying may occur when

stopped as speed is increased. Note that the actual indexing speed could be smaller than the

value set in SP115 and may not be changed in 1r/min increme nts.

No. Abbrev. Parameter name Description

Setting

range

Standard

value

SP097 SPECO

Orientation control

specification

F E D C B A 9 8 7 6 5 4 3 2 1 0

ostp orze ksft gchg ips2 zdir vg8x mdir fdir oscl pyfx dmin odi2 odi1

bit Meaning when "0" is set Meaning when "1" is set Standard

4 oscl

Indexing speed clamp invalid Indexing speed clamp valid 0

SP115 OSP2

Orientation control

speed clamp value

When the orientation clamp speed is changed by the control

input, this parameter setting will be used instead of SP005:

OSP.

Indexing speed clamp valid

This parameter is used when (SP097: SPEC0/bit4 = 1).

0 to 32767

(r/min)

(7) Adjustment during index stop

With the machine in which attachments are identified, when inertia or friction torque differs from

one applied during regular orientation control, servo rigidity after completion of indexing is set

again. Refer to the item "(5) Adjustments durin g orientation stop" in the se ction "4-3-3 Adjusting the

orientation control" when setting.

(8) Adjusting the indexing complete signal

When the completion of indexing is substituted with the orientation completion signal (ORCA), if

the indexing angle or time is insufficient, indexing operation may be continued ON even if the

indexing operation is not completed. If this is an issue, use the index positioning completion signal

(WRCF). When the forward/reverse run indexing signal turns ON, the indexing completion signal

always turns OFF once and then turns ON at the completion of indexing operation. The shortest

span for the time being OFF can be set with parameters.

Related spindle parameters

No. Abbrev. Parameter name Description

Setting

range

Standard

value

SP103 FTM*

Index positioning

completion OFF

time timer

Set the time for forcedly turn OFF the index positioning

completion signal (different from the orientation completion

signal) after the rising edge of the indexing start signal.

0 to 10000

(ms)

200

SP141

SP154

HO1e

HO6c

General-purpose

output selection

open emitter 1 to

general-purpose

output selection

open collector 6

When using the index positioning completed output, set the

following value to any one of these parameters.

"2": Positioning completed (WRCF)

0 to 23 0

4. Spindle Adjustment

4 - 62

(9) Troubleshooting

For the troubles during orientation, refer to (7) Troubleshooting in the section "4-3-3 Adjusting the

orientation control".

[1] Not executing indexing operation

Cause Investigation item Remedy Remarks

1 Parameter

setting values are

incorrect

Forward/reverse run indexing start is

not set to the general-purpose input.

Or, the input in which the actual

forward/reverse run indexing signal is

wired and the location set in the

parameter are different.

Set either "2" or "3" in one of the

general-purpose input parameters

SP129 to SP140 which corresponds to

the input section where the orientation

command has been wired.

When the forward/reverse run indexing

signal is ON, the orientation command

is OFF.

To run indexing operations, always

keep the orientation command signal

turned ON.

2 Sequence error

The external stop position data has not

been changed.

Officially change the external stop

position data.

3 Incorrect wiring The connector pin numbers are

incorrect. The inserted connector

number is incorrect.

The cable is disconnected.

Correct the wiring.

Replace the cable.

[2] The motor overtravels and stops (The motor sways when stopping.)

Cause Investigation item Remedy Remarks

The selected gear and the actual gear

are different.

Adjust gear selection inputs (GR1,

GR2) according to the actual gear.

The gear ratio parameters:

SP025(GRA1) to SP032(GRB4) are

incorrect.

Correctly set SP025(GRA1) to

SP032(GRB4).

Half the deceleration rate during

orientation parameter SP006 (CSP) to

solve the problem.

Readjust SP006(CSP). This also applies

to:

SP107(CSP2)

SP108(CSP3)

SP109(CSP4)

SP121(MPCSH)

SP122(MPCSL)

1 Parameter

setting values are

incorrect

Position loop gain parameter

Change the value of SP001(PGM),

SP002(PGE) to solve the problem.

Readjust SP001(PGM), SP002(PGE). This also applies

to:

SP119(MPGH)

SP120(MPGL)

[3] The stopping position deviates

Cause Investigation item Remedy Remarks

There is backlash or slipping between

the spindle and encoder.

The gear ratio between the spindle and

encoder is not 1:1 or 1:2.

For spindle side

detector

orientation

1 Mechanical

cause

The stopping position is not deviated

with the encoder axis.

There is backlash or slipping between

the spindle and motor.

The gear ratio between the spindle and

motor is not 1:1.

For motor PLG

orientation

The position detector's cable is

relayed with a terminal block

(connector), etc.

Do not relay the cable.

The position detector cable's shield is

not treated properly.

Properly treat the shield.

2 Noise

The peeled section of signal wire at

the position detector cable's connector

section is large. (A large section is not

covered by the shield.)

Keep the peeled section to 3cm or less

when possible. Keep the peeled section

as far away from the power cable as

possible.