Servo/Spindle Tuning Guidefs1.gongyeku.com/data/default/201211a/2012110509520… · · 2015-07-09This manual explains the servo/spindle tuning so that the configured machine will

This manual explains the servo/spindle tuning so that the configured machine will be ready for the mechanical adjustment. Note that retuning is necessary when performing the following items:

- Roundness measurement- Synchronous tapping adjustment- Adjustment for the shortest and optimum acceleration/deceleration- Actual machining test

Refer to the following manuals. MDS-D/DH Series Instruction Manual (IB-1500025) MDS-D-SVJ3/SPJ3 Series Instruction Manual (IB-1500193) MS Configurator Instruction Manual (IB-1500154)

1. Items related to servo tuning

Keep the axis from collision when moving it.

2. Items related to spindle adjustment

Do not adjust when possible risks associated with adjustment procedures are not thoroughly taken into

consideration.

Before tuning, ensure the safe operation at the maximum rotation speed.

Be sure to break in the machine before tuning.

Be careful when touching rotating section, or your hand may be caught in or cut.

Changing of parameters has to be done carefully.

CAUTION

CONTENTS

1 Introduction ..................................................................... 11.1 Aims of Servo/Spindle Tuning.................................................................................... 21.2 General Description of Servo Axis Control................................................................. 31.3 Speed loop gain ......................................................................................................... 41.4 Position loop gain....................................................................................................... 61.5 Relation of Speed Loop Gain and Position Loop Gain............................................... 81.6 Load inertia ................................................................................................................ 91.7 Resonance frequency ................................................................................................ 91.8 Acceleration/Deceleration Time Constant.................................................................. 91.9 General Description of Spindle Control .................................................................... 101.10 NC Screen.............................................................................................................. 11

1.10.1 Parameter Screen........................................................................................... 111.10.2 Drive Monitor Screen ...................................................................................... 12

1.11 MS Configurator ..................................................................................................... 13

2 Servo Tuning Procedure .............................................. 152.1 Flow of Servo Tuning ............................................................................................... 162.2 Setting Initial Parameters ......................................................................................... 17

2.2.1 Servo Parameters ............................................................................................. 172.2.2 Axis Specifications Parameters ........................................................................ 172.2.3 Machine Error Compensation Parameters........................................................ 18

2.3 Setting Resonance Frequencies .............................................................................. 192.4 Measuring Load Inertia Ratio ................................................................................... 222.5 Setting the Speed Loop Gain ................................................................................... 242.6 Setting the Position Loop Gain................................................................................. 282.7 Setting the Acceleration/Deceleration Time Constant.............................................. 302.8 Measuring Waveforms and Tuning .......................................................................... 32

2.8.1 Waveform Examples after Tuning..................................................................... 32

3 Spindle Tuning Procedure ........................................... 373.1 Flow of Spindle Tuning............................................................................................. 383.2 Setting Initial Parameters ......................................................................................... 393.3 Checking the Operation and Tuning ........................................................................ 40

3.3.1 Checking the Operation toward Maximum Rotation Speed .............................. 403.3.2 Setting the Acceleration/Deceleration Time Constant ...................................... 413.3.3 Tuning in Orientation......................................................................................... 43

3.4 Measuring Waveforms ............................................................................................. 443.4.1 Waveforms in Acceleration/Deceleration .......................................................... 443.4.2 Waveform in Orientation ................................................................................... 453.4.3 Others ............................................................................................................... 45

3.5 Waveform Examples and Tuning Methods .............................................................. 463.5.1 Waveforms in Acceleration/Deceleration .......................................................... 463.5.2 Waveform in Orientation ................................................................................... 52

1
Introduction
1

1 IntroductionMITSUBISHI CNC

1.1 Aims of Servo/Spindle TuningServo/spindle tuning aims at the following two points:

(1) To achieve machine's high performanceServo/spindle parameter standard values allow a machine to successfully operate in spite of some inertia. However, conditions connected to the motor (inertia, machine's configuration and specifications (accuracy-oriented or efficiency-oriented), etc.) are not involved in the values. Therefore, the machine-specific optimum setting is required.

(2) To find and solve problemsWaveforms are not irrelevant to the machine's faults, unsatisfactory machining results or servo/spindle alarms. As the inertia increases, the current value will also increase. If machining surface is not good, the factors may be shown in the waveform (if not shown, mechanical factor will be assumed). If an alarm occurs, an abnormal waveform will be surely found. Thus, problems and countermeasures (retuning, replacing of machine parts or mechanical readjustment) will be clarified by measuring waveforms and tuning. Tuning is also used as a "life extension measure": if a machining failure occurs due to mechanical friction, the machine is basically not allowed to operate until the parts are replaced. However, tuning under the current state allows the machine to be used in the meanwhile.

2

Servo/Spindle Tuning Guide1.2 General Description of Servo Axis Control

1.2 General Description of Servo Axis ControlServo axis control is to keep the axis at the cyclically-commanded position (at every communication cycle between NC and servo amplifier) and at the commanded feedrate (rotation speed).

In the example above, the tension against the disturbance (the force to regain the speed and position by passing a current through the motor) is controlled by speed loop gain and position loop gain.

During axis stop

During axis movement

Disturbance (pushing force)

Tension (returning force)

As the command will not change in spite of dropping rotation speed,

tension is produced to regain the commanded rotation speed and position.

Tension is produced to keep the commanded position.

Control

No rotation.

Keep the commanded position!

Control

Follow the commanded position

and rotation speed!

Machine

Table

Machine

Table Disturbance (pushing force)

Tension (returning force)

3


1.3 Speed loop gainSpeed loop gain is the response speed to regain the commanded speed when the motor speed deviates due to cutting load and the like.

Comparison at the speed deviation

Setting the higher speed loop gain is a key of servo tuning.

Will the highest speed loop gain lead the best machining? If the speed loop gain is too high or too low, the following cases will occur.

(a) When too good responsiveness (too high gain) is set for the machine with small weight and friction which regains the commanded speed with a small force: The regained speed will exceed the commanded speed. If the responsiveness against the excessive speed is too sharp, oscillation will eventually occur. -> Vibrations with high frequency will occur. The speed deviation will be rather larger.

Continuous vibration with high frequency is called "oscillation". The higher the speed loop gain is, the more the oscillation is likely to occur; the lower, the less.

(Waveform example) Speed feedback - Position droop waveform

Narrow vibrations are distributed on the whole.

Responsiveness Machining result

When speed loop gain is increased

Command speed will be quickly regained. Machining will be less affected by speed de-viation factors (load change. etc), producing smoother rotation.

Machining result will be like the one when the torque (power) has been increased. (Ex: The machining surface is improved.)

When the speed loop gain is decreased

Command speed will be slowly regained. Machining will be easily affected by speed deviation factors (load change. etc), produc-ing rougher rotation.

Machining result will be like when the torque (power) has been decreased. (Ex: The machining surface gets worse.)

4

Servo/Spindle Tuning Guide1.3 Speed loop gain

(b) When too little responsiveness (too low gain) is set for the machine with large weight and friction which requires a large force to regain the commanded speed: The response to regain the commanded speed will be slow. -> Vibrations with low frequency will occur. The speed deviation will not be reduced (the

commanded speed will be hardly regained).

Constant unstable waveform with low frequency is called "fluctuation".


5 or 6 waves have occurred in 1 or 2 second(s).

Set the appropriate speed loop gain corresponding to the inertia ratio (weight ratio) to the motor.

5


1.4 Position loop gainPosition loop gain is the responsiveness in time; how quickly the motor reaches the commanded position (spped) when a different command is issued.

Comparison when a different rotation speed is commanded

Setting the higher position loop gain is also a key of servo tuning.

Will the highest position loop gain lead the best machining? If the position loop gain is too high or too low, the following cases will occur.

(a) When too good responsiveness (too high gain) is set for the machine with small rigidity (loader and the like, whose weight balance is not good) -> The machine vibrates at the change of the command speed, or overshoot occurs at

acceleration/deceleration.

"Overshoot" means that the machine's position exceeds the commanded position at a speed change (acceleration -> constant speed or deceleration -> stop).


Overshoots happen at the circled points.

Responsiveness Machining result

When position loop gain is increased

Position (speed) will be quickly changed. Response to the rotation change will be faster.

Machining result will be like when the time constant has been shorten. (Ex: The shape (size, etc) is accurate.)

When the position loop gain is decreased

Position (speed) will be slowly changed. Response to the rotation change will be slower.

Machining result will be like when the time constant has got longer. (Ex: The shape (size, etc) is inaccurate.)

6

Servo/Spindle Tuning Guide1.4 Position loop gain

(b) When too little responsiveness (too high gain) is set for the machine with rigidity (machine whose weight balance is good, or light and small machine) -> The machine will work slowly. The machining accuracy will deteriorate.

(Waveform example) Position command - Position feedback waveform

(A) When position loop gain is appropriate (B) When position loop gain is low

Set the appropriate position loop gain corresponding to the machine's configuration and the inertia ratio.

7


1.5 Relation of Speed Loop Gain and Position Loop GainAs explained so far, speed loop gain is the responsiveness to the speed deviation, and position loop gain is the responsiveness to the command speed change.

If an overshoot occurs after increasing the position loop gain, the overshoot can be eliminated by increasing the speed loop gain, because the overshoot is related to the speed deviation. In reverse, if an overshoot occurs at acceleration/deceleration, the overshoot can be eliminated by decreasing the position loop gain and applying slow accelecation/deceleration, because the acceleration/deceleration means a change of command speed.

Which is set first?Considering the following features, set the speed loop gain first, then set the position loop gain.

Set the speed loop gain first. Then set the position loop gain considering the determined speed loop gain and the mechanical structure.

Speed loop gain Position loop gain

Standard speed loop gain is determined by measuring the inertia ratio.

Determined by the mechanical structure, as well as the in-ertia ratio. Whether the value is high or low is only judged by moving the axis.

Axis-specific setting is available (because each axis has a different inertia ratio.) Adjustment among interpolation axes is required.

Upper limit is determined by the inertia ratio. Setting over the upper limit is impossible.

For interporation axes, upper limit is determined by the speed loop gain.

8

Servo/Spindle Tuning Guide1.6 Load inertia

1.6 Load inertiaInertia is physical quantity to express load amount. In servo control, load inertia (diameter, friction, etc.), which is converted into motor axis, is more important than load weight. Servo response is in proportion to speed loop gain and in inverse proportion to load inertia. It is essential to know the load inertia amount when determining appropriate speed loop gain.

Load inertia

In servo tuning, measure the load inertia first. Then determine the standard speed loop gain accoriding to the inertia.

1.7 Resonance frequency"Resonance" is a large vibration when machine and motor's own vibration frequencies affect each other. All machines have a resonance point and the resonance of ball screw is a serious problem. Resonance has to be suppressed as it prevents the speed loop gain from being raised. Notch filter is installed on servo and it suppresses the resonance. However, resonance frequency has to be set for each machine to set parameters.

Vibration waveform

Recognizing resonance frequency and suppressing resonance for raising the speed loop gain is a key in servo tuning.

1.8 Acceleration/Deceleration Time ConstantShorter and smoother acceleration/deceleration is also important. When the position loop gain is adjusted, acceleration/deceleration time constant should also be adjusted, because the position loop gain is related to the time to complete positioning. Set the time constant with parameters. The values should be set so that the maximum current at acceleration/deceleration will not exceed the maximum current command value.

Set the acceleration/deceleration time constant so that the current value will not exceed the maximum current command value.

9


1.9 General Description of Spindle ControlSpindle control is largely divided into two types.

Control 1: Always follows the commanded rotation speed with the maximum power of spindle amplifier and motor

-> Only the responsiveness to the commanded speed is provided, which is mainly controlled by speed loop gain.

Spindle always follows the maximum power; the position and acceleration/deceleration time constant need not to be considered.

The catch-up time difference is due to the power of spindle amplifier and motor, as well as the inertia (weight, friction and centrigugal force) of an object to rotate. It is like when a man who carries a burden runs 100m at full speed.

Power of spindle amplifier and motor = The man's abilityA burden = machine's inertia

To run faster (to shorten the acceleration/deceleration time), raising the ability (increasing the power of spindle amplifier and motor) and reducing the burden (decreasing the inertia) are required. As reducing the burden (inertia) is hardly possible, raising the ability (increasing the power) should be considered.

The adjustment of spindle's speed loop gain is the same as that of servo axis.

Control 2: Like servo axis, follows the commanded position -> Controlled by speed loop gain and position loop gain.

In the following operations, spindle is controlled similarly as servo axis.

These operations require the time constant setting according to the inertia.

(a)Orientation (Stop at fixed position) Spindle must stop at a fixed position, which requires the control according to the commanded position.

(b)Spindle/ C axis controlSpindle is controlled like a servo C axis (rotation axis), which requires the position control all the time including acceleration/decelertion.

(c)Synchronous tap control

Spindle and servo axis (Z axis) are simultaneously controlled. (When the pitch 1mm is commanded, spindle is controlled to rotate once per 1mm of Z axis movement. Position control is re-quired all the time including acceleration/decleration.

(d)Spindle synchronizationSpindles (or spindle and servo axis) are controlled to be at the commanded speed and postition all the time including acceler-ation/deceleration.

10

Servo/Spindle Tuning Guide1.10 NC Screen

1.10 NC ScreenThe following screens are mainly used in servo/spindle tuning.

1.10.1 Parameter Screen

Parameters are displayed and set.

How to display the parameter screen and set a value

(1) Press key to display the Mainte screen.

(2) Select [Mainte] and then [Psswd input] menus.

(3) Enter "MPARA" in the setting area and press the INPUT key.

(4) Select [Param] menu.

(5) Select [Param number] menu. Enter the parameter No. in the setting area and press the INPUT key. The cursor moves to the entered parameter position.

(6) Enter a value and press the INPUT key.

The menus on the parameter screen ([Servo param], [Spindle spec param] and [Spindle param]) are also available for the parameter display.

11


1.10.2 Drive Monitor Screen

The diagnosis information from the drive section can be monitored with this screen.

How to display the drive monitor screen

(1) Press key to display the Diagn screen.

(2) Select [Drv mon] menu.

(3) Select [Servo unit] to display the servo monitor screen. Select [Spindle unit] to display the spindle monitor screen.

12

Servo/Spindle Tuning Guide1.11 MS Configurator

1.11 MS ConfiguratorWith MS Configurator, the servo parameters can be automatically adjusted by activating the motor with test NC programs or vibration signals, and analyzing the machine characteristics. Data measurement function is also provided.

In this manual, MS Configurator is used in servo tuning to sample waveforms.

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13

2
Servo Tuning Procedure
15

2 Servo Tuning ProcedureMITSUBISHI CNC

2.1 Flow of Servo Tuning

Setting Initial Parameters

Start

Setting the Position Loop Gain

Setting the Acceleration/Deceleration Time Constant

Setting Resonance Frequencies

Measuring the Load Inertia Ratio

Refer to 2.2

Refer to 2.3

Refer to 2.4

Refer to 2.5

Refer to 2.6

End

Measuring Waveforms and Tuning Refer to 2.8

Set the resonance frequency of filter to suppress resonance.

Perform an axis reciprocation with G00 (Rapid traverse) at full stroke to measure the load inertia ratio.

Refer to 2.7

Set the speed loop gain according to the measured load inertia ratio. Then check for any unusual noise or vibration.

Set the parameters for position loop gain. Then check for any mechanical vibration.

Adjust the acceleration/deceleration time constants at G00 and G01 so that the current does not exceed the maximum current command value.

Execute G01 (cutting feed) and then G00 (rapid traverse), measuring waveforms and tuning.

Setting the Speed Loop Gain

16

Servo/Spindle Tuning Guide2.2 Setting Initial Parameters

2.2 Setting Initial Parameters2.2.1 Servo Parameters

(1) Set standard values in the servo parameters on the axes for tuning.

Refer to "List of standard parameters for each servomotor" of the servo drive unit's Instruction Manual.

(2) Set all the following compensation/filter/resonance frequency parameters to "0 (Disabled)".

(3) Enable the speed feedback filter to eliminate high-frequency vibration noise.

2.2.2 Axis Specifications Parameters

(1) Temporarily disable the backlash compensation. Take a note of the axis' original set values in "#2011" and "#2012". Then set both to "0".

Be sure to take a note and set the original values back after tuning.

(2) Enable the feed forward gain. Set "#2139" to "1" to apply the conventional feed forward control.

No. Parameter name Setting#2227 SV027 (SSF1) Servo function selection 1 Set "4000"

#2233 SV033 (SSF2) Servo function selection 2 Set "0000"

#2238 SV038 (FHz1) Notch filter frequency 1 Set "0"


#2283 SV083 (SSF6) Servo function selection 6 Set "0"



No. Parameter name Setting

#2217 SV017 (SPEC1) Servo specification selection 1 Change "00*0" to "00*8"

No. Parameter name Setting#2011 G0back G0 backlash Set "0"

#2012 G1back G1 backlash Set "0"


#2139 omrff_off OMR-FF invalid Set "1: Temporarily disable".

17


2.2.3 Machine Error Compensation Parameters

Temporarily disable the machine error compensation. Take a note of the axis' original set value of "#4006 (, #4016, #4026...)". Then set it to "0".

Be sure to take a note and set the original values back after tuning.

No. Parameter name Setting#4006

(#4016, 4026...)

sc Compensation scale factor Set "0"

18

Servo/Spindle Tuning Guide2.3 Setting Resonance Frequencies

2.3 Setting Resonance FrequenciesParameters to set

* Set for each axis.

Set the resonance frequency of filter to suppress resonance.

Attach the cover to the table and take the workpiece off before setting.


(1) Display the servo monitor screen.

(2) Move the axis by handle/JOG feed. Check for any unusual noise or vibration.

No. Parameter name Setting#2205 SV005 (VGN1) Speed loop gain 1 Set a speed loop gain

#2238 SV038 (FHz1) Notch filter frequency 1 Set a resonance frequency

#2246 SV046 (FHz2) Notch filter frequency 2 Set a resonance frequency (When SV038 has already been set)

#2233 SV033 (SSF2) Servo function selection 2 Set the depth of notch filter 2

If unusual noise or vibration occurs: (1) See the resonance frequency on the servo

monitor screen. ("AFLT frequency")

19


(3) Display the parameter screen. Set "(speed loop gain standard parameter value) + 50" in "#2205 SV005".

For the standard parameter value, refer to "List of standard parameters for each servomotor" of the drive unit's Instruction Manual.

(2) Display the parameter screen. Set the resonance frequency in "#2238 SV038".

20

Servo/Spindle Tuning Guide2.3 Setting Resonance Frequencies

(4) Move the axis by handle/JOG feed again. Check for any unusual noise or vibration.

Before setting SV046, set "#2233 SV033" to "**8*".

If the frequency is over 900Hz (a keening noise is heard), the amount may not be displayed. In such a case, set "1125", "2250" or "900" in SV038 (or SV046).

(5) Move the axis by rapid traverse with override 100%. Check for any unusual noise or vibration.

If any problem occurs, take the same measures as (4).

If no noise or vibration occurs: Set the standard parameter value in SV005.

If any noise or vibration occurs: (1) See the resonance frequency on the servo

monitor screen. ("AFLT frequency")(2) Display the parameter screen. Set the frequency

in "#2238 SV038" (or "#2246 SV046" when "#2238" has already been set).

(3) Move the axis again. If no noise or vibration occurs, set the standard parameter value in SV005.

If the displayed frequency is almost the same as SV038 frequency (within ±30Hz): Set "#2233 SV033" smaller as follows;

"***0"(- ∞ ) -> "***2"(-18.1db) -> "***4" (-12.0db) -> "***6" (-8.5db)... Confirm the resonance frequency ("AFLT frequency") shows "0" or different value from SV038 on the servo monitor screen.

If the resonance frequency is unstable ("AFLT frequency" shows more than ±10 deviation): Lower the SV005 value until the frequency is

stabilized.

If the resonance frequency still exists after both SV038 and SV046 settings: Lower the SV005 value until the frequency shows

"0".

21


2.4 Measuring Load Inertia RatioParameters to set


Perform an axis reciprocation with G00 (Rapid traverse) at full stroke to measure the load inertia ratio.

(1) Set an unbalance torque in "#2232 SV032" on vertical axis when used.

Move the axis at about F1000 and measure the load current on the servo monitor screen. Then apply the following formula. Unbalance torque = {(+ Feed load current (%)) + (- Feed load current (%))} / 2

(2) Prepare an MDI/memory operation of rapid traverse with override 100%.

(Ex.) G00 feed for reciprocation of 200mm with one-second dwell time *Apply the maximum travel amount for a short stroke less than 200mm.

Always use MDI or memory operation. JOG or Rapid feed does not provide an average inertia value in a constant cycle.

(3) Carry out a test run with the program prepared in (2). During the test run, see the maximum current value shown in "Max current 2 (or 3)" on the servo monitor screen.

No. Parameter name Setting#2232 SV032 (TOF) Torque offset 1 Set the unbalance torque of vertical axis

#2004 G0tL G0 time constant (linear) Set a time constant for rapid traverse accel-eration/deceleration #2005 G0t1 G0 time constant (primary delay)

#2235 SV035 (SSF4) Servo function selection 4 Set "1" in bitF. "0000" is changed to "8000".

#2237 SV037 (JL) Load inertia scale Set a load inertia

22

Servo/Spindle Tuning Guide2.4 Measuring Load Inertia Ratio

(4) Set the time constant so that the maximum current value stays between 150 and 200 (%). Adjust the "#2004/#2005" value until "Max current 2 (3)" shows "150 to 200" at acceleration/deceleration.

(5) Stop the run and set the display of load inertia ratio on the servo monitor screen. Display the parameter screen. Set "1" in "#2235 SV035/bitF". ("0000" is changed to "8000".)

Complete the step (4) before (5). Slowly raising the feedrate after (5) will add extra 15 to 30 minutes to stabilize the inertia display.

(6) Set the feedrate to 100% and run the (2) program for about 15 minutes. During the run, see the load inertia ratio on the servo monitor screen.

Run the program until the load inertia ratio is stabilized "with 1% or less deviation in five reciprocations".

(7) Take a note of the load inertia ratio stabilized in (6). Then stop the run.

(8) Display the parameter screen. Set the noted inertia ratio in "#2237 SV037".

(9) Cancel the load inertia ratio display. Set "1" in "#2235 SV035/bitF". ("*000" is changed to "0000".)

23


2.5 Setting the Speed Loop GainParameters to set


Set the speed loop gain according to the measured load inertia ratio. Then check for any unusual noise or vibration. If any vibration occurs, set a resonance frequency again.

Attach the cover to the table and take the workpiece off before setting.


(1) Determine the speed loop gain according to the load inertia ratio in "#2237 SV037".

Refer to "Standard VGN1 graph" below and set the motor-specific speed loop gain.

(2) Set "(determined value in (1)) + 50" in "#2205 SV005".

(3) Execute the handle, JOG and then Rapid operation.

Refer to the chapter of "Setting Resonance Frequencies" written before.


#2205 SV005 (VGN1) Speed loop gain 1 Set a speed loop gain

#2238 SV038 (FHz1) Notch filter frequency 1 Set a resonance frequency

#2246 SV046 (FHz2) Notch filter frequency 2 Set a resonance frequency (When SV038 has already been set)

If no noise or vibration occurs: Set the determined value in (1) in "#2205 SV005".

If any noise or vibration occurs: (1) See the resonance frequency on the servo

monitor screen. ("AFLT frequency")(2) Display the parameter screen. Set the frequency

in "#2238 SV038" (or "#2246 SV046" when "#2238" has already been set).

(3) Move the axis again. If no noise or vibration occurs, set the determined value in (1) in SV005.

24

Servo/Spindle Tuning Guide2.5 Setting the Speed Loop Gain

ReferenceMDS-D/DH Series Standard VGN1 graph (servo motor HF, HF-H Series)

Load inertia magnification (%)

Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

When OSA166 used When OSA 105 used

[ HF204, HF354 ] [ HF-H204, HF-H354 ]


Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

When OSA166 usedWhen OSA105 used

[ HF453, HF703 ] [ HF-H453, HF-H703 ]


Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HF75, HF54 ] [ HF-H75, HF-H54 ]


Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HF105, HF104, HF154 ] [ HF-H105, HF-H104, HF-H154 ]

25


MDS-D/DH Series Standard VGN1 graph (servo motor HP, HP-H Series)


Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HP54, HP154, HP224 ] [ HP-H54, HP-H154, HP-H224 ]


Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HP104 ] [ HP-H104 ]


Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600



Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600




26

Servo/Spindle Tuning Guide2.5 Setting the Speed Loop Gain

MDS-D-SVJ3 Series Standard VGN1 graph (servo motor HP, HP-H Series)


Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

When OSA166 used When OSA 105 used

[ HF204, HF354 ]


Standard VGN1

Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HF75, HF54 ]


Isolated motor

100

200

0

500

400

300

100 200 400 600300 500

600

[ HF105, HF104, HF154 ]

27


2.6 Setting the Position Loop GainParameters to set

* Set for each axis. Interpolation axes (synchronously controlled) must have the same lowest value.

Set the parameters for position loop gain. Then check for any mechanical vibration. SHG control changes the position loop to a high-gain by smoothly compensating the servo system position loop through a delay. This allows the settling time to be reduced and a high precision to be achieved. (SHG: Smooth High-Gain)This manual explains the setting with SHG control.

Use the setting example above for the SHG control parameters (SV003, SV004 and SV057). When the axis is synchronized with spindle (in synchronous tap or spindle/C axis control), the spindle will have automatically-calculated values (SV003 : SV004 : SV057 = 1: 8/3 :6). Set the calculated values (rounded to the nearest integer) for the servo axis accordingly.

(1) Set the following parameters using "SV003=33" settings. SV003 (PGN1): "33"SV004 (PGN2): "88"SV008 (VIA): "1900"SV015 (FFC): "100"SV057 (SHGC): "198"

"SV003=33" settings are normally used. "SV003=26" settings are used for the system with scale specifications, rotary axis, gear or belt drive, which is more vibratable than semi-closed one. "SV003=9" settings can be used for the system with longer machine end such as loader axis or especially arm axis.

No. Parameter nameSet-

ting ra-tio

Setting exampleStandard setting range

#2203 SV003 (PGN1) Position loop gain 1 1 18 21 23 26 33 38 47 18 to 70

#2204 SV004 (PGN2) Position loop gain 28

48 56 61 70 88 101 125 48 to 1863

#2257 SV057 (SHGC) SHG control gain 6 108 126 138 156 198 228 282 108 to 420

#2208 SV008 (VIA) Speed loop lead compen-sation Set "1900", the standard value, in SHG control 700 to 2500

#2215 SV015 (FFC) Acceleration rate feed for-ward gain Set "100", the standard value, in SHG control 0 to 300

#1194 H_acdc Time constant 0 for han-dle feed

Set "0" when using time constant for G01 in manual handle feed mode

28

Servo/Spindle Tuning Guide2.6 Setting the Position Loop Gain

(2) Execute the handle, JOG and then Rapid operation. Check for any mechanical vibration at acceleration/deceleration.

Setting the longer time constant will also eliminate the vibration. However, if the vibration still exists while the maximum current value at the acceleration/deceleration is down to 50% or less, time constant does not help suppress the vibration. Then set the lower SHG control gain.

For the G01 time constant setting, use "#2007" or "#2008" according to the acceleration/deceleration mode.

(3) When using multiple axes, carry out these adjustments for each axis.

Interpolation axes must have the same position loop gain value. Set the same lowest value for all the interpolation axes.

When any vibration occurs at acceleration/deceleration: Decrease SV003, SV004 and SV057 values,

keeping the ratio 1 : 8/3 : 6, until the vibration disappears.

When the vibration occurs only in the handle feed: Set "0" in "#1194 H_acdc (Time constant 0 for

handle feed)". Then set the longer time constant for G01.

29


2.7 Setting the Acceleration/Deceleration Time ConstantParameters to set

* Set for each axis. When setting "#2007" or "#2008" for multiple axes, set the same lowest value for all the axes.

Adjust the acceleration/deceleration time constants at rapid traverse (G00) and cutting feed (G01) so that the current does not exceed the maximum current command value ("max.").

(1) Display the parameter screen. Set a rapid traverse rate (G00) in "#2001", a cutting feedrate (G01) in "#2002".

(2) Display the servo monitor screen.

(3) Move the axis in MDI or memory mode at the rapid traverse rate (G00) and the maximum cutting feedrate (G01).

(4) See "Max current 2 (or 3)" on the servo monitor screen. Confirm that the current peak value at the acceleration/deceleration does not exceed the "max." (or 70% of the "max." in cutting feed).

"Max current 1" shows the current peak value after the power ON. "Max current 2 (or 3)" shows the instantaneous peak value of load current.

No. Parameter name Setting#2001 rapid Rapid traverse rate Set the rapid traverse feedrate for each axis

#2002 clamp Cutting feedrate for clamp function Set the maximum cutting feedrate for each axis

#2004 G0tL G0 time constant (linear) Set a time constant for rapid traverse accel-eration/deceleration #2005 G0t1 G0 time constant (primary delay)

#2007 G1tL G1 time constant (linear) Set a time constant for cutting acceleration/deceleration #2008 G1t1 G1 time constant (primary delay)

30

Servo/Spindle Tuning Guide2.7 Setting the Acceleration/Deceleration Time Constant

For the maximum current command value ("max."), refer to the chart below.

Set the time constant in any of the parameters "#2004" to "#2008".

(5) When using multiple axes, carry out these adjustments for each axis.

G01 time constant ("#2007" or "#2008") must be the same among all the axes. Set the same lowest value for all the axes.

Reference: Maximum current command value when adjusting acceleration/deceleration time constant

When the current exceeds the "max.": Set the longer time constant.

When the current is below the "max.": Shortening the time constant is allowed.

When the current is below the "max.", vibration occurred by shortening the time constant: Adjust the time constant so that the vibration does

not occur.

MDS-D Series (200V) MDS-DH Series (400V)

Motor model

Max. current command

value

Motor model


value

Motor model


value

Motor model


valueHF75 Within 350% HP54 Within 306% HF-H75 Within 350% HP-H54 Within 306%

HF105 Within 270% HP104 Within 262% HF-H105 Within 270% HP-H104 Within 262%HF54 Within 420% HP154 Within 434% HF-H54 Within 420% HP-H154 Within 434%

HF104 Within 504% HP204 Within 312% HF-H104 Within 504% HP-H204 Within 312%HF154 Within 378% HP354 Within 320% HF-H154 Within 378% HP-H354 Within 320%HF204 Within 340% HP454 Within 311% HF-H204 Within 312% HP-H454 Within 311%HF354 Within 331% HP704 Within 216% HF-H354 Within 331% HP-H704 Within 216%HF453 Within 298% HP903 Within 215% HF-H453 Within 298% HP-H903 Within 215%HF703 Within 238% HP1103 Within 184% HF-H703 Within 238% HP-H1103 Within 184%HF903 Within 291% HF-H903 Within 291%

MDS-D-SVJ3 Series (200V)

Motor model Max. current command value

HF75 437HF105 337HF54 525

HF104 439HF154 472HF204 356HF354 290

31


2.8 Measuring Waveforms and TuningExecute G01 (cutting feed) and then G00 (rapid traverse), measuring waveforms and tuning. In each mode, sample the waveforms in the following order: (1) Speed feedback- Position droop waveform (deviation between the command and the position feedback)(2) Speed feedback - Current feedback waveform

Tuning is for achieving good machining results. In order to achieve good machining results, it is essential to keep the stable droop or the waveform without overshoot or fluctuation, especially in G01 (cutting feed). After realizing the stability, try shortening the time constant (or tact time) and improving the responsibility (or accuracy). Thus, a position droop waveform should be firstly sampled to confirm that the servo motor’s rotation is stable.

For the waveform measurement, refer to "MS Configurator Instruction Manual" (IB-1500154).

2.8.1 Waveform Examples after Tuning

The following shows the waveforms measured by MS Configurator.

These are the examples in G01 (cutting feed). The result will be the same in G00 (rapid traverse).

As for G00, however, the allowable fluctuation is 5μm. In other mode, the allowance is should be 1μm (3μm during the axis travel)

Check the points in both forward and backward travels.

Speed feedback - Position droop waveform

Point 1Point 2

Point 3

32

Servo/Spindle Tuning Guide2.8 Measuring Waveforms and Tuning

Point 1: At acceleration -> constant speed: Make sure there is no overshoot or delay in feed (more than 3μm).

"Delay in feed" is a waveform where the feed seems to stop once and move again.

Point 2: At constant speed: Make sure there is no fluctuation (over 3μm) except cyclic vibration.

If any cyclic vibration is found, sample a waveform at a different feedrate. If the vibration cycle changes depending on the feedrate, mechanical factor (such as core deflection) may be affecting the vibration.

Point 3: At deceleration -> stop: Make sure there is no overshoot or delay in feed (more than 1μm).

Tuning method (1) Set the longer time constant. (2) If the peak current value shows 50% or less, set

the lower position loop gain (SV003, SV004 and SV057). After confirming the stable waveform, shorten the time constant.

Tuning method Set the higher speed loop gain (SV005).



33


Speed feedback - Current feedback waveform

Point 4 Point 5

34

Servo/Spindle Tuning Guide2.8 Measuring Waveforms and Tuning

Point 4: Make sure there is no current value exceeding the "max."

For the "max." value, refer to the chart in the chapter 2.7.

Point 5: At constant speed: Make sure there is no fluctuation (more than 3μm).

If any cyclic vibration is found, sample a waveform at a different feedrate. If the vibration cycle changes depending on the feedrate, mechanical factors (such as core deflection) may be affecting the vibration.

Check for any change (up and down) of current value as well during the axis travel. Especially on horizontal axis, the load current change may be caused by mechanical factors (such as guides’ crossing angle).



Tuning method Set the higher speed loop gain (SV005).

35

3
Spindle Tuning Procedure
37

3 Spindle Tuning ProcedureMITSUBISHI CNC

3.1 Flow of Spindle TuningKeys of spindle tuning(1) Always check the waveform while tuning.

(Note) At a point of May, 2008, MS Configurator’s spindle waveform measure functions don’t support all the models or all kinds of data. For exact spindle tuning, waveforms should be sampled from spindle amplifier's D/A output, using a measure device such as a waveform recorder. When using such a device, set the time axis range to either 20ms/DIV or 50ms/DIV. With the range 100ms/DIV or more, the device will not sample an accurate waveform.

(2) Tune the spindle at every rotation speed, not only at the maximum. As rotation speed changes, torque (power) will also change.

(3) Repeat accelerations/decelerations when sampling waveforms. As temperature changes, friction may also change due to heat expansion, etc.

(4) Always mount the chuck before tuning. Results may differ due to the chuck weight.

1. Do not adjust when possible risks associated with adjustment procedures are not thoroughly taken into consideration.

2. Before tuning, ensure the safe operation at the maximum rotation speed. 3. Be sure to break in the machine before tuning. 4. Be careful when touching rotating section, or your hand may be caught in or cut. 5. Changing of parameters has to be done carefully.

CAUTION

Checking the Operation and Tuning

Setting Initial Parameters

Checking the Operation

Tuning in Orientation

Rotate the spindle up to the maximum rotation speed. Check for any fluctuation in rotation or vibration in the waveform.

Repeat accelerations/decelerations. Sample waveforms both in room temperature and in high temperature for tuning.

Take this tuning method when using orientation. Execute orientations from the maximum rotation speed, every rotation speed and from 180 degrees position. Sample waveforms and tune the spindle in each orientation.

Start

End

(Tuning in other operations) Tune the spindle in the other operation such as spindle/C axis control.

Refer to 3.2

Refer to 3.3

Setting the Acceleration/ Deceleration Time Constant

38

Servo/Spindle Tuning Guide3.2 Setting Initial Parameters

3.2 Setting Initial Parameters(1) Set the following parameters: "#3001 slimit1"

to "#3137 stap_ax_off" according to the machine's specifications; "#13001 SP001" to "#13256 SP256" according to the "Parameter setting list" from MITSUBISHI.

(2) Set the following filter-setting parameters to "0".

Follow the parameter setting list. As long as the spindle inertia is within 3-fold (in almost all machining centers), the operation will have no problem with standard values from the list. If the inertia exceeds 3-fold (in lathe system with chuck, etc.), set "#13005 SP005" to "200" instead of "150".

No. Parameter name Setting#13038 SP038 (FHz1) Notch filter frequency 1 Set "0"

#13046 SP046 (FHz2) Notch filter frequency 2 Set "0"



39


3.3 Checking the Operation and TuningParameters to set

3.3.1 Checking the Operation toward Maximum Rotation Speed

Rotate the axis with gradually raising the rotation speed toward the maximum. Check for any rough rotation or fluctuation in the waveform.

Before tuning, ensure the safe operation at the maximum rotation speed.

At the first rotation command since the power ON, the rotation speed is raised up to the "#3109 zdetspd (Z phase detection speed)" speed. The speed will be raised up to the commanded speed after Z phase detection. If the rotation speed has not been raised for a long time, check the PLG.

(1) Display the parameter screen and set "15" ("5" in lathe system) in "#13001 SP001".

(2) Rotate the spindle with gradually raising the rotation speed (1000 to 2000 r/min at a time). Check for any fluctuation in the following waveforms at every rotation speed. (a) Speed - Phase current waveform (b) Speed - Current feedback waveform

(Ex.) Run the following program with executing single blocks. S1000 M3; S2000; S3000; : S**; (**: Max. rotation speed (Smax value)) M5

Watch the waveform in the recorder during the run. Check only the constant speed rotation waveform.


#13001 SP001 (PGV) Position loop gain Non-interpola-tion mode Start with "15" ("5" in lathe system)

#13005 SP005 (VGN1) Speed loop gain 1 Change the value when a problem occurs

even if SP001 is lowered to "5"

When any fluctuation occurs during constant speed rotation: (1) Stop the operation and raise the speed loop gain

(SP005). (2) Restart the operation with the speed at which the

fluctuation occurred. Check the waveform. (3) If the fluctuation still exists, lower the speed loop

gain.

40

Servo/Spindle Tuning Guide3.3 Checking the Operation and Tuning

3.3.2 Setting the Acceleration/Deceleration Time Constant

Repeat accelerations/decelerations. Sample waveforms both in room temperature and in high temperature for tuning.

(1) Display the spindle monitor screen. Wait until the spindle temperature goes down to the room temperature.

Spindle temperature is shown in "Temperature".

(2) Sample waveforms in acceleration/deceleration at room temperature. Execute "stop --> maximum rotation speed" for sampling them.

(Ex.) Run the following program with executing single blocks. S8000 M3; M5Dwell time setting is also available if the speed-stabilized time is confirmed.

For how to sample waveforms, refer to the later chapter of "Measuring Waveforms".

(3) Repeat accelerations/decelerations until the temperature on the spindle monitor screen reaches around 80 C°.

(4) Sample waveforms in acceleration/deceleration at 80 C°. Execute "stop --> maximum rotation speed" for sampling them.


41


(5) Compare the waveforms between (2) and (4). Apply the temperature at which the waveform shows worse. Tune the spindle in acceleration/deceleration toward/from the maximum rotation speed.

For checking waveforms and tuning, refer to the later chapter of "Waveform Examples and Tuning Methods".

(6) Decrease the rotation speed (1000 to 2000 r/min at a time). Tune the spindle at every rotation speed. Execute "stop --> rotation speed" and sample waveforms for tuning at every rotation speed.


(7) After completing tunings at every rotation speed, raise the position loop gain. Set "33" ("15" in lathe system) in "#13001 SP001".

(8) Execute accelerations/decelerations, sample waveforms and tune the spindle at every rotation speed toward the maximum.

Start with the lowest rotation speed. Then gradually raise the speed.

When both waveforms are similarly not good: (1) Start tuning at the temperature with shorter

deceleration time. (2) Then, tune at the other temperature.

When both waveforms are good: Choose the temperature with shorter deceleration

time for tuning.

When an overshoot occurs: Lower the position loop gain (SP001) until no

overshoot is found.

When an overshot occurs even if SP001 is lowered to "5": (1) Set "200" and "100" in "#13005 SP005". Sample

each two sets of waveforms. (2) Compare the waveforms. Choose the SP005

value with less problem.

42

Servo/Spindle Tuning Guide3.3 Checking the Operation and Tuning

3.3.3 Tuning in Orientation

Parameters to set

Take this tuning method when using orientation. Execute orientations from the maximum rotation speed, every rotation speed and from 180 degrees position. Sample waveforms and tune the spindle in each orientation.

(1) Execute an orientation from the maximum rotation speed. Sample waveforms and tune the spindle. (a) Execute with a tool (workpiece) of the

largest weight that allows the spindle maximum rotation speed.

(b) Execute with the tool (workpiece) of the largest weight allowed to be mounted to the spindle.



(2) Execute orientations from every rotation speed (every 1000 to 2000 r/min). Sample waveforms and tune the spindle.

(3) Confirm the standard value "100" is set in "#3107 ori_spd".

Be sure to set "#3107". Otherwise, an orientation from stop is not possible.

(4) Execute an orientation from 180 degrees position. Sample waveforms and tune the spindle. (a) Mount a tool (workpiece) of the largest

weight allowed to be mounted to the spindle.

(b) Stay the spindle at the orientation position.

(c) Rotate the spindle to 180 degrees position.

(d) Execute an orientation.


#13016 SP016 (DDT) Phase alignment deceleration rate Set the single-rotation position alignment deceleration rate for orientation stopping

#3107 ori_spd Orientation command speed Set the spindle speed during orientation command

43


3.4 Measuring WaveformsSample waveforms in the following order for tuning.

(1) Waveforms in acceleration/deceleration (at maximum rotation speed and every rotation speed)(2) Waveforms in orientation (from maximum rotation speed, every rotation speed and from stop)(3) Others (in synchronous tap, spindle synchronization and spindle/C-axis control)

(Note 1) As spindle power characteristics (base rotation speed, rated output max. speed, instantaneous rating, etc.) will change depending on the rotation speed, waveforms at each speed are required in addition to those at max. speed. However, for the waveform type noted later as "Sampled at maximum rotation speed only", waveforms at each speed are not required because the problem shows most clearly at the highest speed.

(Note 2) At a point of May, 2008, MS Configurator’s spindle waveform measure functions don’t support all the models or all kinds of data. For exact spindle tuning, waveforms should be sampled from spindle amplifier's D/A output, using a measure device such as a waveform recorder. When using such a device, set the time axis range to either 20ms/DIV or 50ms/DIV. With the range 100ms/DIV or more, the device will not sample an accurate waveform.

3.4.1 Waveforms in Acceleration/Deceleration

Sample waveforms in the following order:

Key pointAcceleration time is determined by (a) motor’s power characteristics, (b) power of spindle amplifier, and (c) machine’s inertia (including mechanical loss due to friction). In tuning, setting a longer acceleration time is allowed for protecting the machine, while shortening the time is not allowed. For shorter acceleration time, it is necessary to improve the factors (a) to (c) above.

(1)Speed - Phase current waveform

- Sampled at each rotation speed. - When the motor has coil switch specifications, sample both

L coil and H coil waveforms at maximum rotation speed. - U and V phases are available. D/A output is as well.

(2)Speed - Current feedback waveform - Sampled at each rotation speed.

(3)Speed - q axis integral term current

- When the motor has coil switch specifications, sample both L coil and H coil waveforms at maximum rotation speed.

* q axis integral term current: Controls the current applied to the motor stator’s coil

(4)Speed - d axis integral term current

- Sampled at maximum rotation speed only. - When the motor has coil switch specifications, sample both

L coil and H coil waveforms at maximum rotation speed. * d axis integral term current: Controls the current applied to the motor rotor’s coil (waveforms are unnecessary for IPM spindle, whose rotor is not coil but magnet)

44

Servo/Spindle Tuning Guide3.4 Measuring Waveforms

Settings of D/A output No. and output magnificationSet the following parameters when using D/A output.

3.4.2 Waveform in Orientation

Sample the following waveform:

Settings of D/A output No. and output magnificationSet the following parameters when using D/A output.

3.4.3 Others

For synchronous tap, spindle synchronization and spindle/C-axis control, the followings are required: speed waveform, droop waveform and current feedback waveform.

No. Parameter name

Setting(1)Speed -

Phase current waveform

(2)Speed - Current feed-

back waveform

(3)Speed - q axis integral term current

(4)Speed - d axis integral term current

#13125 SP125 D/A output channel 1 data No. 1

#13126 SP126 D/A output channel 2 data No. 31764 3 31778 31782

#13127 SP127 D/A output channel 1 output scale

Differs according to the machine's maximum rotation speed. (Ex.) "20" when maximum speed is 10000r/min, "40" when 5000r/min

#13128 SP128 D/A output channel 2 output scale 2 100 2 2

Current command - Orientation completion signal

- Sampled at each rotation speed.- The same waveform should be sampled in the orientation

from stop.

No. Parameter name Setting#13125 SP125 D/A output channel 1 data No. 2

#13126 SP126 D/A output channel 2 data No. 16492

#13127 SP127 D/A output channel 1 output scale 100

#13128 SP128 D/A output channel 2 output scale 100

45


3.5 Waveform Examples and Tuning Methods3.5.1 Waveforms in Acceleration/Deceleration

The following shows the examples of each type waveform before and after tuning.

Speed - Current feedback waveform(Before tuning)

(After tuning)

Point 1: Acceleration end --> constant speed: Make sure that the waveform is as stable as possible (less than half in the range of 50%/DIV, with two or less fluctuations).

Factors of unstableness: (a) speed loop gain is too low or (b) position loop gain is too high

Tuning method Set the higher speed loop gain (SP005) or lower

position loop gain (SP001).

46

Servo/Spindle Tuning Guide3.5 Waveform Examples and Tuning Methods

Point 2: During constant speed: Make sure that the waveform is as stable as possible (with less current fluctuation).

Factors of unstableness: (a) speed loop gain is too low or (b) oscillation

Current value will change depending on the load current during rotation. Large current value is acceptable as long as it stays below 70% of the value at acceleration. If the current value is 70% or above, the machine may have problems such as a lack of motor’s capacity or an excessive inertia.

Point 3: Constant speed --> deceleration start: Make sure there is no "jump" in the current waveform.

"Jump" means the instantaneous fluctuation within 10ms or less time. "Overvoltage" or "Overcurrent" alarm is likely to occur at the current's jump.

Tuning method(1) Set the higher speed loop gain (SP005). (2) If the fluctuation still exists, lower the speed loop

gain.

Tuning method Lower the "#13071 SP071" and "#13072 SP072"

values.


#13071 SP071 Variable current limit during decel-eration, lower limit value

Set this parameter to adjust the decelera-tion time by changing the current limit value during deceleration according to the motor speed. #13072 SP072 Variable current limit during decel-

eration, break point speed

47


Speed - Phase current waveform(Before tuning)

(After tuning)

48


Point 4: During constant speed: Make sure the waveform is as stable as possible (with less current fluctuation).


Current value will change depending on the load current during rotation. Large current value is acceptable as long as it stays below 70% of the value at acceleration. If the current value is 70% or above, the machine may have problems such as a lack of motor’s capacity or an excessive inertia.

Point 5: Constant speed --> deceleration start: Make sure there is no "jump" in the current waveform.

Phase current waveform may have more obvious "jump". "Overvoltage" or "Overcurrent" alarm is likely to occur at the current's jump.


gain.

Tuning method Lower the "#13071 SP071" and "#13072 SP072"

values.

49


Speed - q axis integral term current(Before tuning)

(After tuning)

Point 6: After acceleration (during constant speed rotation and deceleration): Make sure that the fluctuation is within ±1V, and the current is stable (with no fluctuation including cyclic current fluctuation) during constant speed. (Ignore the waveform in acceleration.)



gain.

50


Speed - d axis integral term current(Before tuning)

(After tuning)

Point 7: After acceleration (during constant speed rotation and deceleration): Make sure that the fluctuation is within ±1V, and the current is stable (with no fluctuation including cyclic current fluctuation) during constant speed. (Ignore the waveform in acceleration.)



gain.

51


3.5.2 Waveform in Orientation

Acceleration/deceleration --> Orientation (Current command - Orientation completion signal)

Point 1: Make sure that the current peak value in orientation is smaller than the value in deceleration.

Tuning method If the current value is over the range: Lower the "#13016 SP016" value until the current

value is within the range. If the current value is within the range: "#13016 SP016" can be set higher for shortening

the orientation time (Point 2).


#13016 SP016 (DDT) Phase alignment deceleration rate Set the single-rotation position alignment deceleration rate for orientation stopping

Decele- ration Orientation

Current command

Orientation completion signal

52


Stop (at 180 degrees position) --> Orientation (Current command - Orientation completion signal)

Point 3: Make sure that the current peak value in orientation is less than 100%.

Tuning method If the current value is over the range: Lower the "#3107 ori_spd" value until the current

value is within the range. If the current value is within the range: "#3107 ori_spd" can be set higher for shortening the

orientation time (Point 4).


#3107 ori_spd Orientation command speed Set the spindle speed during orientation command

Current command

Orientation completion signal

53

Revision History

Date of revision Manual No. Revision detailsJun. 2008 BNP-C8027-023A(ENG) First edition created.

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Servo/Spindle Tuning Guidefs1.gongyeku.com/data/default/201211a/2012110509520… · · 2015-07-09This manual explains the servo/spindle tuning so that the configured machine will