GE Fanuc B-65150E/04 Parameter Manual

Download

GE Fanuc Automation

Computer Numerical Control Products

Alpha Series AC Servo Motor

Parameter Manual

GFZ-65150E/04 December 1999

Warnings, Cautions, and Notes as Used in this Publication

Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.

Caution notices are used where equipment might be damaged if care is not taken.

GFL-001

Warning

Caution

Note

Notes merely call attention to information that is especially significant to understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.

B-65150E/04 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the m achine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING





CAUTION





NOTE





!

s-1

CONTENTS

B-65150E/04

DEFINITION OF WARNING, CAUTION, AND NOTE.................................s-1

1 OVERVIEW.............................................................................................. 1

1.1 SERVO SOFTWARE AND MODULES SUPPORTED BY EACH NC MODEL ........................................2

1.2 ABBREVIATIONS OF THE NC MODELS COVERED BY THIS MANUAL...............................................4

1.3 RELATED MANUALS..............................................................................................................................5

2 SETTING α SERIES SERVO PARAMETERS ......................................... 7

2.1 INITIALIZING SERVO PARAMETERS....................................................................................................7

2.1.1 Before Servo Parameter Initialization............................................................................................................. 7

2.1.2 Parameter Initialization Flow......................................................................................................................... 8

2.1.3 Servo Parameter Initialization Procedure....................................................................................................... 9

2.1.4 Setting Servo Parameters When a Separate Detector for the Serial Interface Is Used.................................. 23

2.1.5 Actions for Invalid Servo Parameter Setting Alarms.................................................................................... 29

3 α SERIES PARAMETER ADJUSTMENT............................................... 39

3.1 SERVO ADJUSTMENT SCREEN..........................................................................................................40

3.2 ACTIONS FOR ALARMS.......................................................................................................................43

3.3 PROCEDURES FOR GAIN ADJUSTMENT AND VIBRATION-DAMPING CONTROL..........................50

3.3.1 Gain Adjustment Procedure.......................................................................................................................... 50

3.3.2 Vibration in the Stop State........................................................................................................................... 53

3.3.3 Vibration during Travel................................................................................................................................ 55

3.3.4 Cumulative Feed...........................................................................................................................................57

3.3.5 Overshoot..................................................................................................................................................... 58

3.4 ADJUSTING PARAMETERS FOR HIGH SPEED AND HIGH PRECISION...........................................59

3.4.1 Level-up HRV Control Adjustment Procedure ............................................................................................ 59

3.4.2 Cutting Feed/Rapid Traverse Switchable Function...................................................................................... 67

3.4.3 Servo Parameter Adjustment Procedure for Achieving High Speed and High Precision............................. 71

3.4.4 High-Speed Positioning Adjustment Procedure........................................................................................... 84

3.4.5 Rapid Traverse Positioning Adjustment Procedure...................................................................................... 87

4 SERVO FUNCTION DETAILS ............................................................... 92

4.1 LIST OF SERVO FUNCTIONS..............................................................................................................93

4.2 HRV CONTROL.....................................................................................................................................96

4.3 LEVEL-UP HRV CONTROL.................................................................................................................101

4.4 VIBRATION SUPPRESSION FUNCTION IN THE STOP STATE........................................................103

4.4.1 250 µsec Acceleration Feedback Function................................................................................................. 103

4.4.2 Velocity Loop High Cycle Management Function..................................................................................... 104

4.4.3 Function for Changing the Proportional Gain in the Stop State ................................................................. 107

4.4.4 N Pulse Suppression Function.................................................................................................................... 110

−

CONTENTS B-65150E/04

4.5 MACHINE-RESONANCE SUPPRESSION FUNCTION.......................................................................112

4.5.1 Machine Speed Feedback Function............................................................................................................ 112

4.5.2 Observer Function...................................................................................................................................... 116

4.5.3 Torque Command Filter.............................................................................................................................120

4.5.4 Dual Position Feedback Function...............................................................................................................122

4.5.5 Vibration-damping Control Function......................................................................................................... 130

4.5.6 Vibration Suppression Filter Function....................................................................................................... 133

4.5.7 Current Loop 1/2PI Function .....................................................................................................................134

4.6 SHAPE-ERROR SUPPRESSION FUNCTION.....................................................................................137

4.6.1 Feed-forward Function ..................................................................................................... .......................... 137

4.6.2 Advanced Preview Feed-forward Function................................................................................................ 141

4.6.3 RISC Feed-forward Function..................................................................................................................... 144

4.6.4 Backlash Acceleration Function................................................................................................................. 146

4.6.5 Two-stage Backlash Acceleration Function ............................................................................................... 149

4.6.6 Static Friction Compensation Function...................................................................................................... 160

4.7 OVERSHOOT COMPENSATION ........................................................................................................162

4.8 HIGH-SPEED POSITIONING FUNCTION...........................................................................................171

4.8.1 Position Gain Switch Function................................................................................................................... 171

4.8.2 Low-speed Integration Function................................................................................................................. 175

4.8.3 Fine Acceleration/Deceleration (FAD) Function........................................................................................ 177

4.9 DUMMY SERIAL FEEDBACK FUNCTIONS........................................................................................188

4.9.1 Dummy Serial Feedback Functions............................................................................................................ 188

4.9.2 How to Use the Dummy Feedback Functions for a Multiaxis Servo Amplifiers

When an Axis Is Not in Use....................................................................................................................... 191

4.10 BRAKE CONTROL FUNCTION...........................................................................................................192

4.11 STOP DISTANCE REDUCTION FUNCTION.......................................................................................197

4.11.1 Emergency Stop Distance Reduction Function Type 1.............................................................................. 197

4.11.2 Emergency Stop Distance Reduction Function Type 2.............................................................................. 200

4.11.3 Separate Detector Hardware Disconnection Stop Distance Reduction Function........................................201

4.11.4 OVL and OVC Alarm Stop Distance Reduction Function......................................................................... 204

4.11.5 Overall Use of the Stop Distance Reduction Functions..............................................................................204

4.12 ABNORMAL-LOAD DETECTION FUNCTION.....................................................................................205

4.12.1 Abnormal-load Detection Function............................................................................................................ 205

4.12.2 Unexpected Disturbance Detection Performed Separately for Cutting and Rapid Traverse....................... 214

4.13 FUNCTION FOR OBTAINING CURRENT OFFSETS AT EMERGENCY STOP..................................216

4.14 LINEAR MOTOR PARAMETER SETTING ..........................................................................................217

4.14.1 Procedure for Setting the Initial Parameters of Linear Motors................................................................... 217

4.14.2 Linear Motor Thrust Ripple Correction......................................................................................................225

4.15 TORQUE CONTROL FUNCTION........................................................................................................232

4.16 USAGE OF THE SERVO SOFTWARE FOR SUPER-PRECISION MACHINING................................235

4.17 TANDEM CONTROL FUNCTION........................................................................................................242

4.17.1 Preload Function ........................................................................................................................................ 248

4.17.2 Damping Compensation Function.............................................................................................................. 251

4.17.3 Velocity Feedback Averaging Function..................................................................................................... 254

−

B-65150E/04 CONTENTS

4.17.4 Servo Alarm 2-axis Simultaneous Monitor Function................................................................................. 255

4.17.5 Motor Feedback Sharing Function............................................................................................................. 255

4.17.6 Full-closed Loop Feedback Sharing Function............................................................................................ 256

4.17.7 Full Preload Function................................................................................................................................. 257

4.17.8 Position Feedback Switching Function ......................................................................................................262

4.17.9 Adjustment................................................................................................................................................. 264

4.17.10 Notes on Tandem Control.......................................................................................................................... 268

4.17.11 Block Diagrams.......................................................................................................................................... 270

4.18 SERVO AUTO TUNING.......................................................................................................................272

4.19 SERVO CHECK BOARD OPERATING PROCEDURE........................................................................278

5 DETAILS OF PARAMETERS .............................................................. 291

5.1 DETAILS OF Series 0-C AND 15-A SERVO PARAMETERS (9041, 9046 SERIES)...........................292

5.2 DETAILS OF THE SERVO PARAMETERS FOR Series 15, 16, 18, 20, 21, Power Mate

(SERIES 9060, 9064, 9065, 9066, 9070, 9080, 9081, 9090, AND 90A0)............................................299

6 PARAMETER LIST.............................................................................. 317

6.1 FOR Series 0-C AND 15-A ..................................................................................................................318

6.2 PARAMETERS FOR STANDARD CONTROL.....................................................................................326

6.3 PARAMETERS FOR HRV CONTROL.................................................................................................334

APPENDIX A DIFFERENCES BETWEEN THE PARAMETERS

FOR THE Series 15-A AND Series 15-B (15i-A) ................................ 347

B ANALOG SERVO INTERFACE SETTING PROCEDURE ................... 350

C PARAMETERS SET WITH VALUES IN DETECTION UNITS.............. 355

C.1 PARAMETERS FOR Series 15i...........................................................................................................356

C.2 PARAMETERS FOR Series 15-B........................................................................................................358

C.3 PARAMETERS FOR Series 16, 18, AND 21.......................................................................................360

C.4 PARAMETERS FOR Series 0-C..........................................................................................................361

C.5 PARAMETERS FOR THE Power Mate i..............................................................................................362

C.6 PARAMETERS FOR THE Power Mate -E...........................................................................................363

D FUNCTION-SPECIFIC SERVO PARAMETERS .................................. 364

−

B-65150E/04 1. OVERVIEW

1 OVERVIEW

This manual describes the servo parameters of the following NC models using an α servo system. The descriptions include the servo parameter start-up and adjustment procedures. The meaning of each parameter is also explained.

− 1 −

1. OVERVIEW B-65150E/04

1.1 SERVO SOFTWARE AND MODULES SUPPORTED BY

EACH NC MODEL

NC product name

Series 0-MODEL C Series 15-MODEL A

Series 15-MODEL B (Note 2) Series 16-MODEL A Series 18-MODEL A Series 20-MODEL A Series 21-MODEL A Series 21-MODEL B Power Mate-MODEL D Power Mate-MODEL F Power Mate-MODEL H Power Mate-MODEL I Series 15-MODEL B (Note 2) Series 16-MODEL B Series 18-MODEL B Series 16-MODEL C Series 18-MODEL C

Series 15-B (FS15-B) (Note 2) Series 16-C (FS16-C) Series 18-C (FS18-C)

Series 16i -MODEL A (Note 3) Series 18i -MODEL A Series 21i -MODEL A Power Mate i -MODEL D Power Mate i -MODEL H

Series 15i-MODEL A

Power Mate-MODEL E (PME)

Series and edition of applicable servo

software

Series 9046/A(01) and subsequent editions (Supporting standard and high-speed positioning) Series 9041/A(01) and subsequent editions (Supporting dual position feedback)

Series 9060/J(10) and subsequent editions 320C25 module

Series 9060/J(10) and subsequent editions (Supporting standard and high-speed positioning) Series 9066/F(06) and subsequent editions (Supporting FAD & HRV control) (Note 1)

Series 9070/A(01) and subsequent editions

Series 9080/E(05) and subsequent editions (Supporting FAD & HRV control and linear motor) Series 9081/A(01) and subsequent editions (Supporting SUPER-precision machining) Series 9090/A(01) and subsequent editions (Supporting i series CNC) Series 90A0/A(01) and subsequent editions (Supporting i series CNC and level-up HRV control) Series 90A0/A(01) and subsequent editions (Supporting i series CNC and level-up HRV control) Series 9064/E(05) and subsequent editions (Standard) Series 9065/A(01) and subsequent editions (Supporting HRV control)

Serial axis board

320C25 module

320C51 module 320C52 module

320C52 module

320C52 servo card

320C543 servo card

Module

− 2 −

B-65150E/04 1. OVERVIEW

NOTE 1 For some models of the Series 21, Power Mate-D, and

Power Mate-F, the NC software and servo software are integrated. The NC software of the following series and editions includes servo software supporting the α servo motor.

Series21-TA Series 8866/001B and subsequent editions Series21-TB control A type Series DE01/001A and subsequent editions

Power Mate-D Power Mate-F Series 8870/001A and subsequent editions

Series 8831/001A and subsequent editions Series 8836/001A and subsequent editions

NOTE 2 The servo software series of the Series 15-B depends on the

incorporated servo module, as shown below:

Servo software CNC CPU Servo module

Series 9060 68030 320C25 module Series 9070 68040 320C51 module Series 9080 Series 9081

68040 320C52 module

NOTE 3 The servo software series of the Series 16i, 18i, 21i, and

Power Mate i depend on the incorporated servo card, as shown below.

Servo software Servo card

Series 9090 320C52 card Series 90A0 320C543 card

− 3 −

1. OVERVIEW B-65150E/04

1.2 ABBREVIATIONS OF THE NC MODELS COVERED BY

THIS MANUAL

The models covered by this manual, and their abbreviations are :

NC product name Abbreviations

FANUC Series 0-MODEL C Series 0-C Series 0 FANUC Series 15-MODEL A Series 15-A FANUC Series 15-MODEL B Series 15-B FANUC Series 15i-MODEL A FANUC Series 16-MODEL A Series 16-A FANUC Series 16-MODEL B Series 16-B FANUC Series 16-MODEL C Series 16-C FANUC Series 16i-MODEL A FANUC Series 18-MODEL A Series 18-A FANUC Series 18-MODEL B Series 18-B FANUC Series 18-MODEL C Series 18-C FANUC Series 18i-MODEL A FANUC Series 20-MODEL A Series 20-A Series 20 FANUC Series 21-MODEL A Series 21-B FANUC Series 21-MODEL B Series 21-C FANUC Series 21i-MODEL A FANUC Power Mate-MODEL D Power Mate-D FANUC Power Mate-MODEL F Power Mate-F FANUC Power Mate-MODEL H Power Mate-H FANUC Power Mate-MODEL I Power Mate-I FANUC Power Mate i-MODEL D Power Mate i-D FANUC Power Mate i-MODEL H Power Mate i-H

FANUC Power Mate-MODEL E Power Mate-E

Series 15i-A

Series 16i-A

Series 18i-A

Series 21i-A

Series 15 (Note 1)

Series 16 (Note 1)

Series 18 (Note 1)

Series 21 (Note 1)

Power Mate (Note 2)

Power Mate-E (Note 2)

NOTE

1 In this manual, a reference to the Series 15, 16, 18, or

21, without a specific model name refers to all the models of the series.

2 In this manual, Power Mate refers to the Power

Mate-D, Power Mate-F, Power Mate-H, Power Mate-I, Power Mate i-D, and Power Mate i-H. The Power Mate-E, which uses different servo software and different parameter numbers, is designated by its full name or as Power Mate-E.

− 4 −

B-65150E/04 1. OVERVIEW

1.3 RELATED MANUALS

The following ten kinds of manuals are available for FANUC SERV O MOTOR α/β series. In the table, this manual is marked with an asterisk (*).

Table 1. Related manuals of SERVO MOTOR α/β series

Document name Document

FANUC AC SERVO MOTOR α series DESCRIPTIONS

FANUC AC SERVO MOTOR β series DESCRIPTIONS

FANUC AC SPINDLE MOTOR α series DESCRIPTIONS

FANUC SERVO AMPLIFIER α series DESCRIPTIONS

FANUC CONTROL MOTOR AMPLIFIER α series (SERVO AMPLIFIER UNIT) DESCRIPTIONS

FANUC CONTROL MOTOR α series MAINTENANCE MANUAL

FANUC CONTROL MOTOR AMPLIFIER α series (SERVO AMPLIFIER UNIT) MAINTENANCE MANUAL

FANUC SERVO MOTOR β series MAINTENANCE MANUAL

FANUC AC SERVO MOTOR α series PARAMETER MANUAL

FANUC AC SPINDLE MOTOR α series PARAMETER MANUAL

number

B-65142E

B-65232EN

B-65152E

B-65162E

B-65192EN

B-65165E

B-65195EN

B-65235EN

B-65150E

B-65160E

Major contents Major usage

• Specification

• Characteristics

• External dimensions

• Connections

• Specification

• Characteristics

• External dimensions

• Connections

• Specification

• Characteristics

• External dimensions

• Connections

• Specifications and

functions

• Installation

• External dimensions

and maintenance area

• Connections

• Start up procedure

• Troubleshooting

• Maintenance of motor

• Start up procedure

• Troubleshooting

• Start up procedure

• Troubleshooting

• Maintenance of motor

• Initial setting

• Setting parameters

• Description of

parameters

• Initial setting

• Setting parameters

• Description of

parameters

• Selection of motor

• Connection of

motor

• Selection of amplifier

• Connection of amplifier

• Start up the system (Hardware)

• Troubleshooting

• Maintenance of

motor

• Start up the system (Hardware)

• Troubleshooting

• Start up the

system (Hardware)

• Troubleshooting

• Maintenance of

motor

• Start up the system (Software)

• Turning the system (Parameters)

− 5 −

1. OVERVIEW B-65150E/04

Other manufactures’ products referred to in this manual

* IBM is registered trademark of International Business Machines

Corporation.

* MS-DOS and Windows are registered trademarks of Microsoft

Corporation. * 486SX and 486DX2 are registered trademarks of Intel corporation. All other product names identified throughout this manual are trademarks or registered trademarks of their respective companies.

In this manual, the servo parameters are explained using the following notation:

(Example)

No. 1875

No. 2021

Series 0-CSeries 15

No. 8X21

No. 1021

Servo parameter function name

Load inertia ratio

Series16, 18, 20, 21 Power Mate

Power Mate-E

The α servo motor can take either of the following configurations:

motor

pulse coder

The following α pulse coders are available.

Pulse coder name Resolution Type

αA64 65,536 pulse/rev Absolute αI64 65,536 pulse/rev Incremental αA1000 1,000,000 pulse/rev Absolute

When parameters are set, these pulse coders are all assumed to have a resolution of 1,000,000 pulses per motor revolution.

NOTE

The αA1000 is used for 0.1-µm detection control and high-speed high-precision control.

− 6 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

2 SETTING α SERIES SERVO PARAMETERS

2.1 INITIALIZING SERVO PARAMETERS

2.1.1 Before Servo Parameter Initialization

Before starting servo parameter initialization, confirm the following: <1> NC model (ex.: Series 15-B) <2> Servo motor model (ex.: <3> Pulse coder built in a motor (ex.: <4> Is the separate position detector used? (ex.: Not used) <5> Distance the machine tool moves per revolution of the motor

(ex.: 10 mm per one revolution) <6> Machine detection unit (ex.: 0.001 mm) <7> NC command unit (ex.: 0.001 mm)

α 6/2000) α A1000)

− 7 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04



2.1.2 Parameter Initialization Flow

On the servo setting and servo adjustment screens, set the following:

In emergency stop state, switch on NC.

Initialization bits

Motor No. AMR CMR Move direction

Reference counter Velocity gain

Make settings for using separate detector. No. 1807#3 = 1, 1815#1 = 1 (Series 15) Set bits 0 to 3 of No. 37 to 1. (Series 0-C) No. 1815#1 = 1 (Series 16, 18, 21, Power Mate) No. 1002 = 10001000 (Power Mate-E)

Set flexible feed gear.

00000000 (except Power Mate-E) (Note) 00011000 (for Power Mate-E) See (4) in Subsec. 2.1.3. 00000000 See (6) in Subsec. 2.1.3. 111 (Clockwise as viewed from detector)

−111 (Counterclockwise as viewed from detector) See (10) in Subsec. 2.1.3. Set 100% if the machine inertia is unknown. (Equivalent to load inertia ratio parameter)

Which system is being used?

← See (7) in Subsec. 2.1.3. →

Semi-closed loopClosed loop

Set flexible feed gear.

Number of velocity pulses Number of position pulses

8192 (Note) Ns (Note)

For the phase A/B separate detector and serial linear scale: Ns: Number of feedback pulses per motor

revolution, received from the separate

detector For the serial rotary scale: Ns: 12500 × (motor-to-table deceleration ratio) Example: When the motor rotates ten turns while

the table rotates one turn

12500 × = 1250

Set Ns to 1250.

NOTE

When initialization bit 0 is set to 1, the settings of the number of velocity pulses and the number of position pulses must be reduced by a factor of 10.

Number of velocity pulses Number of position pulses

Turn power off then on.

End of parameter setting

− 8 −

8192 (Note) 12500 (Note

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

2.1.3 Servo Parameter Initializ ati on Procedure

(1) Switch on the NC in an emergency stop state.

Enable parameter writing (PWE = 1).

(2) Initialize servo parameters on the servo setting screen.

For a Power Mate with no CRT, specify a value for an item number on the servo setting screen. See Fig. 2.1.3. To display the servo setting screen, follow the procedure below, using the key on the NC.

 Series 0-C

0389 SVS

SVS (#0) 0: Displays the servo screen.

 Series 15

 Series 16, 18, 20, 21

3111 SVS

SVS (#0) 1: Displays the servo screen.

Press the key several times, and the serv o setting screen w ill

PARAM

appear.

If no servo screen appears, set the following parameter as shown, and switch the NC off and on again.

#7 #6 #5 #4 #3 #2 #1 #0

SERVICE

Press the key several times, and the servo setting screen will appear.

SYSTE

→ [SYSTEM] → [ ] → [SV-PRM]

If no servo screen appears, set the following parameter as shown, and switch the NC off and on again.

#7 #6 #5 #4 #3 #2 #1 #0

− 9 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

When the following screen appears, move the cursor to the item you want to specify, and enter the value directly.

Servo set

X axis INITIAL SET BITS Motor ID No. AMR CMR Feed gear N (N/M) M Direction Set Velocity Pulse No. Position Pulse No. Ref. counter

Fig. 2.1.3 Servo setting menu Correspondence of Power Mate

00001010

00000000

8192 12500 10000

1 100 111

01000 N0000

Z axis

00001010

00000000

1 100 111

8192 12500 10000

Power Mate Power Mate-E

No. 2000 2020 2001 1820 2084 2085 2022 2023 2024 1821

No. 1000 1020 1001 100 1084 1085 1022 1023 1024 324

(3) Start initialization.

#7 #6 #5 #4 #3 #2 #1 #0

INITIAL SET BIT PRMC DGPR PLC0

( Note)

Start initialization (Keep the NC power on until step (11).)

DGPR (#1) = 0 Automatically set to 1 after initialization.

NOTE

Once initialization has been completed, the Series 0-C and Series 15-A automatic al ly set bit 3 (PRMC ) for initialization to 0, while other NC models set the bit to 1. Note that the bit 3 (PRMC) bit must be set to 0 for the Series 0-C and Series 15-A.

(4) Specify the motor ID No.

Select the motor ID No. of the servo motor to be used, according to the motor model and drawing num ber (the m iddle four dig its of A06B-XXXX-BXXX) listed in the tables on subsequent pages.

− 10 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

α series servo motor

Motor model α1/3000 α2/2000 α2/3000 α2.5/3000 α3/3000 Motor specification Motor type No. 61 46 62 84 15

Motor model α6/2000 α6/3000 α12/2000 α12/3000 α22/1500 Motor specification Motor type No. 16 17 18 19 27

Motor model α22/2000 α22/3000 α30/1200 α30/2000 α30/3000 Motor specification Motor type No.2021282223

Motor model α40/FAN α40/2000 α65 α100 α150 Motor specification Motor type No. 29 30 39 40 41

0371 0372 0373 0374 0123

0127 0128 0142 0143 0146

0147 0148 0151 0152 0153

0158 0157 0331 0332 0333

Motor model α300/2000 α400/2000 Motor specification Motor type No. 111 112

αL series servo motor

Motor model αL3/3000 αL6/3000 αL9/3000 α Motor specification Motor type No. 56 or 68* 57 or 69* 58 or 70* 59 60

0561 0562 0564 0571 0572

0337 0338

L25/3000αL50/2000

Use the motors mark ed by * with the serv o software that supports HRV control (Series 9066, 9080, 9081, 9090, and 90A0).

αC series servo motor

Motor model αC3/2000 αC6/2000 αC12/2000 αC22/1500 Motor specification Motor type No. 7 8 9 10

αHV series servo motor

Motor model α3HV α6HV α12HV α22HV α30HV Motor specification Motor type No. 1 2 3 102 103

0121 0126 0141 0145

0171 0172 0176 0177 0178

− 11 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

αM series servo motor

Motor model αM2/3000 α Motor specification Motor type No.9899242526

Motor model α

Motor specification Motor type No. 100 101 108 110

Motor model αM6HV αM9HV αM22HV αM30HV Motor specification Motor type No. 104 105 106 107

Linear motor

Motor model 1500A 3000B 6000B 9000B 15000C Motor specification Motor type No.9091929394

0376 0377 0161 0162 0163

M22/3000αM30/3000

0165 0166 170 170

0182 0183 0185 0186

0410 0411 0412 0413 0414

M2.5/3000

αM3/3000 αM6/3000 αM9/3000

αM40/3000FAN

(360A amplifier

driving)

αM40/3000

(130A amplifier

driving)

Remark)

β series servo motor

Motor model β0.5 β1/3000 β2/3000 β3/3000 β6/2000 Motor specification Motor type No.1335363334

0113 0031 0032 0033 0034

These motor type Nos. may not be supported depending on the servo software being used. The following lists the motor type Nos. together with the applicable servo software series and editions.

− 12 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

α series servo motor

Servo software Motor series model and motor type number

α1/3000 61 A B M A C A C A A E A α2/2000 46 A B M A C A C A A E A α2/3000 62 A B M A C A C A A E A α2.5/3000 84 A B M A C A C A A E A α3/3000 15 A B M A C A C A A E A α6/2000 16 A B M A C A C A A E A α6/3000 17 A B M A C A C A A E A α12/2000 18 A B M A C A C A A E A α12/3000 19 A B M A C A C A A E A α22/1500 27 A B M A C A C A A E A α22/2000 20 A B M A C A C A A E A α22/3000 21 A B M A C A C A A E A α30/1200 28 A B M A C A C A A E A α30/2000 22 A B M A C A C A A E A α30/3000 23 A B M A C A C A A E A α40/FAN 29 ABMACACAAEA α40/2000 30 A B M A C A C A A E A α65 39ABMACACAAEA α100 40 A B M A C A C A A E A α150 41 A B M A C A C A A E A α300/2000 111 Y M K α400/2000 112 Y M K

αL series servo motor

Servo software Motor series model and motor type number

αL3/3000 5668ABMAICAKCEAAAAEA

αL6/3000 5769ABMAICAKCEAAAAEA

αL9/3000 5870ABMAICAKCEAAAAEA

αL25/3000 59 A B M A C A C A A E A αL50/3000 60 A B M A C A C A A E A

αC series servo motor

Servo software Motor series model and motor type number

αC3/2000 7 A B M A C A C A A E A αC6/2000 8 A B M A C A C A A E A αC12/2000 9 A B M A C A C A A E A αC22/1500 10 A B M A C A C A A E A

− 13 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

αHV series servo motor

Servo software Motor series model and motor type number

α3HV 1 W B M A A A A F A α6HV 2 W B M A A A A F A α12HV 3 A B M A C A C A A E A α22HV 102 I K E D A α30HV 103 I K E D A

αM series servo motor

Servo software

Motor series model and motor type number

αM2/3000 98 I K E D A αM2.5/3000 99 I K E D A αM3/3000 24 A B M A C A C A A E A αM6/3000 25 A B M A C A C A A E A αM9/3000 26 A B M A C A C A A E A αM22/3000 100 I K E D A αM30/3000 101 I K E D A αM40/3000

(360A driving) αM40/3000 (130A driving)

αM6HV 104 I K E D A αM9HV 105 I K E D A αM22HV 106 I K E D A αM30HV 107 I K E D A

108 Y L D

110 Y L D

Linear motor

Servo software

Motor series model and motor type number 1500A 90 D A A A A 3000B 91 D A A A A 6000B 92 D A A A A 9000B 93 D A A A A 15000C 94 K S J C

− 14 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Reference) β series servo motor

Servo software

Motor series model and motor type number

β0.5/3000 13 A B M A C A C A A E A β1/3000 35 A B M A C A C A A E A β2/3000 36 A B M A C A C A A E A β3/3000 33 G W B H A C A A F A β6/2000 34 A B M A C A C A A E A

(5) Set AMR as described below:

α pulse coder 00000000

(6) Set CMR with the scale of a distance the NC instructs the machine

to move. CMR = Command unit / Detection unit

CMR 1/2 to 48 Setting value = CMR × 2

Usually, CMR = 1, so specify 2.

(7) Specify the flexible feed gear (F⋅FG ). This function m akes it easy

to specify a detection unit for the leads and gear reduction ratios of various ball screws by changing the number of position feedback pulses from the pulse coder or separate detector.

Setting for the α pulse coder in the semi-closed mode

F⋅FG numerator (≤ 32767) per motor revolution

= (as irreducible fraction)

F⋅FG denominator (≤ 32767) 1,000,000 (Note 2)

(Note 1) Necessary position feedback pulses

NOTE

1 For both F⋅FG number and denominator, the maximum

setting value (after reduced) is 32767.

2 α pulse coders assume one million pulses per motor

revolution, irrespective of resolution, for the flexible feed gear setting.

3 If the calculation of the number of pulses required per

motor revolution involves π, such as when a rack and pinion are used, assume π to be approximately 355/113.

4 The setting for serial pulse coder A is the same as for

the α pulse coder.

− 15 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

Example of setting

For detection in 1 µm units, specify as follows:

Ball screw lead

(mm/rev)

10 20 30

Number of necessary

position pulses

(pulses/rev)

10000 20000 30000

F⋅FG

1/100 2/100 or 1/50 3/100

Example of setting

If the machine is set to detection in 1,000 degree units with a gear reduction ratio of 10:1 for the rotation axis, the table rotates by 360/10 degrees each time the motor makes one turn. 1000 position pulses are necessary for the table to rotate through one degree. The number of position pulses necessary for the motor to make one turn is:

360/10 × 1000 = 36000 with reference counter = 36000

F⋅FG numerator 36000 36

F⋅FG denominator 1,000,000 1000

Setting for use of a separate detector (full-closed)

F⋅FG numerator (≤ 32767) to a predetermined amount of travel

F⋅FG denominator (≤ 32767) Number of position pulses corresponding

Number of position pulses corresponding

= (as irreducible fraction)

to a predetermined amount of travel from

a separate detector

DMR can also be used with the parallel type separate position detector, provided that F⋅FG = 0.

Example of setting

To detect a distance of 1 µm using a 0.5-µm scale, set the following:

Numerator of F⋅FG L/1 1

= =

Denominator of F⋅FG L/0.5 2

(8) Specify the direction in which the motor rotates.

111 Clockwise as viewed from the pulse coder

−111 Counterclockwise as viewed from the pulse coder

− 16 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

(9) Specify the number of velocity pulses and the number of position

pulses.

Full-closed

Command unit (µm) Initialization bit Number of velocity pulses Number of position pulses

Semi-closed

1 0.1 1 0.1 1 0.1 1 0.1

b0 = 0 b0 = 0 b0 = 0 b0 = 0 b0 = 1 b0 = 0 b0 = 1 b0 = 0 b0 = 0

8192 8192 8192 8192 819 8192 819 8192 8192

12500 12500 12500 Ns Ns/10 Ns Ns/10 Np Np

Parallel type

Serial liner

scale

Serial rotary

scale

Ns : Number of position pulses from the separate detector when

the motor makes one turn

Np: 12500 × (motor-to-table deceleration ratio or acceleration

ratio) (Example: When the motor rotates ten turns while the table rotates one turn: Np = 12500/10 = 1250)

 Series 0−C

Conventionally, the initialization bit, bit 0 (high-resolution bit), was changed according to the command unit. The command unit and initialization bit 0 have no longer been interrelated with each other in all CNCs except the Series 0-C and Series 15-A. Of course, the conventional setting method may also be used. For easier setting, however, set the bit as follows:

Semi-closed: Initialization bit bit 0 = 0 Full-closed: Initialization bit bit 0 = 1

Only when the number of position pulses exceeds

32767. In the above table, the number of position pulses is likely to exceed 32767 when the command unit is 0.1 µm in full-closed mode. When using a separate detector (full-closed mode), also specify the following parameters:

(When using t he separate serial detector, see Subsec. 2.1.4.)

#7 #6 #5 #4 #3 #2 #1 #0

0037 STP8 STP7 STP4 STPZ STPY STPX

STPX to 8 (#0 to #5) The separate position detector is:

0: Not used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis,

or eighth axis

1: Used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis,

and eighth axis

− 17 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

 Series 15, 16, 18, 20, 21,

Power Mate

#7 #6 #5 #4 #3 #2 #1 #0

1807 PFSE

−

↑ Must be specified only for Series 15.

PFSE (#3) The separate position detector is:

0: Not used 1: Used

CAUTION

This parameter is used only for Series 15.

#7 #6 #5 #4 #3 #2 #1 #0

1815 OPTX

↑

Must be specified for all NCs.

OPTX (#1) The separate position detector is:

0: Not used 1: Used

 Power Mate−E

NOTE

For Series 16, 18, 20, and 21, setting this parameter causes bit 3 of parameter No. 2002 to be set to 1 automatically.

#7 #6 #5 #4 #3 #2 #1 #0

1002 GRSL PFSE

−

GRSL (#7) The separate position detector is:

PFSE (#3) 0: Not used

1: Used Specify the same value for both GRSL and PFSE.

(10) Specify the reference counter.

The reference counter is used in making a return to the reference position by a grid method.

Semi-closed loop

Count on the reference counter

Number of position pulses corresponding to a

single motor revolution or the same number divided by an integer value

− 18 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Example of setting

α pulse coder and semi-closed loop (1-µm detection)

Ball screw lead

(mm/revolution)

10 20 30

Necessary number of

position pulses

(pulse/revolution)

10000 20000 30000

Reference

counter

10000 20000 30000

Grid width

(mm)

10 20 30

When the number of position pulses corresponding to a single motor revolution does not agree with the reference counter setting, the position of the zero point depends on the start point. Should this occur, eliminate the difference by changing the detection unit.

Example of setting

System using a detection unit of 1 µm, a ball screw lead of 20 mm/revolution, a gear reduction ratio of 1/17, the number of position pulses corresponding to a single motor revolution set to 1176.47, and the reference counter set to 1176

In this case, increase all the following parameter values by a factor of 17, and set the detection unit to 1/17 µm.

Parameter modification Series 0-C

FFG CMR Reference counter Effective area Position error limit in traveling Position error limit in the stop state Backlash

Servo screen Servo screen Servo screen

Nos. 500 to 503

(All other CNC parameters set in detection units, such as the amount of grid shift and pitch error compensation magnification, are also multiplied by 17.)

CAUTION

In addition to the above parameters, there are some parameters that are to be set in detection units. For details, see Appendix C.

Making these modifications eliminates the difference between the number of position pulses corresponding to a single motor revolution and the reference counter setting. Number of position pulses corresponding to a single motor revolution = 20000 Reference counter setting = 20000

504 to 507 593 to 596 535 to 538

Series 15, 16,

18, 20, 21,

Power Mate

Servo screen Servo screen Servo screen

Nos. 1826, 1827

1828 1829 1851, 1852

Power

Mate-E

Nos. 1084, 1085

100 324 200 202 231 221

− 19 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

CAUTION

In rotation axis control for the Series 16, 18, and Power Mate, continuous revolution in the same direction will result in an error if the result of the following calculation is other than an integer, even if the reference counter setting is an integer. Therefore, set parameter No. 1260 so that the result of the calculation is an integer. (Amount of travel per rotation of the rotation axis (parameter No. 1260)) × CMR ×

(reciprocal of flexible feed gear) × 2

/10 This problem has been corrected in the following system software version and later versions: B0F2/04 (16iM) B1F2/04 (16iT) BDF2/04 (18iM) BEF2/04 (18iT) DDF2/04 (21iM) DEF2/04 (21iT)

Full-closed loop

Reference counter setting

Z-phase (reference-position) interval divided by

the detection unit, or this value sub-divided by an integer value

Example of setting

Example 1) When the Z-phase interval is 50 mm and the detection

unit is 1 µm: Reference counter setting = 50,000/1 = 50,000

Example 2) When a rotation axis is used and the detection unit is

0.001°: Reference counter setting = 360/0.001 = 360,000

Example 3) When a linear scale is used and a single Z phase exists:

Set the reference counter to 10000, 50000, or another round number.

(11) When using an S-series amplifier, set the following parameters:

#7 #6 #5 #4 #3 #2 #1 #0 1809 8X04 DLY1 DLY0 TIB1 TIB2 TRW1 TRW0 TIB0 TIA0 2004 1004 01000110

(↑ S-series amplifier)

1866 8X54 Current dead band compensation (PDDP) 2054 1054

Set value 3787 (S-series amplifier)

− 20 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

(12) Switch the NC off and on again.

This completes servo parameter initialization. If an invalid servo parameter setting alarm occurs, go to Subsec.

2.1.4. If a servo alarm related to pulse coders occurs for an axis for which a servo motor or amplifier is not connected, specify the following parameter. A feedback connector is used in conventional Series 0-C and 15A models. However it cannot be used in a system designed for operation with an

α pulse coder.

This parameter should be specified instead of the dummy connector.

#7 #6 #5 #4 #3 #2 #1 #0 1953 8X09 SERD 2009 1009

SERD (#0) The dumm y serial feedback function is: (See Sec. 4.6 for function detail)

0 : Not used 1 : Used

 Series 0−C

0021 APC8 APC7 APC4 APCZ APCY APCX

APCX to 8 (#0 to #5) The absolute position detector is:

 Series 15, 16, 18, 20, 21,

Power Mate

1815 APCX

APCX (#5) The absolute position detector is:

(13) When you are going to use an

α pulse coder as an absolute pulse

coder, use the following procedure. This procedure is somewhat different from one for conventional pulse coders. (Steps 3 to 5 have been added.)

1. Specify the following parameter, then switch the NC off.

#7 #6 #5 #4 #3 #2 #1 #0

0: Not used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis,

or eighth axis.

1: Used for the X-axis, Y-axis, Z-axis, fourth axis, seventh axis, and

eighth axis.

#7 #6 #5 #4 #3 #2 #1 #0

0: Not used 1: Used

− 21 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

 Power Mate−E

#7 #6 #5 #4 #3 #2 #1 #0

0017 APCX

APCX (#0) An absolute position detector is:

0: Not used 1: Used

2. After making sure that the battery for the pulse coder is connected, switch the NC on.

3. A request to return to the reference position is displayed.

4. Cause the motor to make one turn by jogging.

5. Turn off and on the CNC.

These steps were added for the α pulse coder.

6. A request to return to the reference position is displayed.

7. Do the zero return.

− 22 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

2.1.4 Setting Servo Parameters When a Separate Detector for the

Serial Interface Is Used

(1) Overview

When a separate detector of the serial output type is used, there is a possibility that the detection unit becomes finer than the detection unit currently used. Accordingly, a few modifications are made to the setting method and values of servo parameters. When using a separate detector of the serial output type, follow the method explained below to set parameters.

(2) Series and editions of applicable servo software

Series 9080/M (13) and subsequent editions (Series 15-B, 16-C, and 18-C) Series 90A0/H (08) and subsequent editions (Series 15i, 16i, 21i, Power Mate i)

(3) Separate detectors of the serial output type

(1) The serial output type linear scales currently available are listed

below:

Minimum

resolution

Mitsutoyo Co., Ltd. 0.5 µm Not required Heidenhein Co., Ltd. 0.1 µm Not required Sony Precision Technology Inc. 0.1 µm Incremental

Backup

(2) The serial output type rotary encoders currently available are

listed below:

Minimum

resolution

(Note 1)

FANUC 220 pulse/rev Required Heidenhein Co., Ltd.

pulse/rev Not required

Backup

(Note 2)

NOTE

1 The minimum resolution of a rotary encoder is the

resolution of the encoder itself. FANUC’s rotary encoder, however, is treated as having a resolution of 1,000,000 pulses per revolution because of the servo software configuration.

2 Only data within one revolution is backed up; data for

more than one revolution is not backed up.

− 23 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

(4) Setting parameters

Linear type

In addition to the conventional settings for a separate detector (bit 1 of parameter No. 1815 (Series 15, 16, and 18), bit 3 of parameter No. 1807 (Series 15), and if needed, FSSB), note the following parameters:

[Flexible feed gear]

Parameter Nos. 2084 and 2085 (Series 16 and 18) or Nos. 1977 and 1978 (Series 15-B) [Flexible feed gear N/M] = Detection unit of the detector (µm)/least input increment of the

controller (µm)

[Number of position pulses]

Parameter No. 2024 (Series 16 and 18) or No. 1891 (Series 15-B) Number of position pulses = the amount of movement per motor revolution (mm)/detection unit of the detector (mm)

* If the number of position pulses exceeds 32767 as a result of the

above calculation, set bit 0 of parameter No. 2000 (Series 16 and 18) or No. 1804 (Series 15-B) to 1, and reduce the following parameter values by a factor of 10: Number of position pulses: No. 2024 (Series 16 and 18),

No. 1891 (Series 15-B)

Number of velocity pulses: No. 2023 (Series 16 and 18),

No. 1876 (Series 15-B)

(Example of parameter setting)

This completes parameter setting. Turn the power off then back on. If an invalid parameter setting alarm is then issued, check the following parameters: * Number of position pulses: No. 2024 (Series 16 and 18) or

No. 1891 (Series 15-B) > 13100 If the above formula is satisfied, modify the parameter by referencing supplementary 1 of Table 2.1.5.

 The Series 16 is used.  A linear scale with a minimum resolution of 0.1 µm is used.  The least input increment of the controller is 1 µm.  The amount of movement per motor revolution is 16 mm.

To enable a separate detector, set bit 1 of parameter No. 1815 to 1.

First, calculate the parameters for the flexible feed gear. [Flexible feed gear] Parameter Nos. 2084 and 2085 [Flexible feed gear N/M] = Detection unit of the detector (µm)/least input increment of the

controller (µm)

= 0.1 µm/1 µm = 1/10

− 24 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Calculate the number of position pulses. [Number of position pulses] Parameter No. 2024 Number of position pulses = the amount of movement per motor

revolution (mm)/detection unit of the detector (mm)

= 16 mm/0.0001 = 160000 If the number of position pulses exceeds 32767 as shown above, set bit 0 of parameter No. 2000 to 1, and reduce the num ber of position pulses (parameter No. 2024) and number of velocity pulses (parameter No.

2023) by a factor of 10. (16000 is set in parameter No. 2024.) The number of position pulses, obtained with the above method, is 16000 which is greater than 13100. An overflow occurs in the internal calculation of the servo software, resulting in an invalid parameter setting alarm. To prevent this, divide the value in parameter No. 2024 by 2 so that the value does not exceed 13100, and modify the following parameters accordingly:

Parameter No. Remarks

2000#0 1

2023 8192/10/2 2024 160000/10/2 2043 (Value to be set originally)/2 2044 (Value to be set originally)/2 2047 (Value to be set originally)*2 2053 (Value to be set originally)*2 2054 (Value to be set originally)/2 2056 (Value to be set originally)/2 2057 (Value to be set originally)/2 2059 (Value to be set originally)*2

(Remainder of the value to be set originally/4096)/

2074

2076 (Value to be set originally)/2 2128 (Value to be set originally)/2

2129

2 + (quotient of the value to be set originally/4096) × 4096

(Quotient of the value to be set originally/256) × 2 × 256 + (remainder of the value to be set originally/256)

When the Series 90A0 is used, a position feedback pulse overflow can be prevented by a simple method. For this method, see Supplementary 1 of Subsec. 2.1.5, "Actions for Invalid Servo Parameter Setting Alarms."

− 25 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

Rotary type

[Flexible feed gear] Parameter Nos. 2084 and 2085 (Series 16 and 18), or Nos. 1977 and 1978 (Series 15-B) [Flexible feed gear N/M] = (Amount of table movement (degrees)

per detector revolution)/(detection unit (degrees))/1,000,000

[Number of position pulses] Parameter No. 2024 (Series 16 and 18) or No. 1891 (Series 15-B) Number of position pulses = 12500 × motor-to-table deceleration

ratio or acceleration ratio

NOTE

* When multiplication by the deceleration ratio reduces

the number of position pulses, resulting in the issuance of an invalid parameter setting alarm, modify parameter setting as follows: Set bit 4 of parameter No. 2000 to 1 (Series 16 and

18), or bit 4 of parameter No. 1804 to 1 (Series 15-B).

* When multiplication by the acceleration ratio

increases the number of position pulses (32767 or more), resulting in the issuance of an invalid parameter setting alarm, modify parameter setti ngs as follows: Set bit 0 of parameter No. 2000 to 1 (Series 16 and

18), or bit 0 of parameter No. 1804 to 1 (Series 15-B). Reduce the number of position pulses in parameter No. 2024 (Series 16 and 18) or No. 1891 (Series 15B) by a factor of 10. Reduce the number of velocity pulses in parameter No. 2023 (Series 16 and 18) or No. 1876 (Series 15B) by a factor of 10.

(Example of parameter setting)

This completes setting. Turn power off then back on.

 The Series 16 is used.  The least input increment of the controller is 1/1000 degree.  The amount of movement per motor revolution is 180 degrees

(deceleration ratio: 1/2)  Table-to-separate-encoder deceleration ratio = 1/1 To enable the separate detector, set bit 1 of parameter No. 1815 to 1.

− 26 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

First, calculate the parameters for the flexible feed gear. [Flexible feed gear] Parameter Nos. 2084 and 2085 [Flexible feed gear N/M] = (Amount of table movement (degrees)

per detector revolution)/(detection unit

(degrees))/1,000,000 = 360 degrees/0.001 degree/1,000,000 = 36/100

Calculate the number of position pulses. [Number of position pulses] Parameter No. 2024 Number of position pulses = 12500 × motor-to-table deceleration

ratio

= 12500 × (1/2) = 6250

This completes parameter setting.

Setting the signal direction of t he separat e det ect or

With a conventional parallel type separate detector, when the signal direction of the separate detector and the movement direction of the machine is opposite to each other, the feedback cable signal had to be connected in reverse by hardware. With a serial type separate detector, it is impossible to connect sig nal in reverse. So, the signal direction can be reversed by setting the parameter shown below.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0 1960 2018

−

RVRSE (#0) The signal direction of the separate detector is:

1: Reversed. 0: Not reversed.

NOTE

This parameter can be used only for serial type separate detectors; the parameter cannot be used for parallel type separate detectors. To reverse the signal direction of a parallel type separate detector, replace A and ~~A.

RVRSE

− 27 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

(5) Reference position return when a serial type separate detector is used as

an absolute-position detector

When a serial type separate detector is used as an absolute-position detector, the phase-Z position must be passed once before a reference position return is performed. Then, turn the CNC off then back on to allow reference position return. When reference position return is performed, adjust the deceleration dog so that the grid-shifted reference position is not too near the deceleration dog.

Encoder position

Reference position data of the detector = 0

Position data from the encoder

Start position of reference position return

Grid shift amount

Direction of reference position return

Reference counter

Deceleration dog To be adjusted so that the grid-shifted reference position is not too near the deceleration dog.

Reference position not grid-shifted

Grid-shifted reference position

Reference counter capacity

Machine position

− 28 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

2.1.5 Actions for Invalid Servo Parameter Setting Alarms

(1) Overview

When a setting value is beyond an allowable range, or when an overflow occurs during internal calculation, an invalid parameter setting alarm is issued. This section explains the procedure to output information to identify the location and the cause of an invalid parameter setting alarm.

(2) Series and editions of applicable servo software

Series 9080/N (14) and subsequent editions (Series 15-B, 16-C, and 18-C) Series 9090/E (05) and subsequent editions (Series 16i, 18i, and Power Mate i) Series 90A0/A (01) and subsequent editions (Series 15i, 16i, 18i, and Power Mate i)

(3) Invalid parameter setting alarms that can be displayed in parameter error

detail display

Invalid parameter setting alarms detected by the servo software can be displayed. Alarms detected by the system software cannot be display ed here. To check whether an alarm is detected by the serv o software, check the following:

(4) Method

#7 #6 #5 #4 #3 #2 #1 #0

Alarm 4 on the servo

screen

1: Alarm detected by the servo software (Detail display is enabled.) 0: Alarm detected by the system software (Detail display is not

enabled.)

When an invalid parameter setting alarm detected by the serv o software is issued, analyze the cause of the alarm by following the procedure explained below. * When more than one alarm is issued, one of the causes of these

alarms is displayed. Analyze the alarms one by one.

Procedure for displaying detail information about an invalid parameter setting alarm

(For the Series 15i) On the servo alarm screen, an item indicating param eter error details is located in the lower left side. Check the number indicated here.

(For the Series 16i, 18i, 21i, and Power Mate i) On the diagnosis screen, search for No. 352. Check the number written in No. 352.

PRM

− 29 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

(For the Series 15-B) Check the value in No. 1023 for the axis where a parameter error occurred. According to the value, set a parameter as follows: Axis for which an odd value is set in parameter No. 1023:

No. 1726 = 20480

Axis for which an even value is set in parameter No. 1023:

No. 1726 = 22528 Then, open the contents-of-memory screen, and check the data at the address shown below. Check the 4-digit hexadecimal value. [When the system is not a multiaxis system] Axis for which 1 is set in No. 1023: > 908001C0 Axis for which 2 is set in No. 1023: > 908001C2 Axis for which 3 is set in No. 1023: > 90A001C0 Axis for which 4 is set in No. 1023: > 90A001C2 Axis for which 5 is set in No. 1023: > 43C801C0 Axis for which 6 is set in No. 1023: > 43C801C2 Axis for which 7 is set in No. 1023: > 43CA01C0 Axis for which 8 is set in No. 1023: > 43CA01C2 [When the system is a multiaxis system] Axis for which 1 is set in No. 1023: > A9C801C0 Axis for which 2 is set in No. 1023: > A9C801C2 Axis for which 3 is set in No. 1023: > A9CA01C0 Axis for which 4 is set in No. 1023: > A9CA01C2 Axis for which 5 is set in No. 1023: > AAC801C0 Axis for which 6 is set in No. 1023: > AAC801C2 Axis for which 7 is set in No. 1023: > AACA01C0 Axis for which 8 is set in No. 1023: > AACA01C2 Axis for which 9 is set in No. 1023: > ABC801C0 Axis for which 10 is set in No. 1023: > ABC801C2 Axis for which 11 is set in No. 1023: > ABCA01C0 Axis for which 12 is set in No. 1023: > ABCA01C2 Axis for which 13 is set in No. 1023: > ACC801C0 Axis for which 14 is set in No. 1023: > ACC801C2 Axis for which 15 is set in No. 1023: > ACCA01C0 Axis for which 16 is set in No. 1023: > ACCA01C2

NOTE

To display these addresses, search for the following address. (Otherwise, a system alarm is issued.) For 9-inch CRT display: Address xxxxx180 For 15-inch CRT display: Address xxxxx100

(For the Series 16-C and 18-C) Set parameters according to the following table:

Setting in No. 1023 1st

axis

No. 8950#0 1 1 1 1 1 1 1 1 No. 8960 1304 1304 1312 1312 1800 1800 1808 1808 No. 2115 20480 22528 20480 22528 20480 22528 20480 22528

2nd

axis

− 30 −

3rd

axis

4th

axis

5th

axis

6th

axis

7th

axis

8th

axis

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Then, open the memory screen by pressing an appropriate soft key. The upper and lower bytes of a parameter error detail number are displayed in the following addresses: Axis for which an odd value is set in parameter No. 1023:

> 1C1 (upper byte) > 1C0 (lower byte)

Axis for which an even value is set in parameter No. 1023:

> 1C3 (upper byte)

> 1C2 (lower byte) For example, when an invalid parameter setting alarm is caused for the first axis (set in parameter No. 1023), and 34 is set at address 1C0 and 04 is set at address 1C1 on the memory screen, alarm detail No. is 0434.

NOTE

To display address 1Cx , search for addr ess 199, then perform page feed by two pages. However, page feed by more than two pages causes a system alarm.

Analyzing invalid parameter setting alarms in detail

The detail alarm data basically consists of four digits as shown:

0434

Location where an alarm was caused

Cause of the alarm

Upper three digits: Indicate the location where an alarm was caused.

Table 2.1.5 lists the displayed numbers and corresponding parameter numbers. * Remark: Basically, the lower three digits in a 4-digit

parameter number in the Series 16 are indicated.

Lowest digit: Indicates the cause of an alarm.

The displayed numbers and their meanings are explained below: 1: Because the param eter value is beyond the setting rang e,

a clamped value is used. (This is not an alarm but a caution. It is not used at present.)

2: The set parameter is invalid. The corresponding

function does not operate.

3: The parameter value is beyond the setting range.

Alternatively, the parameter is not set.

4 to 9: An overflow occurred during internal calculation.

− 31 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

NOTE

Basically, 4-digit data is indicated as alarm detail information. However, 3- or 5-digit data may be indicated in the following cases:

1 When the diagnosis screen is displayed, three-digit

data is indicated. Add 0 to the top of the three digits, and read the data as 4-digit data.

2 When the diagnosis screen is displayed, five-digit

data is indicated. The d a t a d i s p l a ye d a s A xxx o n the m e m ory screen is indicated as 10xxx on the diagn osis screen.

Table 2.1.5 Detail analysis of invalid parameter setting alarms

Alarm detail No.

0233 1876 2023 When initialization bit 0 is set to

0243 1891 2024 When initialization bit 0 is set to

0434 0435

0444 0445

0474 0475

0534 0535

0544 0545

0686 0687 0688 0694 0695 0696 0699 0754 0755

Parameter No.

(Series 15)

1855 2043 The internal value of the velocity

1856 2044 The internal value of the velocity

1859 2047 The internal value of the

1865 2053 The internal value of a

1866 2054 The internal value of a

1961 2068 The internal value of the feed-

1962 2069 The internal value of the velocity

1968 2075 The value set in the parameter

Parameter No.

(Series 16, etc.)

Cause Action

1, the number of velocity pulses exceeds 13100.

1, the number of position pulses exceeds 13100.

loop integral gain overflowed.

loop proportional gain overflowed.

observer parameter (POA1) overflowed.

parameter related to dead zone compensation overflowed.

forward coefficient overflowed.

feed-forward coefficient overflowed.

shown to the left overflowed.

Correct the number of velocity pulses so that it is within 13100. Correct the number of position pulses so that it is within 13100. → See Supplementary 1. Decrease the value of the velocity loop integral gain parameter. Use the function for changing the internal format of the velocity loop proportional gain. → See Supplementary 2. Correct the setting to (−1) × (desired value)/10.

Decrease the setting to the extent that the invalid parameter setting alarm is not caused. Decrease the setting to the extent that the invalid parameter setting alarm is not caused. Use the position gain expansion function. → See Supplementary 3. Decrease the velocity feedforward coefficient.

This parameter is not used at present. Set 0.

− 32 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Alarm detail No.

0764 0765 0783 1971 2078 With the closed-loop linear

0793 1972 2079 With the closed-loop linear

0843 1977 2084 A positive value is not set as the

0853 1978 2085 A positive value is not set as the

0884 0885 0886

0883 1981 2088 For an axis with a serial type

0926 0927 0928 0996 1992 2099 The internal value for N pulse

1123 1705 2112 Although a linear motor is used,

1183 1729 2118 With a closed-loop linear motor,

Parameter No.

(Series 15)

1969 2076 The value set in the parameter

1981 2088 The internal value of the

1985 2092 The internal value of the

Parameter No.

(Series 16, etc.)

Cause Action

shown to the left overflowed.

motor, the conversion coefficient parameter shown to the left is not set. (For the Series 9080 only)

flexible feed gear numerator. Alternatively, the numerator of the feed gear is greater than the denominator.

flexible feed gear denominator.

machine velocity feedback coefficient overflowed.

separate detector, a value exceeding 100 is set as the machine velocity feedback coefficient.

advanced preview feed-forward coefficient overflowed.

suppression overflowed.

the AMR conversion coefficient parameter is not input.

the semi-closed loop error threshold parameter is not set. (For the Series 9080 only)

This parameter is not used at present. Set 0. Set a value in the parameter shown to the left.

Set a value in the parameter shown to the left.

Set a positive value as the flexible feed gear numerator. Alternatively, correct the parameter so that the numerator of the feed gear is less than or equal to the denominator. (For other than parallel type separate detectors) Set a positive value as the flexible feed gear denominator. Decrease the machine velocity feedback coefficient. Alternatively, use the vibration-damping control function that has an equivalent effect. For an axis with a serial type separate detector, the upper limit of the machine velocity feedback coefficient is 100. Correct the coefficient so that it does not exceed 100. Use the position gain expansion function. → See Supplementary 3. Decrease the value set in the parameter shown to the left. Set the AMR conversion coefficient.

Set the semi-closed loop error threshold value in the parameter shown to the left.

1284 1285

1736 2128 When a small value is set as the

number of velocity pulses, the internal value of a parameter

− 33 −

Decrease the value in the parameter shown to the left to the extent that the alarm is

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

Alarm detail No.

1294 1295

1393 1762 2139 The AMR offset value of a linear

1446 1447 1448 1454 1455 1456 1459 8213 1896 1821 A positive value is not set in the

8254 8255 8256 10016 (A016) 10019 (A019)

10033 (A033) 1809 2004 When the ITP cycle is 16 ms,

10043 (A043) 1807#3

10053 (A053) 1960#0 2018#0 When a linear motor is used, the

10062 (A062) 1749#4 2209#4 The amplifier used does not

Parameter No.

(Series 15)

1752 2129 When a large value is set as the

1767 2144 In the cutting feed/rapid traverse

1768 2145 In the cutting feed/rapid traverse

1825 1825 The internal value of the position

1740bit0 2200bit0 The internal value of a

1815#1 1954#2

Parameter No.

(Series 16, etc.)

1815#1 2010#2

Cause Action

related to current control overflows.

number of velocity pulses, the internal value of a parameter related to current control overflows.

motor exceeds ±45.

FAD function, the feed-forward coefficient for cutting overflowed.

FAD function, the velocity feedforward coefficient for cutting overflowed.

reference counter capacity parameter.

gain overflowed.

parameter related to runaway detection overflowed.

500 µs is selected as the velocity control cycle. 2 ms is selected as the velocity control cycle. When a linear motor is used, the closed loop is set. (For series other than the Series 9080)

scale reverse connection bit is set.

support the HC alarm prevention function.

not caused.

When the value set in the parameter shown to the left is resolved to the form a × 256 + b, set a smaller value in a again. Correct the parameter shown to the left so that it is within ±45. Use the position gain expansion function. → See Supplementary 3. Decrease the velocity feedforward coefficient.

Set a positive value in the parameter shown to the left.

Use the position gain expansion function. → See Supplementary 3. Do not use the runaway detection function. (Set bit 0 to 1.) Correct the parameter related to interrupt cycle setting shown to the left.

The closed loop cannot be set when the linear motor is used. When the linear motor is used, the scale reverse connection bit cannot be used. When you use the current amplifier continuously, set the function bit shown to the left to 0. When using the HC alarm prevention function, use an appropriate amplifier that supports the function.

− 34 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Supplementary 1: Setting the number of position pulses

For a separate detector with a fine resolution, the number of position feedback pulses may exceed 13100 even when initialization bit 0 is set to 1. In such cases, use the position feedback pulse conversion coefficient. Suppose:

Number of position feedback pulses = A × B

Select B so that A is within 32767. Then, set the following:

A: Number of position feedback pulses set in the parameter

(less than or equal to 32767)

B: Conversion coefficient for the number of position feedback

pulses

2628 2185

−

Conversion coefficient for the number of position feedback pulses

NOTE

This function is available only with the Series 90A0/N (14) and subsequent editions.

When the servo software series/edition used does not support this function, make modifications listed below to prev ent invalid param eter setting alarms. E in the table satisfies the following:

Current number of position pulses/E < 13100

Parameter No.

Series

0-C

8x00#0 1804#0 2000#0 1000#0 1

8x23 1876 2023 1023 (Value to be set originally)/10/E 8x24 1891 2024 1024 (Value to be set originally)/10/E 8x43 1855 2043 1043 (Value to be set originally)/E 8x44 1856 2044 1044 (Value to be set originally)/E 8x47 1859 2047 1047 (Value to be set originally)*E 8x53 1865 2053 1053 (Value to be set originally)*E 8x54 1866 2054 1054 (Value to be set originally)/E 8x56 1868 2056 1056 For series supporting HRV control(*): Leave the setting

8x57 1869 2057 1057 For series supporting HRV control(*): Leave the setting

8x59 1871 2059 1059 (Value to be set originally)*E 8x74 1967 2074 1074 For series supporting HRV control: Leave the setting

Series15Series

16, etc.

Power

Mate-E

unchanged. For series not supporting HRV control: (Value to be set originally)/E

unchanged. For series not supporting HRV control: (Remainder of the value to be set originally/4096)/E + (quotient of the v alue to be set originally/4096) × 4096

Parameter modification method

− 35 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

Parameter No.

Series

0-C

8x76 1969 2076 1076 (Value to be set originally)/E

− 1736 2128 − (Value to be set originally)/E

− 1752 2129 − (Quotient of the value to be set originally/256) × E × 256 +

Series15Series

16, etc.

Power

Mate-E

(remainder of the value to be set originally/256)

Parameter modification method

* The series supporting HRV control includes the Series 9065, 9066,

9080, 9081, 9090, and 90A0.

Supplementary 2: Function for changing the internal format of the velocity loop

proportional gain

An overflow may occur in the velocity loop proportional gain during internal calculation by the servo software. This can be avoided by setting the parameter shown below. (This parameter can be used with the Series 9080/U (21) and subsequent editions, Series 9090/L (12) and subsequent editions, and Series 90A0/D (04) and subsequent editions.)

#7 #6 #5 #4 #3 #2 #1 #0 1740 2200

−

P2EX (#6) 1: Changes the internal format of the velocity loop proportional gain

0: Uses the standard internal format for the velocity loop proportional

P2EX

to prevent an overflow.

gain.

Supplementary 3: Preventing an overflow in the feed-forward coefficient

An overflow in the feed-forward coefficient may be able to be prevented by using the position gain setting range expansion function. (For series other than the Series 0-C)

#7 #6 #5 #4 #3 #2 #1 #0 1804 2000 1000

−

PEX (#4) 1: Enables the position gain setting range expansion function.

0: Disables the position gain setting range expansion function.

The Series 90A0/I (09) edition employs an internal calculation algorithm that tends to cause less overflows in the feed-forward coefficient. Before trying the above function, the user of the Series 90A0 should check whether an overflow can be prevented by updating the software to edition I or subsequent edition.

PEX

− 36 −

B-65150E/04 2. SETTING α SERIES SERVO PARAMETERS

Supplementary 4: Preventing an overflow in the position gain

An overflow in the feed-forward coefficient may be able to be prevented by using the position gain setting range expansion function. (For series other than the Series 0-C and 15-A)

#7 #6 #5 #4 #3 #2 #1 #0 1804 2000 1000

−

PEX (#4) Position gain setting range expansion function

1: Enables the position gain setting range expansion function. 0: Disables the position gain setting range expansion function.

The setting of the number of position pulses need not be changed. For the Series 0-C and 15-A, a different method is used to set the position gain setting range expansion function.

#7 #6 #5 #4 #3 #2 #1 #0 1955 8X11 PEX

− −

PEX (#5) Position gain setting range expansion function

1: Enables the position gain setting range expansion function. 0: Disables the position gain setting range expansion function.

PEX

When setting this function bit to 1, increase the value set as the number of position pulses by a factor of 8.

#7 #6 #5 #4 #3 #2 #1 #0 1891 8X24 Number of position feedback pulses

− −

If a position gain ov erflow still occurs ev en after the abov e setting s are made, change CMR. When CMR is multiplied by A (integer), the flexible feed gear setting must also be multiplied by A. Since this m eans that the detection unit is reduced by a factor of A, the parameters that must be set in detection units must all be multiplied by A. Appendix C lists the parameters that are to be set in detection units.

(5) When the NC used does not support parameter error detail display

When using an NC that cannot display parameter error detail information, check for the problems listed in Table 2.1.5 one by one. (Determine an invalid parameter by, for example, setting each parameter to 0 to check whether the alarm disappears.)

− 37 −

2. SETTING α SERIES SERVO PARAMETERS B-65150E/04

(6) Invalid parameter setting alarm caused by setting an invalid motor number

The table given below lists the valid motor numbers for each series. If a number beyond the indicated range is set, an invalid parameter setting alarm is issued. (In this case, bit 4 of alarm 4 on the servo screen is not set to 1.)

Servo software series/edition Motor No.

Series 9041/A (01) and subsequent editions 3 to 89 Series 9046/A (01) Series 9046/B (02) and subsequent editions Series 9046/G (07) and subsequent editions Series 9060/K (11) and subsequent editions Series 9060/M (13) and subsequent editions Series 9060/W (23) Series 9060/X (23), Y (24) Series 9064/E (05) Series 9064/F (06) and subsequent editions Series 9064/I (09) and subsequent editions Series 9065/A (01) and subsequent editions 3 to 89 Series 9066/A (01) Series 9066/B (02) Series 9066/C (03) and subsequent editions Series 9066/I (09) and subsequent editions Series 9066/K (11) and subsequent editions Series 9070/C (03) and subsequent editions Series 9070/H (08) Series 9070/I (09) and subsequent editions Series 9080/A (01) and subsequent editions Series 9080/K (11) and subsequent editions Series 9080/Y (25) Series 9081/C (03) and subsequent editions Series 9081/E (05) and subsequent editions Series 9090/A (01) and subsequent editions Series 9090/D (04) and subsequent editions Series 9090/L (12) and subsequent editions Series 90A0/A (01) and subsequent editions Series 90A0/D (04) and subsequent editions Series 90A0/K (11) and subsequent editions

15 to 89

3 to 89 1 to 89

15 to 89

3 to 89 1 to 89 1 to 93 3 to 89 1 to 89 1 to 93

3 to 89 1 to 89

1 to 93 1 to 108 1 to 112

3 to 89

1 to 89

1 to 93

1 to 93 1 to 108 1 to 112

1 to 93 1 to 108

1 to 93 1 to 108 1 to 110 1 to 108 1 to 110 1 to 112

− 38 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3 α SERIES PARAMETER ADJUSTMENT

− 39 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

3.1 SERVO ADJUSTMENT SCREEN

Display the servo adjustment screen, and check the position error, actual current, and actual speed on the screen. Using the keys on the NC, enter values according to the procedure explained below. (The Power Mate DPL/MDI does not provide the servo adjustment function.)

 Series 0-C

Press the key several times to display the servo setting screen. Then press the page keys to display the servo

screen. If the servo setting screen does not appear, set the following parameter, then switch the NC off and on again.

#7 #6 #5 #4 #3 #2 #1 #0

0389 SVS

SVS (#0) 0: Displays the servo screen.

PARA

PAGE

 Series 15-A, B, and 15i

 Series 16, 18, 20, and 21

3111 SVS

SVS (#0) 1: Displays the servo screen.

Press the key several times to display the servo setting

SERVICE

screen. Then press the key to display the servo adjustment screen.

SYSTEM

→ [SYSTEM] → [ ] → [SV-PRM] → [SV-TUN]

If the servo screen does not appear, set the following parameter, then switch the NC off and on again.

#7 #6 #5 #4 #3 #2 #1 #0

<1> <2> <3> <4> <5> <6> <7> <8>

<9> <10> <11> <12> <13> <14> <15> <16> <17> <18>

− 40 −

Fig. 3.1 (a) Diagnosis screen

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

<9> <10> <11> <12> <13>

<2> <5> <6> <8>

<7>

<20

<21> <22>

Fig. 3.1 (b) Diagnosis screen

<14> <15> <16> <17> <18>

<9> <10> <11> <12> <13>

Fig. 3.1 (c) Series 15i servo adjustment screen

<19> <20> <21> <22>

Fig. 3.1 (d) Series 15i servo diagnosis screen

− 41 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

The items on the servo adjustment screen correspond to the following parameter numbers:

Table 3.1 Correspondence between the servo adjustment screen and diagnosis screen, and parameters

Series 0-C

<1> Function bit <2> Loop gain <3> Tuning start bit <4> Setting period <5> Velocity loop integral gain <6> Velocity loop proportional gain <7> TCMD filter

<9> Alarm 1 diagnostic <10> Alarm 2 <11> Alarm 3 <12> Alarm 4 <13> Alarm 5 <19> Alarm 6 <20> Alarm 7 <21> Alarm 8 <22> Alarm 9

<14> Loop gain or actual loop gain The actual servo loop gain is displayed. Not supported

<16> Actual current (%)

<17> Actual current (A) <18> Actual speed (rpm)

No. 8X03 No. 0517 Not used at present Not used at present No. 8X43 No. 8X44 No. 8X67 No. 8X21 No. 1875 No. 2021<8> Velocity loop gain The relationship with the load inertia ratio (LDINT) is as follows: Velocity gain = (1 + LDINT/256)*100(%) Nos. 720 to 723

730 to 733 760 to 763

770 to 773 __________ __________ __________ __________ __________

Nos. 800 to 803 No. 3000 No. 300 No. 3040<15> Position error diagnostic Position error = feedrate/(least input increment × 60 × loop gain × 0.01)

Indicates the percentage (%) of the current value to the continuous rated current. Indicates the current value. Indicates the actual speed.

Series 15-A, B,

15i

No. 1808 No. 1825

No. 1855 No. 1856 No. 1857

Nos. 3014 + 20(X - 1)

3015 + 20(X - 1) 3016 + 20(X - 1)

3017 + 20(X - 1) __________ __________ __________ __________ __________

(mm/min) (mm)

Series 16, 18,

20, 21

No. 2003 No. 1825

No. 2043 No. 2044 No. 2067

No. 200

201 202 203

204 __________ __________ __________ __________

PowerMate-E

No. 1003 No. 0209

No. 1043 No. 1044 No. 1067 Not supported

No. 2711

2710 2713 2712

2714 __________ __________ __________ __________

Not supported

− 42 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.2 ACTIONS FOR ALARMS

If a servo alarm is issued, detail alarm information is displayed on the diagnosis screen (Figs. 3.1 (b) and (d)). Based on this information, check the cause of the servo alarm and take appropriate action. For alarms with no action number, refer to relevant manuals such as the maintenance manual on the amplifier.

Table 3.2 Alarm bit names

#7 #6 #5 #4 #3 #2 #1 #0 Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA Alarm 2 ALD EXP Alarm 3 CS A BLA PHA RCA BZA CKA SPH Alarm 4 DTE CRC S TB PRM Alarm 5 OF S MCC LDM PMS FAN DAL ABF Alarm 6 SFA Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH Alarm 8 DTE CRC STB SPD Alarm 9 FSD SVE IDW NCE IFE

NOTE) The blank fields do not contain any alarm code.

(1) Alarms related to the amplifier and motor

These alarms are identified from alarms 1, 2, and 5. (1-1) Type A interface

Alarm 1 Alarm 5 Alarm 2

OVL LVA OVC HCA HVA DCA FBA MCC FAN ALD EXP

100 110

CAUTION

For alarms with no action number indicated, refer to the maintenance manual on the amplifier.

Description Action

Overcurrent alarm Excessive voltage alarm Excessive regenerative

discharge alarm MCC fusing, precharge

Alarm indicating insufficient power voltage Amplifier overheat

Motor overheat OVC alarm

2 2 3

− 43 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

(1-2) Type B interface

Alarm 1 Alarm 5 Alarm 2

OVL LVA OVC HCA HVA DCA FBA MCC FAN ALD EXP

1 1 1

1 Excessive voltage alarm

1 Excessive regenerative

1 1

1 MCC fusing, precharge

00 01 01

00 10

100 101

Description Action

Overcurrent alarm (PSM) Overcurrent alarm (SVM) Overcurrent alarm

(software)

discharge alarm Insufficient power voltage (PSM) Insufficient DC link voltage (PSM) Insufficient control power voltage (SVM) Insufficient DC link voltage (SVM) Overheat (PSM)

Motor overheat

Fan stopped (PSM) Fan stopped (SVM)

1 1

2 2

CAUTION

For alarms with no action number indicated, refer to the maintenance manual on the amplifier.

Action 1: Overcurrent alarms

This type of alarm is issued when an extremely large current flows through the main circuit. When an overcurrent alarm is always issued after emergency stop is released or at the time of moderate acceleration/deceleration, the cause of the alarm is determined to be an amplifier failure, cable connection error, line disconnection, or a parameter setting error. First, check that standard values are set for the following servo parameters. If these parameter settings are correct, check the amplifier and cable status by referencing the maintenance manual on the amplifier.

No. 1809 No. 8X04 No. 1852 No. 8X40 No. 1853 No. 8X41 No. 2004 No. 1004 No. 2040 No. 1040 No. 2041 No. 1041

If an overcurrent alarm is issued only when an abrupt acceleration/deceleration is performed, the operating conditions seem to be too strict. Increase the acceleration/deceleration time constant, and see whether the alarm occurs.

− 44 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

CAUTION

When an emergency stop is released with the power line to the motor disconnected, an overcurrent alarm (software) may be issued. If this poses a problem, set the following parameter bit to 1: Bit 0 of parameter No. 1747 (Series 15) or bit 0 of parameter No. 2207: Ignores the overcurrent alarm (software).

Action 2: Overheat alarms

If an overheat alarm is issued after long -time continuous operation, the alarm can be determined to have been caused by a temperature rise in the motor or amplifier. Stop operation for a while, and see whether the alarm occurs. If the alarm still occurs after the power is kept off for about 10 minutes, the hardware may be defective. If the alarm is issued intermittently, increase the time constant, or increase the programmed stop time period to suppress temperature rise.

Action 3: OVC alarms

When an OVC alarm is issued, check that standard values are set for the following parameters. If the parameters are correct, increase the time constant or increase the programmed stop time period to suppress temperature rise.

No. 1877 No. 8X62 No. 1878 No. 8X63 No. 1893 No. 8X65 No. 2062 No. 1062 No. 2063 No. 1063 No. 2065 No. 1065

(2) Alarms related to the pulse coder and separate serial pulse coder

(2-1) Built-in pulse coder

These alarms are identified from alarms 1, 2, 3, and 5. The meanings of the bits are as follows:

Alarm 3 Alarm 5 1 Alarm 2

CSA BLA PHA RCA BZA CKA SPH LDM PMA FBA ALD EXP

1 1 000 1 110

Soft phase alarm Clock alarm (serial A) Zero volts in battery Abnormal speed (serial A) Count error alarm

(α pulse coder) Phase alarm

Voltage drop in battery (warning) Checksum alarm (serial A) Pulse error alarm

(α pulse coder) LED abnormality alarm (α pulse coder)

Description Action

2 1

− 45 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

CAUTION

For alarms with no action number i ndicated, the pul se coder may be defective. Replace the pulse coder.

(2-2) Separate serial detector coder

These alarms are identified from alarm 7. The meanings of the bits are as follows:

Alarm 7

OHA LDA BLA PHA CMA BZA PMA SPH

CAUTION

For alarms with no action number indicated, the detector may be defective. Replace the detector.

Action 1: Battery-related alarms

Check whether the battery is connected. When the power is turned on for the first time after the battery is connected, a battery zero alarm is issued. In this case, turn the power off then on again. If the alarm is issued again, check the battery voltage. If the battery voltage drop alarm is issued, check the voltage, then replace the battery.

Description Action

Soft phase alarm Pulse error alarm

(serial rotary) Zero volts in battery

Count error alarm (serial rotary) Phase alarm (serial linear)

Voltage drop in battery (warning) LED abnormality alarm

Separate detector overheat alarm

1 2

2 1

Action 2: Alarms that may be issued by noise

When an alarm is issued intermittently or issued after emergency stop is released, there is a high possibility that the alarm is caused by noise. Take thorough noise-preventive measures. If the alarm is still issued continuously after the measures are taken, replace the detector.

− 46 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

(3) Alarms related to serial communication

These alarms are identified from alarms 4 and 8.

Alarm 4 Alarm 8

DTE CRC STB PRM DTE CRC STB SPD

Communication alarm in serial pulse coder

Communication alarm in separate serial pulse coder

Action: Serial communication is not performed correctly. Check

whether cable connection is correct and whether there is a line disconnection. If CRC or STBB occurs, the alarm may be caused by noise. Take noise-preventive measures. If the alarm is always issued after power is turned on, the pulse coder, the control board of the amplifier (i Series), or the pulse module (i Series) may be defective.

(4) Disconnection alarms

These alarms are identified from alarms 1, 2, and 6.

Alarm 1 Alarm 2 6

OVL LVA OVC HCA HVA DCA FBA ALD EXP SFA

1110

1000

1001

Description

Description Action

Hardware disconnection (separate phase A/B disconnection) Software disconnection (closed loop) Software disconnection (α pulse coder)

Action 1: This alarm is issued when the separate phase A/B scale is

used. Check whether the phase A/B detector is connected correctly.

Action 2: This alarm is issued when the change in position feedback

pulses is relatively small for the change in velocity feedback pulses. Therefore, with the semi-closed loop, this alarm is not issued. Check whether the separate detector outputs position feedback pulses correctly. If the detector outputs pulses correctly, the alarm is determined to have been caused by the reverse rotation of only the motor at the start of machine operation because of a large backlash between the motor position and scale position.

− 47 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

#7 #6 #5 #4 #3 #2 #1 #0 No. 1808 No. 8X 03 TGAL No. 2003 No. 1003

TGAL (#1) 1: The level of detecting the software disconnection alarm is set by

parameter.

No. 1892 No. 8X 64 Software disconnection alarm level No. 2064 No. 1064

Standard setting 4: Alarm is issued when motor turns 1/8 of a turn.

Increase this value.

Action 3: This alarm is issued when the absolute position data sent

from the built-in pulse coder cannot be synchronized with the phase data. Turn off the NC, and remove the pulse coder cable then attach it again. If this alarm is issued again, replace the pulse coder.

(5) Invalid parameter setting alarm

This alarm is identified from alarm 4.

Alarm 4

DTER CRC STB PRM

If PRM is set to 1, an invalid parameter setting has been detected by the servo software. Investig ate the cause of the alarm according to Subsec.

2.1.5, "Actions for Invalid Servo Parameter Setting Alarms."

(6) Other alarms

Alarms are identified from alarm 5. The meanings of the bits are as follows:

Alarm 5

OFS MCC LDM PMS FAN DAL ABF

Action 1: This alarm is issued when the move directions for the

position detector and velocity detector are opposite to each other. Check the rotation direction of the separate detector. If the direction is opposite to the direction in which the motor turns, take the following action:

Phase A/B detector: Reverse the A and Serial detector: Reverse the signal direction setting for

Description

Invalid parameter setting detected

by servo software

Description Action

Feedback mismatch alarm 1

Excessive semi-closed loop error alarm Current offset error alarm 3

A connections.

the separate detector.

− 48 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

#7 #6 #5 #4 #3 #2 #1 #0 No. 1960 No. 2018

−

RVRSE

RVRSE (#0) The signal direction for the separate detector is:

0: Not reversed. 1: Reversed.

When there is a large torsion between the motor and separate detector, this alarm may be issued when an abrupt acceleration/deceleration is performed. In such a case, change the detection level.

#7 #6 #5 #4 #3 #2 #1 #0 No. 1741 No. 2201

−

RNLV

RNLV (#1) Change of the feedback mismatch alarm detection level

1: To be detected at 1000 rpm or more 0: To be detected at 600 rpm or more

Action 2: This alarm is issued when the difference between the motor

position and the position of the separate detector becomes larger than the excessive semi-closed loop error level. Check that the dual position feedback conversion coefficient is set correctly. If the setting is correct, increase the alarm level. If the alarm is still issued after the level is changed, check the scale connection direction.

No. 1971 No. 2078

No. 1972 No. 2079

No. 1729 No. 2118

−

Conversion coefficient @\

−

Dual position feedback conversion coefficient (numerator)

Dual position feedback conversion coefficient (denominator)

Number of feedback pulses per motor revolution (detection unit)

1,000,000

Dual position feedback semi-closed loop error level

[Setting] Detection unit. When 0 is set, detection does not take place.

Action 3: The current offset (equivalent to the current value in the

emergency stop state) of the current detector becomes too large. If the alarm is issued again after the power is turned on and off, the current detector is determined to be abnormal. For the i Series, replace the control board of the amplifier. For series other than the i Series, replace the servo-related module in the CNC.

− 49 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

3.3 PROCEDURES FOR GAIN ADJUSTMENT AND

VIBRATION-DAMPING CONTROL

3.3.1 Gain Adjustment Procedure

Adjusting the position gain and velocity loop g ain to the optim um state leads to improvements in control performance and disturbance suppression performance. Therefore, gain adjustment is the item to be adjusted first in every machine. Setting a higher velocity loop gain is effective not only in improvement in surface precision and figure precision in machining at normal speed but also in improvement in high-speed high-precision machining and high-speed positioning performance. The extent to which the velocity loop gain can be increased almost determines the degree of servo adjustment.

Understanding the gain adjustment procedure that aims at the improvement of the oscillation lim it helps to determ ine the action to be taken when vibration occurs. Therefore, it is necessary to understand the gain adjustment procedure thoroughly.

<1> Preparation for gain adjustment 1:

Check that the servo parameters are set to standard values. The position gain and velocity loop gain are set to levels that do not generate vibration (normally, the position gain and velocity loop gain are set to about 3000 and 150%, respectively).

<2> Preparation for gain adjustment 2:

Select the velocity control method. With high-speed high-precision machines, PI control should be selected. With high-speed positioning machines such as a punch press, I-P control should be selected.

<3> Preparation for gain adjustment 3:

Set an auxiliary function to increase the vibration limit. First, set the velocity loop proportional high-speed processing function(*1).

For a machine with low rigidity, however, setting the acceleration feedback function instead of the velocity loop proportional high-speed processing function may produce better results. For a large machine that can easily be vibrated, it is sometimes undesirable that an auxiliary function is used. Therefore, follow the procedure explained below to select a suitable auxiliary function.

(Procedure for selecting an auxiliary function)

First, set the velocity loop proportional high-speed processing function, and performs steps up to step <6>, "Determining the velocity loop gain oscillation limit." If the velocity loop gain cannot attain 300%, set the acceleration feedback function, and perform step <6> again. If a better result is obtained than with the velocity loop proportional high-speed processing function, this procedure terminates. If the result is worse, disable the auxiliary function, and perform step <6> again. Select the settings with which the highest velocity loop gain is obtained.

− 50 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

*1 The velocity loop proportional high-speed processing function

restricts the use of auxiliary functions that suppress vibration in the stop state. If vibration in the stop state poses a problem, select the acceleration feedback function.

<4> Setting for suppressing vibration in the stop state:

A stop occurs within a backlash, and the load inertia decreases. Accordingly, the velocity loop can easily oscillate. So, set auxiliary functions for suppressing vibration in the stop state in advance.

Function for changing the proportional gain in the stop state (50%, 75%)(*2) N pulse suppression function(*3)

With the 9080/P and subsequent editions, the cutting feed/rapid traverse velocity loop gain switch function can be used to decrease the gain during rapid traverse and in the stop state. If vibration in the stop state poses a problem, decrease the rapid traverse velocity loop gain to a level that does not affect the behavior during rapid traverse.

*2 With the 90A0/D and subsequent editions, this function can be

used together with the velocity loop proportional high-speed processing function.

*3 This function cannot be used with the velocity loop proportional

high-speed processing function.

<5> When using level-up HRV:

When using level-up HRV, set the current control period and adjust the vibration-damping filter according to Subsec. 3.4.1, "Level-up HRV Control Adjustment Procedure."

− 51 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

<6> Determining the velocity loop gain oscillation limit:

After performing the preparatory steps described previously, determine the velocity loop oscillation limit. When adjusting the velocity loop gain, perform rapid traverse with full machine strokes, and observe vibration in the stop state and during high-speed operation by using TCMD and VCMD.

When using the cutting feed/rapid traverse velocity loop gain function, perform cutting feed at the maximum cutting feedrate to determine the oscillation limit during cutting. (Determining the limit) As the loop gain increases, the following phenomena start to appear at a certain gain. This gain value is determined to be the oscillation limit.

• The machine sounds.

• There is a large variation in position error in the stop state.

• Torque command vibration increases.

For a machine with low rigidity, the auxiliary functions listed below are sometimes required to suppress vibration. Use these functions as necessary. For details, see Chapter 4, "Servo Function Details."

TCMD filter (*4) Dual position feedback(*5) Vibration-damping control(*6) Machine velocity feedback(*7)

As the velocity loop gain, set 70% to 80% of the oscillation limit.

*4 As the filter coefficient, about 1500 to 2000 is set. You may want

to set the cut-off frequency to 100 Hz or less to increase the velocity loop gain. However, this is not a desirable method because the frequency band widened by velocity loop gain adjustment is narrowed by the TCMD filter. Except special cases, when a value greater than 2000 needs to be set, decrease the velocity loop gain itself.

*5 Dual position feedback (optional function) can be used with the

closed-loop configuration. Set a time constant of about 10 to 300 ms. A lower time constant improves the command follow-up accuracy. Adjust the time constant after checking the acceleration/deceleration waveform and machined surface.

*6 Vibration-damping control can be used with the closed-loop

configuration. The difference in velocity between the motor and machine is fed back to suppress the influence of the torsion between the motor and machine.

*7 Machine velocity feedback can be used with the closed-loop

configuration. The velocity on the machine side is fed back to suppress the influence of the torsion between the motor and machine.

<7> Determining the position loop gain.

Increase the position loop gain to the degree that low-frequency vibration is not generated during movement.

*8 For the axes subject to interpolation, the same value is set as the

position gain.

− 52 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.3.2 Vibration in the Stop State

Vibration generated only in the stop state is caused by the decreased load inertia in a backlash. Adjust the auxiliary functions for suppressing stop-time vibration. Vibration may be generated only in the stop state also when the position gain is too high.

<1> Is an auxiliary function set to increase the oscillation limit for the velocity loop gain? Small machine with high rigidity: Velocity loop proportional high-speed processing function (function 1) Medium to large machine with low rigidity: Acceleration feedback function (function 2)

<2> Is an auxiliary function set to suppress vibration in the stop state? Function for changing the proportional gain in the stop state (50%, 75%) (function 3) N pulse suppression function (function 4)

<3> Vibration frequency?

Several tens of hertz or higher Low frequency

<4> Decrease the velocity loop gain. When using the

cutting feed/rapid traverse velocity loop gain switch function, decrease the velocity loop gain for rapid traverse.

(Reference: Parameter number s)

For details, see Chapter 4, "Servo Function Details." Function 1: Velocity loop proportional high-speed processing

#7 #6 #5 #4 #3 #2 #1 #0 No. 1959 No. 2017 No. 1017

−

PK2V25

PK2V25 (#7) 1: Enables the velocity loop proportional high-speed processing

function.

<5> The position gain may be too large for the set

velocity loop gain. (Vibration is sometimes generated when the load inertia is too high or when the velocity loop gain is not yet adjusted.)

<6> When the velocity loop gain is not adjusted,

follow the description in Subsec. 3.3.1 to set the velocity loop gain to 70% of the oscillation limit.

<7> Decrease the position gain.

function

Function 2: Acceleration feedback

No. 1894 No. 8X 66 Acceleration feedback gain No. 2066 No. 1066

− 53 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

Function 3: Function for changing the proportional gain in the stop

state

(1) Series 15i, 15-B, 16, 18, 20, 21, and Power Mate

#7 #6 #5 #4 #3 #2 #1 #0 No. 1958 No. 2016

−

K2VC

K2VC (#3) 1: Enables the function for changing the proportional gain in the stop

state. In the stop state: 75%

#7 #6 #5 #4 #3 #2 #1 #0 No. 1747 No. 2207

−

PK2D50

PK2D50 (#3) 1: Decreases the proportional gain in the stop state to 50%.

No. 1730 No. 2119

−

Stop decision level

(2) Series0-C and 15-A

#7 #6 #5 #4 #3 #2 #1 #0 No. 1953 No. 8X09 K2VC

− −

K2VC (#3) 1: (Enables the function for changing the proportional gain in the

stop state. In the stop state: 75%)

No. 1982 No. 8X 89 Stop decision level

− −

− 54 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.3.3 Vibration during Travel

Vibration is generated during travel by various causes. So, a most appropriate method must be selected after observing the vibration status carefully.

<1> Is an auxiliary function set to increase the oscillation limit for the velocity loop gain? Machine with high rigidity: Velocity loop proportional high-speed processing function Machine with low rigidity: Acceleration feedback function

<2> Vibration frequency?

Several tens of

hertz or higher

About several tens Hertz with separate detector

Low frequency

Vibration occurs especially during acceleration/ deceleration.

<3> Velocity loop oscillates. Is an auxiliary

function used to suppress vibration? TCMD filter (function 1)

<4> Is the standard value set for the current loop

gain?

<5> Decrease the velocity loop gain.

<6> Vibration may be due to machine torsion. Is an

auxiliary function used to suppress vibration? Dual position feedback (function 2) Vibration-damping control (function 3) Machine velocity feedback (function 4) TCMD filter (function 1)

<7> Decrease the position gain.

Use of I-P control may produce effective results. After checking for a figure error during high-speed cutting, decrease the position gain, or set I-P control.

<8> Response to vibration components from

the command side. Decrease the velocity feed-forward coefficient (200 or less).

<9> Set 16 ms for the fine acceleration/

deceleration function. (Function 5)

<11> The position gain may be too large for the set

velocity loop gain. When the velocity loop gain is not yet adjusted, follow the description in Subsec. 3.3.1 to set the velocity loop gain to 70% of the oscillation limit.

<12> For PI control, are effective results produced

by decreasing the velocity loop integral gain by about 2/3?

<13> Decrease the position gain.

− 55 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

(Reference: Parameter number s)

For details, see Chapter 4, "Servo Function Details." Function 1: TCMD filter

No. 1895 No. 8X 67 TCMD filter coefficient No. 2067 No. 1067

Function 2: Dual position feedback function

#7 #6 #5 #4 #3 #2 #1 #0

No. 1909(i,B)

No. 1955(A)

No. 2019 No. 1019

No. 8X11 DPFB

DPFB (#7) 1: Enables dual position feedback.

No. 1971 No. 8X 78 Dual position feedback conversion coefficient (numerator) No. 2078 No. 1078

No. 1972 No. 8X 79 Dual position feedback conversion coefficient (denominator) No. 2079 No. 1079

No. 1973 No. 8X 80 Prim ary delay time constant of dual position feedback No. 2080 No. 1080

Function 3: Vibration-damping control

No. 1718 No. 2033

No. 1719 No. 2034

−

Number of position feedback pulses for vibration-damping control function

Gain for vibration-damping control function

Function 4: Machine velocity feedback

#7 #6 #5 #4 #3 #2 #1 #0 No. 1956 No. 8X 12 MSFE No. 2012 No. 1012

MSFE (#1) 1: Enables machine velocity feedback.

No. 1981 No. 8X 88 Machine velocity feedback gain No. 2088 No. 1088

No. 1951 No. 2007

Function 5: Fine acceleration/deceleration function

#7 #6 #5 #4 #3 #2 #1 #0

−

FAD

FAD (#6) 1: Enables fine acceleration/deceleration.

− 56 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

No. 1702 No. 2109

−

3.3.4 Cumulative Feed

When the time from the detection of a position error until the compensation torque is output is too long, a cumulative feed occurs during low-speed feed. Im provem ent in gain is required. Howev er, for a machine with high friction and torsion, a higher g ain cannot be set. In such a case, a cumulative feed phenomenon may occur.

Fine acceleration/deceleration time constant

<1> Adjust the position gain and velocity loop gain

according to the description in Subsec. 3.3.1.

<2> Set PI control.

<3> To improve torque start, increase the velocity loop

integral gain.

<4> Set the VCMD offset function. (Function 1)

<5> Set the incomplete integral coefficient within the

range 32700 to 32767 (function 2). For axes subject to interpolation, this coefficient must not be set.

(Reference: Parameter number s)

For details, see Chapter 4, "Servo Function Details." Function 1: VCMD offset function

#7 #6 #5 #4 #3 #2 #1 #0 No. 1808 No. 8X 03 VOFS No. 2003 No. 1003

VOFS (#7) 1: Enables the VCMD offset function.

No. 1857 No. 8X 45 Incomplete integral gain No. 2045 No. 1045

− 57 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

3.3.5 Overshoot

When the machine is operated at high speed or with a detection unit of

0.1 µm or less, the problem of overshoots may arises. Select a most appropriate preventive method depending on the cause of an ov ershoot.

<1> When the velocity loop gain is not yet adjusted,

follow the description in Subsec. 3.3.1 to adjust the gain. Select PI control.

<2> When advanced preview control is used, adjust

automatic corner deceleration. Also, increase settings such as the time constant after interpolation to allow commands for corner and stop operations to be executed as moderately as possible.

<3> When feed-forward is used, try to adjust the

velocity feed-forward coefficient.

<4> Where possible, decrease the position gain and

feed-forward coefficient.

<5> If the overshoot in question is for about one or two

pulses, set overshoot compensation (TYPE-1 or -2). (Function 1)

(Reference: Parameter number s)

For details, see Chapter 4, "Servo Function Details." Function 1: Overshoot compensation function

#7 #6 #5 #4 #3 #2 #1 #0 No. 1808 No. 8X 03 OVSC No. 2003 No. 1003

OVSC (#6) 1: Enables the overshoot compensation function.

No. 1970 No. 8X 77 Overshoot prevention counter No. 2077 No. 1077

No. 1857 No. 8X 45 Incomplete integral coefficient No. 2045 No. 1045

No. 1742 No. 2202

#7 #6 #5 #4 #3 #2 #1 #0

−

OVS1

OVS1 (#3) 2: Enables overshoot compensation TYPE-2.

− 58 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.4 ADJUSTING PARAMETERS FOR HIGH SPEED AND HIGH

PRECISION

3.4.1 Level-up HRV Control Adjustment Procedure

(1) Overview

With standard systems of the i Series CNC (Series 15i, 16i, and 18i), the current control period can be changed from the conventional value 250 µs to 125 µs by employm ent of a high-speed DSP for serv o control. (This function is optional with Series 21i.) With a reduced current control period, the response of the current loop increases. As the result, a high velocity loop gain and high position loop gain can be set stably.

With higher velocity loop

Employment of high-speed servo DSP

Current loop response improvement

Higher velocity loop gain

Cutting figure

improvement

High-speed positioning

Simplified servo

adjustment

and position loop gains, the response and rigidity of a servo system can be improved. This capability enables cutting figure error reduction and higher-speed positioning with machine tools. Moreover, this capability simplifies servo adjustment. Thus, level-up HRV control can improve overall servo performance.

Fig. 3.4.1 (a) Achievements of level-up HRV control

After servo system adjustment with level-up HRV control, the parameters for advanced preview control, AI contour control, and high-precision contour control on the CNC side need to be adjusted. For information about adjustment of these parameters, see Subsec.

3.4.3, "Servo Parameter Adjustment Procedure for Achieving High Speed and High Precision."

− 59 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

Conventional control Level-up HRV control

Fig. 3.4.1 (b) Example of effects of level-up HRV control

(R100 mm, 10000 mm/min, without quadrant protrusion compensation)

(2) Series and editions of applicable servo software

Series 90A0/E(05) and subsequent editions (Series 15i, 16i, 18i, and 21i. The 320C543 servo card is required.)

(3) Adjustment procedure outline

Use the procedure below for level-up HRV control setting. <1> Setting of a current loop period and current loop gain (*1 in Fig.

3.4.1 (c)) The current control period is reduced from the conventional v alue 250 µs to 125 µs. An improvement in current response serves as the base for performance improvement.

<2> Vibration suppression filter adjustment (*2 in Fig. 3.4.1 (c))

Some machines may resonate at a particular frequency. In such a case, the use of a vibration suppression filter for removing vibration of a particular frequency is effective.

<3> Velocity loop gain setting (*3 and *4 in Fig. 3.4.1 (c))

A current response improvement due to current control period reduction and mechanical resonance removal using a vibration suppression filter raise the oscillation limit of the velocity loop. When a velocity loop gain adjustment is made, the use of the high-speed loop proportional high-speed processing function for processing a part of the velocity loop at high speed is effective. When the response of a servo system increases, a figure error dependent on the specified distribution period of the CNC may appear. Remove such an error by fine acceleration/deceleration. By setting a velocity loop gain as high as possible, the entire servo performance can be increased.

<4> Feed-forward coefficient adjustment (*5 in Fig. 3.4.1 (c))

By advanced preview feed-forward, a servo delay is eliminated, and a figure error is minimized. Usually, a feed-forward coefficient of 97% to 99% is used.

<5> Position gain adjustment (*6 in Fig. 3.4.1 (c))

As the response of the velocity loop increases, a higher position gain can be set. A higher position gain is also useful for error reduction.

− 60 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

Feedforward(*5)

Command from the NC

1) Level-up HRV control No. 2004

2) Vibration suppression filter

3) Velocity loop proportional highspeed processing function

4) Fine acceleration/ deceleration function

5) Advanced preview feed-forward

6) Position gain No. 1825 No. 1825 8000 to 10000 (Set about 5000 at first.)

Fine acceleration/ deceleration (*4)

Item

Position gain(*6)

Fig. 3.4.1 (c) Level-up HRV control adjustment

Table 3.4.1 Standard parameters for using level-up HRV control

(for machining centers with a relatively high rigidity)

Series 16 Series 15 Setting

No. 1809 No. 2040 No. 2041 No. 2113 No. 2177

No. 2017, B7 No. 2021

No. 2007, B6

No. 2209, B2

No. 2109

No. 2005, B1 No. 2092

No. 2069

No. 1852

No. 1853

No. 1706

No. 2620

No. 1959, B7

No. 1875

No. 1951, B6

No. 1749, B2

No. 1702

No. 1883, B1

No. 1985

No. 1962

Highspeed velocity loop(*3)

Standard parameter

00000011 (current loop: 125 µs) (Standard value) × 0.8 (Standard value) ×1.6 Center frequency of vibration 30 (NOTE: Vibration suppression filter adjustment requires a relatively long time. Without this filter, level-up HRV control can be achieved to some extent.) 1 (Enables this function.) Approx. 1500 to 2000 (Servo adjustment screen velocity gain: 700% to 900%)

1 (Enables fine acceleration/ deceleration.) 1 (The fine acceleration/deceleration time constant is of linear type.) 16 (Fine acceleration/deceleration time constant) 1 (Enables feed-forward.) 9700 to 9900 (Advanced preview feedforward coefficient) Approx. 100 (Velocity feed-forward coefficient)

Vibration suppression filter(*2)

Level-up HRV control(*1)

Switchable

between cutting

feed and rapid

traverse



The setting of a function marked with  in the column of "Switchable between cutting feed and rapid traverse" in Table 3.4.1 can be switched between cutting feed and rapid traverse. (See Subsec. 3.4.2, "Cutting Feed/Rapid Traverse Switchable Function.")

− 61 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

(4) Details of adjustment

<1> Current loop period setting and current loop gain setting

According to the settings of "1) Level-up HRV control" in Table

3.4.1, set the parameters for current control. Set th e same period

for the two axes controlled by the same DSP.

With these settings, processing is performed using a current loop period of 125 µs and a position loop period of 1 ms. The response of the current loop is improved by a factor of 1.6. In this state, check the activating sound. If, compared with the past, the activating sound during a stop increases, change the current loop gain as follows:

• No. 2040 (Series 16), No. 1852 (Series 15) = 0.6 times the modified value

• No. 2041 (Series 16), No. 1853 (Series 15) = 0.6 times the modified value

• No. 2042 (Series 16), No. 1854 (Series 15) = 0

NOTE

Set the same period for two axes controlled by the same DSP.

<2> Vibration suppression filter adjustment

As shown in Fig. 3.4.1 (d), the vibration suppression filter is a filter that attenuates a particular frequency component included in a torque command. If a strong resonance exceeding 200 Hz is present in the mechanical system, the vibration suppression filter is useful for setting a high velocity gain by suppressing resonance. So, when using level-up HRV control, adjust the vibration suppression filter before "<3> Velocity loop gain setting." If the resonance frequency is 200 Hz or less, do not use a vibration suppression filter. For resonance frequency measurement using servo adjustment software, see "(5) Method of resonance frequency measurement using servo adjustment software."

Torque command

Vibration suppression

filter

Fig. 3.4.1 (d) Vibration suppression filter

Level-up HRV control

− 62 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

(Adjustment procedure)

• Operate the machine at a relatively low feedrate (F1000 to F10000).

• Increase the velocity loop gain gradually until a slight vibration sound occurs at feed time. If an excessively large velocity loop gain is set at this time, vibration of low frequencies within 200 Hz becomes dominant, disabling the observation of high-frequency vibration that occurs first. If vibration of a high frequency cannot be observed, the vibration suppression filter cannot be used.

• After setting a velocity loop gain that generates a slight vibration sound, observe the TCMD to measure the frequency.

• Set the measured frequency in the parameters described below.

[Parameters for setting the vibration suppression filter]

No. 2113 (Series 16), No. 1706 (Series 15)

Attenuation center frequency (Hz): Set the resonance frequency of the machine.

No. 2117 (Series 16), No. 2620 (Series 15)

Attenuation bandwidth: 30 (40 when the center frequency is 600 Hz or more)

Before a vibration

suppression filter is used

Velocity gain: 600%

Fig. 3.4.1 (e) Effect of a vibration suppression filter (torque command waveform)

Resonance frequency:

500 Hz

(× 10 Hz) (× 10 Hz)

After a vibration

suppression filter is used

Velocity gain: 800%

<3> Velocity loop gain setting

Adjust the velocity loop gain according to Subsec. 3.3.1, "Gain Adjustment Procedure."

[Parameters for velocity loop gain adjustment]

No. 2017 (Series 16), No. 1959 (Series 15), B7:

1 (Enables the velocity loop proportional highspeed processing function.)

Velocity gain (gain on the servo adjustment screen):

Increase the velocity gain gradually starting at about 400%. The target is about 1000%.

− 63 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

<4> Fine acceleration/deceleration function setting

When level-up HRV control is used, a high position loop gain and a high velocity loop gain are set. So, when a greater acceleration/deceleration is specified, vibration dependent on the distribution period may occur. To prevent such vibration, fine acceleration/deceleration is used. Be sure to set a multiple of 8 as a fine acceleration/deceleration time constant.

[Parameters for fine acceleration/deceleration setting]

No. 2007 (Series 16), No. 1951 (Series 15), B6:

1 (Enables the fine acceleration/deceleration function.)

No. 2209 (Series 16), No. 1749 (Series 15), B2:

1 (The fine acceleration/deceleration time constant is of linear type.)

No. 2109 (Series 16), No. 1702 (Series 15):

16 (Fine acceleration/deceleration time constant)(*1)

*1 For the parameter to be used with fine

acceleration/deceleration switchable for cutting feed and rapid traverse, see Subsec. 3.4.2, "Cutting Feed/Rapid Traverse Switchable Function."

<5> Feed-forward coefficient adjustment

Feed-forward is used to compensate for a servo position loop delay, and velocity feed-forward is used to compensate for a velocity loop delay. While checking the amount of radius reduction by using an arc of R10/F4000 or R100/F10000, adjust the feed-forward coefficient so that the actual path matches the command. Set a velocity feed-forward coefficient of 100. For details of adjustment, see Subsec.

3.4.3, "Servo Parameter Adjustment Procedure for Achieving High Speed and High Precision."

[Parameters for feed-forward setting]

No. 2005 (Series 16), No. 1883 (Series 15), B1:

1 (Enables the feed-forward function.)

No. 2092 (Series 16), No. 1985 (Series 15):

9700 to 9900 (advanced preview feed-forward coefficient)

No. 2069 (Series 16), No. 1962 (Series 15):

Approx. 100 (velocity feed-forward coefficient)

− 64 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

<6> Position gain adjustment

A specified feedrate is calculated as follows:

Specified feedrate = (position gain) × (positional

deviation) + (feed-forward) Therefore, if a deviation occurs between the command and actual position, a higher position gain makes a strong er error correction, thus making a figure error smaller. When levelup HRV control is used, the response of the velocity loop is improved, so that a position gain higher than before can be set. With a medium-size machining center, a value up to about 80 to 100 [1/s] can be set. (When a large machine or closed-loop machine is used, a lower value needs to be set if the backlash between the motor and machine is large.) Perform rapid traverse and cutting feed at a maximum cutting feedrate, and find a position gain limit while observing the TCMD at the time of acceleration/deceleration. Then, set a value of about 80% of the limit. A position gain limit appears where a large swell of about 10 to 30 Hz is observed in the TCMD waveform. After determining a position g ain value, readjust the position feed-forward coefficient of <5> above.

[Parameter for position gain setting]

No. 1825 (Series 16, Series 15): 5000 to 10000

(5) Method of resonance frequency measurement using servo adjustment

software

For machine resonance measurement, use the procedure below. It is assumed that servo adjustment software of a version of October, 1998 and later is used.

<1> Make a preparation to use servo adjustment software (SD). Set

the type of measurement data in Adjustment 2. (When using a check board of analog/digital integrated type, set 6 as the number of data digits. When using a digital check board, set the DIP switch to 12 (for an odd-numbered axis) or 13 (for an evennumbered axis).

<2> Set bit 7 of the parameter No. 2206 (Series 16) or No. 1746 (Series

15) to 1. Set this bit for both axes controlled by the same DSP.

<3> In this state, a TCMD waveform is output for each current loop

control period. This means that a torque command for 1 second for 4000 data items can be acquired when the current control period is 250 µs, and a torque command for 1 second for 8000 data items can be acquired when the current control period is 125 µs.

− 65 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

found to be 500

<4> For the setting of each channel on the F9 screen of SD, select

TCMD Measurement. For am pere setting, set a maxim um current value of the amplifier.

<5> In this state, accelerate/decelerate the motor, and obtain a

waveform to check that the correct acceleration/deceleration waveform is output.

<6> With SD, set the number of data points so that data for 0.1 second

can be acquired. When the current control period is 250 µs: 400 data items When the current control period is 125 µs: 800 data items

<7> While moving the motor, obtain data when an unusual sound is

generated.

<8> Ensure that SD displays a waveform for only the first axis or

second axis at a time. (Waveforms for the first axis and second axis can be displayed or hidden with SHIFT+1, and SHIFT+2.) In addition, set an appropriate value on the F3 menu for enlargement so that vibration in a TCMD waveform can be viewed well.

<9> Here, press CTRL+F to set the frequency analysis mode. The

scale value under a spike multiplied by 10 is the frequency of the vibration.

<10>Upon completion of adjustment, reset the value of bit 7 of No.

2206 (Series 16) or No. 1746 (Series 15) to 0.

In the TCMD waveform, a vibration component of 50

}3.4.1 (f) @ ⁄ U g “ Ł Æ

(× 10 Hz)

Fig. 3.4.1 (f) Example of resonance frequency

vibrations per 100 ms exists, so that the frequency of resonance is

Hz.

− 66 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.4.2 Cutting Feed/Rapid Traverse Switchable Function

(1) Overview

For cutting figure improvement, the setting of hig her position loop and velocity loop gains is useful. In general, however, a higher maximum feedrate and higher acceleration for acceleration/deceleration are used in rapid traverse, compared with cutting feed. This means that those settings that achieve stable operation in cutting feed can cause velocity loop vibration and position loop hunting in rapid traverse. To avoid such trouble, a function for parameter switching between cutting feed and rapid traverse for the functions indicated below is available.

acceleration/

deceleration

time constant

(2) Setting procedure

Feed-

forward

coefficient

Fine

Fig. 3.4.2 Parameters switchable between cutting feed and rapid traverse

feed-forward

coefficient

Velocity

loop gain

NOTE

1 The TCMD filter and vibration suppression filter can

be used at the same time by parameter setting.

2 The cutting feed/rapid traverse switchable function

is not usable for the vibration suppression filter.

3 With the Series 15-B, the cutting feed/rapi d traverse

switchable function is not usable.

<1> Velocity loop gain

If acceleration in rapid traverse causes TCMD saturation, the velocity loop tends to oscillate at the end of acceleration in rapid traverse. Some machine systems tend to oscillate at a higher frequency when a higher feedrate is used. In such cases, gain switching between cutting feed and rapid traverse is effective. If the cutting feed/rapid traverse switchable velocity loop gain function is set, the conventional velocity gain is used for rapid traverse, and an overridden value is used for cutting feed. Usually , an override value of 150% to 200% is set. If vibration occurs only when the machine stops, use the function for changing the proportional gain in the stop state. (With Series 90A0, the function for changing the proportional gain in the stop state and the velocity loop proportional high-speed processing function can be used at the same time.)

TCMD

filter

− 67 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

[Applicable servo software]

Series 9080/P(16) and subsequent editions

(Series 16-C, 18-C) Series 16-MC: BOB1/E and subsequent editions Series 16-TC: B1B1/C and subsequent editions Series 18-MC: BDB1/C and subsequent editions Series 18-TC: BEB1/C and subsequent editions

Series 9090/F(06) and subsequent editions

(Series 16i, 18i, 21i, Power Mate i. The 320C52 servo card is required.)

Series 90A0/A(01) and subsequent editions

(Series 15i, 16i, 18i, 21i. The 320C543 servo card is required.)

[Function bit]

#7 #6 #5 #4 #3 #2 #1 #0 No. 1742 VGCCR No. 2202

1: Enables the cutting feed/rapid traverse switchable velocity loop

gain function.

0: Disables the cutting feed/rapid traverse switchable velocity loop

gain function.

Usually

When the cutting feed/rapid traverse switchable function is enabled

Velocity loop gain (LDINT)

No. 2021 (Series 16) No. 1875 (Series 15)

Cutting feed

Override value for cutting feed (%)

No. 2107 (Series 16) No. 1700 (Series 15) Valid data range: 50 to 400

When a velocity loop gain of 200% (LDINT = 256) and a cutting-time override of 150% are set, the velocity loop gain for cutting feed is 300% (LDINT = 512).

LDINT is applicable without modification.

No. 2021 (Series 16) No. 1875 (Series 15)

Rapid traverse

<2> A fine acceleration/deceleration time constant of about 16 is

optimal for fine acceleration/deceleration, position feed-forward, and velocity feed-forward cutting . I n rapid traverse, how ever, the setting of a time constant of 32 to 40 ms may be desirable to reduce a shock at the time of acceleration/deceleration. Note that the feed-forward coefficient for figure minimization in cutting is not always the same as the feed-forward coefficient for minimizing time for high-speed positioning by rapid traverse. In such a case, use the cutting feed/rapid traverse switchable fine acceleration/deceleration function.

− 68 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

No. 2069 (

16), No. 1962 (

[Applicable servo software]

Series 9080/J(10) and subsequent editions

(Series 16-C, 18-C): The series/edition of the CNC software is the same as <1>.

Series 9090/C(03) and subsequent editions

(Series 16i, 18i, 21i, Power Mate i. The 320C52 servo card is required.)

Series 90A0/A(01) and subsequent editions

(Series 15i, 16i, 18i, 21i. The 320C543 servo card is required.)

[Function bit]

#7 #6 #5 #4 #3 #2 #1 #0 No. 1742 FADCH No. 2202

1: Enables the cutting feed/rapid traverse switchable fine

acceleration/deceleration function.

0: Disables the cutting feed/rapid traverse switchable fine

acceleration/deceleration function.

Usually

When the cutting feed/rapid traverse switchable function is enabled

1. FAD time constant

No. 2109 (Series 16), No. 1702 (Series 15)

2. Feed-forward coefficient

No. 2092 (Series 16), No. 1985 (Series 15)

3. Velocity feed-forward coefficient

No. 2069 (Series 16), No. 1962 (Series 15)

Cutting feed

1. FAD time constant

No. 2143 (Series 16), No. 1766 (Series 15)

2. Feed-forward coefficient

No. 2144 (Series 16), No. 1767 (Series 15)

3. Velocity feed-forward coefficient

No. 2145 (Series 16), No. 1768 (Series 15)

<3> TCMD filter

If high-frequency vibration occurs only in rapid traverse, the TCMD filter may be more useful than the vibration suppression filter. On the other hand, if the TCMD filter is used in cutting feed when it is not needed, the oscillation limit of velocity loop gain decreases due to a filter delay. In such a case, the use of the TCMD filter only in rapid traverse is effective.

[Applicable servo software]

Series 9080/U(21) and subsequent editions

(Series 16-C, 18-C): The series/edition of the CNC software is the same as <1>.

Series 90A0/D(04) and subsequent editions

(Series 15i, 16i, 18i, 21i. The 320C543 servo card is required.)

Rapid traverse

1. FAD time constant

No. 2109 (Series 16), No. 1702 (Series 15)

2. Feed-forward coefficient

No. 2092 (Series 16), No. 1985 (Series 15)

3. Velocity feed-forward coefficient

Series

Series 15)

− 69 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

[Parameter]

No. 1779 TCMD filter coefficient in rapid traverse No. 2156

Usually

When the cutting feed/rapid traverse switchable function is enabled

TCMD filter

No. 2067 (Series 16), No. 1895 (Series 15)

Cutting feed

TCMD filter

No. 2067 (Series 16), No. 1895 (Series 15)

<4> If the cutting feed/rapid traverse velocity gain switch function is

enabled for the current loop 1/2PI function when the cutting feed/rapid traverse switchable velocity loop gain function is enabled, the current loop 1/2PI function is automatically turned off in rapid traverse. Set the rapid traverse enable bit only if the current loop 1/2PI function needs to be used also for rapid traverse when the cutting feed/rapid traverse velocity gain switch function is enabled.

[Applicable servo software]

Series 9080/X(25) and subsequent editions

(Series 16-C, 18-C): The series/edition of the CNC software is the same as <1>.

Series 90A0/E(05) and subsequent editions

(Series 15i, 16i, 18i, 21i. The 320C543 servo card is required.)

Rapid traverse

TCMD filter

No. 2156 (Series 16), No. 1779 (Series 15)

[Function bit]

No. 1742 CPIAL No. 2202

Usually

1/2PI function enabled also for rapid traverse

#7 #6 #5 #4 #3 #2 #1 #0

1: Enables the 1/2PI function also for rapid traverse. 0: Disables the 1/2PI function for rapid traverse.

Current loop 1/2PI function enable bit

No. 2203 (Series 16), B2 = 1 No. 1743 (Series 15), B2 = 1

Cutting feed

Enabled for cutting feed at all times

The 1/2PI function is enabled only for cutting feed if the cutting feed/rapid traverse velocity loop gain switch function is enabled.

− 70 −

The 1/2PI function is enabled for rapid traverse.

No. 2202 (Series 16), B2 = 1 No. 1742 (Series 15), B2 = 1

Rapid traverse

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.4.3 Servo Parameter Adjustment Procedure for Achieving High

Speed and High Precision

(1) Overview

This section describes the procedure for determining the digital servo parameters used for advanced preview control, high-precision contour control, and AI nano-contour control, and the parameters for CNC acceleration and deceleration based on a feedrate difference. This section assumes that the servo adjustment software SD.EXE (of a version of November 1997 and later) is used.

(2) Standard settings

Before staring an actual adjustment, set the default parameters according to Table 3.4.3 (a). With the servo software series (Series 9080, 9090, and 90A0) that allows the application of fine acceleration/deceleration, fine acceleration/deceleration can be used instead of linear acceleration/deceleration after interpolation. However, fine acceleration/deceleration is disabled during highprecision contour control, AI contour control, and AI nano-contour control. So, be sure to set the parameter for acceleration/deceleration after interpolation on the CNC side during batch transfer (such as during RISC use).

− 71 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

Table 3.4.3 (a) Standard settings of parameters for high-speed and high-precision machining

Function Series 16 Series 15 Standard setting Velocity loop PI 2003 B3 1808 B3 1 Feed-forward enable 2005 B1 1883 B1 1 Velocity feedback acquisition 1 ms 2006 B4 1884 B4 1 Advanced preview feed-forward coefficient 2092 1985 9900 Velocity feed-forward coefficient 2069 1962 50 Velocity loop proportional high-speed processing function(*1) Fine acceleration/deceleration enable(*2) 2007 B6 1951 B6 1 Linear-type fine acceleration/deceleration 2209 B2 1749 B2 1 Fine acceleration/deceleration time constant(*3) 2109 1702 32 for large machines

2017 B7 1959 B7 1

24 for medium-sized machines or small machines

*1 When this function is used, high-frequency vibration can occur,

depending on the resonance point of the machine system. In this case, stop the use of this function. If high-frequency vibration occur when a high velocity loop gain is set, use the torque command filter.

*2 Instead of fine acceleration/deceleration, linear

acceleration/deceleration after interpolation on the CNC can be used. During batch transfer, do not use fine acceleration/deceleration, but use acceleration/deceleration after interpolation on the CNC software side.

*3 For rapid traverse, a time constant of about 40 to 64 ms is required

to perform high-speed positioning by fine acceleration/deceleration plus feed-forward. In this case, use the cutting feed/rapid traverse switchable fine acceleration/deceleration function.

(3) Velocity loop gain adjustment

Make a velocity loop gain adjustment according to Subsec. 3.3.1, "Gain Adjustment Procedure." Use level-up HRV control when it is applicable.

[Purpose of adjustment]

By setting a high velocity loop gain, the following can be achieved:

• Servo rigidity improvement

• Servo response improvement

In machining at normal feedrate, a high velocity loop gain improves surface precision and figure precision as long as vibration does not occur. A high velocity loop gain improves high-speed high-precision machining and high-speed positioning as well. For setting a high velocity loop gain stably, the velocity loop proportional high-speed processing function is useful. As described in an example given later, the level of an adjustment that can be made for high-speed high-precision machining almost depends on the maximum allowable velocity loop gain.

− 72 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

(4) Feed-forward coefficient adjustment (using an arc of R10/F4000)

[Purpose of adjustment]

In a conventional position control loop where feed-forward control is not exercised, a velocity command is output based on (positional deviation) × (position loop gain). This means that the machine moves only when there is a difference between the specification of a command and the machine position. When the position gain is 30 [1/s], for example, a feedrate of 10 m/min generates a positional deviation of 5.56 mm. In linear feed, this positional deviation does not cause a figure error. For an arc or corner, however, this positional deviation causes a large figure error. A function for eliminating such a positional deviation is feedforward. Feed-forward converts a position command from the CNC to a velocity comm and for velocity com mand compensation. Feed-forward can reduce a positional deviation (to almost 0, theoretically). Accordingly, feed-forward can reduce arc and corner figure errors. However, the servo response is improved, so that a shock can occur. To prevent a shock from occurring, acceleration/deceleration before interpolation must be used at the same time.

[Guideline for adjustment value setting]

Theoretically, a feed-forward coefficient of 100% leads to a positional deviation of 0, and eliminates figure errors. Actually, however, there is a delay in velocity loop response. So, a value slightly less than 100% produces a specified figure. Usually, a value between 95% to 99% (settings of 9500 to 9900) is optimum . As the default, use 9800. First, adjust the feed-forward coefficient while viewing an arc figure. (Set a velocity feed-forward coefficient of 50% before starting adjustment.)

[Actual adjustment]

Create a program as indicated below for circular movement by R10/F4000, and measure the path with SD. G08P1 and G08P0 in the program are G codes for starting and ending the advanced preview control mode in Series 16, respectiv ely. For a m ode to be used, select the corresponding G codes from Table 3.4.3 (b).

G91; G08P1; G17G02I-10.F4000.; I-10.; I-10.; G08P0; G04X3.; M99;

− 73 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

Table 3.4.3 (b) Codes for starting and ending each mode

Start End

FS16, 18, 21 + Advanced preview control G08P1 G08P0 FS16 + High-precision contour control FS15B + High-precision contour control FS15i + Fine HPCC FS16i + AI contour control FS16i + AI nano-contour control FS15B + Advanced preview control FS21i + AI advanced preview control

G05P10000 G05P0

G05.1Q1 G05.1Q0

In Fig. 3.4.3 (a), the feed-forward coefficient is insufficient, resulting in a radius reduction of about 5 µm. In addition, the v elocity loop g ain is low, so that swells and quadrant protrusions are observed. By adjusting the feed-forward coefficient as shown in Fig. 3.4.3 (b), the arc radius reduction can be reduced to nearly 0.

Swell

Fig. 3.4.3 (a) Feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 95% FAD time constant: 24 ms (linear type)

Quadrant protrusion

Specified arc

In the figures above, a low v elocity loop g ain is used for measurement. By using an increased velocity loop gain, swells and quadrant protrusions can be reduced (Fig. 3.4.3 (c)). Increase the velocity loop gain to 70% to 80% of the limit. Adjust the feed-forward coefficient finely, and apply quadrant protrusion compensation (backlash acceleration/deceleration) to reduce the quadrant protrusions and improve the roundness (Fig. 3.4.3 (d)).

Fig. 3.4.3 (b) Feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 98% FAD time constant: 24 ms (linear type)

− 74 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

Fig. 3.4.3 (c) Effect of velocity loop gain

Velocity loop gain: 200% Advanced preview feed-forward coefficient: 98% FAD time constant: 24 ms (linear type)

Fig. 3.4.3 (d) Effect of velocity loop gain

Velocity loop gain: 300% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type)

(5) Velocity feed-forward coefficient adjustment (example using a square

figure with 1/4 arcs)

[Purpose of adjustment]

Feed-forward coefficient adjustment can reduce positional deviation and figure errors. If the response of the velocity loop for executing a velocity command is low, velocity control cannot be exercised as specified where the specified acceleration varies to a large extent, thus causing a figure error. The response of the velocity loop can be improved by increasing the velocity loop gain and by adjusting the velocity feed-forward coefficient.

Velocity feed-forward multiplies a specified rate of variation (acceleration) by an appropriate coefficient for torque command compensation. In the servo velocity loop (PI control), a compensation torque occurs only when a difference (velocity deviation) between a specified velocity and actual velocity actually occurs. On the other hand, velocity feed-forward performs torque command compensation according to an acceleration value specified beforehand. So, a figure error that occurs due to a velocity loop delay can be reduced.

[Guideline for adjustment value setting]

The formula below is applicable. In actual adjustment, however, make an adjustment starting with a velocity feed-forward coefficient of 100.

(Velocity feed-forward coefficient) = 100 ×

− 75 −

(Motor rotor inertia + load inertia)

Motor rotor inertia

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

[Actual adjustment]

Make a velocity feed-forward coefficient adjustment by using a square figure with four 1/4 arcs of a 5-mm radius. In this adjustment, disable the velocity clamp function based on an arc radius. (Disable the function, or in the example below, ensure that a velocity equal to or greater than F4000 can be specified.)

G91; G08P1;

5 mmStart, End

5 mm

Fig. 3.4.3 (e) Programmed figure

G01X10.F4000; G02X5.Y-5.R5.; G01Y-20.; G02X-5.Y-5.R5.; G01X-20.; G02X-5.Y5.R5.; G01Y20.; G02X5.Y5.R5.; G01X10.; G08P0; G04X3.; M99;

Press the uppercase character P to enable the display of a reference path. Execute the program and measure an actual path. Then, an actual path and reference path are drawn simultaneously as shown below.

Actual path

Specified path

Fig. 3.4.3 (f) Specified path and actual path

When advanced preview feed-forward is disabled, a figure error of hundreds

m occurs as shown in Fig.

3.4.3 (f), and therefore can be viewed even in the XY mode. However, if advanced preview feed-forward is enabled for figure error reduction, it is difficult to evaluate a figure error correctly unless the error is enlarged. In such a case, use the figure comparison m ode (contour mode) for enlarging errors only for display (ctrl O). In addition, set an error display magnification with F3 (scale change). For Fig. 3.4.3 (g), a display magnification of 100 is set.

− 76 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

Protrusion and cut due to a delay on the Y-axis

Protrusion and cut due to a delay on the X-axis

The figure display is 5 mm wide. The error is 50 µm in size.

Fig. 3.4.3 (g) Velocity feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type) Velocity feed-forward: 0%

In Fig. 3.4.3 (g), the velocity feed-forward coefficient is not specified, so that the movement along each axis delays where acceleration changes to a large extent. As the result, a protrusion occurs at the joint of a straight line with an arc, and a cut occurs at the joint of an arc with a straight line. In Fig. 3.4.3 (h), a velocity feed-forward coefficient is set for the X-axis only. The response of the X-axis has improved, so that a figure improvement can be seen in the areas where acceleration changes to a large extent along the X-axis.

In Fig. 3.4.3 (i), excessively large velocity feed-forward coefficients are specified, so that the protrusions shown in Fig. 3.4.3 (g) have changed to cuts, and the cuts have changed to protrusions. This means that optimum velocity feed-forward coefficients exist and they are less than the values of Fig. 3.4.3 (i). Fig. 3.4.3 (j) shows the result of adjustment to the optimum values. Fig. 3.4.3 (k) enlarges the errors only for display.

Fig. 3.4.3 (h) Velocity feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type) Velocity feed-forward: X100%

Fig. 3.4.3 (i) Velocity feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type) Velocity feed-forward: X200%, Y200%

Fig. 3.4.3 (j) Velocity feed-forward adjustment

Velocity loop gain: 100% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type) Velocity feed-forward: X120%, Y180%

− 77 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

is 10

m in size.

When the enlarged range is viewed, it is seen that the machine is vibrating in the arc areas. This vibration is caused by a low velocity loop gain. To reduce this vibration, two methods are available. One method increases the velocity loop gain. (This method cannot be used when the velocity loop gain has already been increased to the oscillation limit.) The other method decreases the feedrate in the arc areas with the arc radius based feedrate clamp function as described in Subsec. 3.4.3 (6).

Machine vibration caused by insufficient velocity control response is observed.

The figure display is 5 mm wide. The error

Fig. 3.4.3 (k) Velocity feed-forward adjustment

Swells in the arc areas can be reduced by increasing the velocity loop gain (Fig. 3.4.3 (l)). However, figure errors that occur at the joints of straight lines and arcs cannot be fully eliminated. Swells can be additionally reduced by fine adjustment of the velocity feed-forward coefficient or by using the arc radius based feedrate clamp function described in Subsec. 3.4.3 (6).

Figure errors in this area cannot be fully eliminated by increasing the velocity loop gain.

Swells can be reduced by increasing the velocity loop gain.

Fig. 3.4.3 (l) Velocity feed-forward adjustment

Velocity loop gain: 300% Advanced preview feed-forward coefficient: 99% FAD time constant: 24 ms (linear type) Velocity feed-forward: X120%, Y180%

− 78 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

(6) Adjustment of the parameters for arc radius based feedrate clamping

[Purpose of adjustment]

As mentioned above, velocity feed-forward coefficient adjustment can improve a velocity loop response delay, thus reducing figure errors in areas where specified acceleration changes to a large extent. However, velocity feed-forward coefficient adjustment alone cannot fully eliminate figure errors. Moreover, if the rigidity of a machine itself is low, the machine may vibrate due to a change in acceleration.

To reduce changes in specified acceleration in areas where acceleration changes to a large extent, the specified feedrate in the tangent direction is reduced. In part machining (advanced preview control), the arc radius based feedrate clamp function performs this feedrate reduction. By adjusting the parameter of this function, an acceleration value in the normal direction allowable with a machine can be found. As detailed below, such an acceleration value can be used as a guideline for setting the parameter for feedrate reduction by acceleration in hig h- precision contour control (small successive blocks).

In the figure at left, let R be the radius of the arc, and F be the

Feedrate F

feedrate. Then, the acceleration in the normal direction is F

/R. The

arc radius based feedrate clamp

Radius R

Acceleration

in the normal

direction

function specifies R and F as its parameters to ensure that the acceleration in the normal direction at a specified arc does not exceed the specified value.

For example, suppose that when R = 5 mm and F = 4000 mm/min are specified as the parameters of the arc radius based feedrate clamp function, the acceleration in the normal direction at the arc is:

/R = (4000/60)2/5 = 889 mm/sec

When using the high-precision contour control function, set about the same value as this acceleration as the parameter for feedrate reduction function based on acceleration in small blocks. In the example above, if a cutting feedrate of F4000 (mm/min) is set, the time required to reach this feedrate is calculated as follows:

4000/60/889*1000 = 75 msec

− 79 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

When the feedrate at an arc is reduced using the arc radius based feedrate clamp function, figure precision im proves. Howev er, a long er machining time is required as a side effect. Fig. 3.4.3 (m) shows a tangent feedrate and processing time when the arc radius based feedrate clamp function is not used with the adjustment program used in (5) and later. Fig. 3.4.3 (m) indicates that the tangent feedrate remains to be F4000. On the other hand, when feedrate reduction to F3000 at R5 m m is specified with the arc radius based feedrate clamp function, the tangent feedrate is reduced to F3000 at corners as shown in Fig. 3.4.3 (n), but the machining time has increased by 200 msec.

Tangent feedrate

1900 msec

X-axis position

Fig. 3.4.3 (m) When the arc radius based feedrate

clamp function is not used

[Guideline for adjustment value setting]

Empirically, the values below are adequate. For the parameter numbers, refer to the parameter manual of each CNC. High-rigidity small machines: F4000 for R5 (889 mm/sec Medium-size or small machining centers with a relatively high rigidity: F3000 for R5 (500 mm/sec Large machines: F2500 for R5 (347 mm/sec Large machines with a very high rigidity:

Acceleration of acceleration/ deceleration before interpolation

Tangent feedrate

2100 msec

Fig. 3.4.3 (n) When the arc radius based feedrate clamp

Feedrate reduction to

F3000

function is used

F2000 for R5 (222 mm/sec

2 2

)

) )

)

[Actual adjustment]

Fig. 3.4.3 (o) shows the results of setting R5 mm and F3000 with the arc radius based feedrate clamp function for Fig. 3.4.3 (k). Fig.

3.4.3 (o) indicates that the figure errors at the entries and exits of the arc areas have been reduced.

− 80 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

The figure errors at the entries and exits of each arc

The figure display is 5 mm wide. The e rro r is 1 0

Fig. 3.4.3 (o) Arc radius based feedrate clamping

m in size.

area have been reduced.

(7) Adjustment of an allowable feedrate difference of the feedrate difference

based corner deceleration function

[Purpose of adjustment]

In the program shown in Fig. 3.4.3 (p), the feedrate along each axis changes to a great extent at each block joint. With a highprecision high-speed system, the CNC reads programmed figures beforehand. If the feedrate along each axis changes at a block joint, such a system can decrease the feedrate by a parameterspecified allowable feedrate difference to reduce a shock and figure error at the block joint. Acceleration/deceleration is performed based on the time constant for acceleration/deceleration before interpolation. A more reduced corner feedrate makes a figure error improvement to a greater extent, but requires a longer machining tim e. Set a reduced corner feedrate to a highest possible value as long as an allowable figure error is obtained.

[Guideline for setting]

For the parameter number, refer to the parameter manual of each CNC. Small machines with a high rigidity: F400 Medium-size or small machining centers with a relatively high rigidity: F300 Large machines: F200

− 81 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

[Actual adjustment procedure]

Execute the following program, and measure the actual path.

Start and end point

Corner 4

Corner 1

Corner 2

Corner 3

Fig. 3.4.3 (p) Programmed figure

G91; G08P1; G01X10.F4000; G01Y-20.; G01X-20.; G01Y20.; G01X10.; G08P0; G04X3.; M99;

The XY mode (ctrl-X) is used for drawing. To observe an overshoot along an axis to be stopped, the figure is enlarged in the direction of the axis to be stopped. Corner 1 and corner 3 in Fig. 3.4.3 (p) are enlarg ed in the X-axis direction, and corner 2 and corner 4 are enlarged in the Y-axis direction. In the examples below, corner 1 is displayed using

0.01 mm/div in the X-axis direction and 0.1 mm/div in the Y-axis direction. In Fig. 3.4.3 (q) where a reduced corner feedrate of F1000 is set, an overshoot of 10 µm or more has occurred. In Fig. 3.4.3 (r), however, the overshoot is reduced to about 3 µm. If an overshoot cannot be remov ed by setting a reduced corner feedrate close to 0, the acceleration of acceleration/deceleration before interpolation may be too large. In such a case, set a longer time for acceleration/deceleration before interpolation. (In this case, a longer machining time results.) Fig. 3.4.3 (s) shows the feedrate along the X- axis and Y-axis (corner 1) when the corner deceleration function is used.

Overshoot

0.01 mm

Fig. 3.4.3 (q) Reduced corner feedrate F1000 Fig. 3.4.3 (r) Reduced corner feedrate F300

− 82 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

with the

Feedrate along the X-axis

Acceleration/deceleration

Reduced corner feedrate

Acceleration/deceleration at the acceleration of

acceleration/deceleration before interpolation

time constant for fine acceleration/deceleration or acceleration/deceleration after interpolation

Feedrate along t he Y-axis

Specified feed rat e

Fig. 3.4.3 (s) Time and feedrate relationship for reduced corner feedrate F1000

− 83 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

3.4.4 High-Speed Positioning Adjustment Procedure

(1) Overview

This section describes the adjustment procedure for high-speed positioning required with a punch press and PC board drilling machine.

(2)

Adjustment procedure

Make a high-speed positioning adjustment while viewing the VCMD (servo error amount) and TCMD. Set a measurement range as described below.

• V CMD: Adjust the VCMD magnification, measurement voltage level (when an analog check board is used), and measurement range (when the servo adjustment software is used) to allow viewing to a requested positioning precision. In the example below, a requested precision of 10 µm is assumed.

• TCMD: Make an adjustment to view a specified maximum current value. If an adjustment is made to reduce positioning time, TCMD saturation may occur. Make an adjustment so that the TCMD lies within a specified maximum current.

<1> I-P control setting

Select I-P control for velocity loop control. In general, PI control reduces start-up time for a command, but requires a longer setting time, so that PI control is not suitable for high-speed positioning. On the other hand, I-P control reduces time required to reach a target position, so that I-P control is generally used for hig h-speed positioning adjustment.

VCMD

Specified maximum

300 ms

TCMD

Fig. 3.4.4 (a) When PI control is used Fig. 3.4.4 (b) When I-P control is used

− 84 −

270 ms

VCMD

20 µm

TCMD

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

<2> Set a highest possible velocity loop gain according to Subsec.

3.3.1, "Gain Adjustment Procedure."

VCMD

TCMD

TCMD fluctuation is eliminated.

Fig. 3.4.4 (c) After velocity loop gain adjustment

<3> Set a switch speed of 1500 (15 rpm) with the position gain switch

function (see Subsec. 4.8.1).

VCMD

270 ms

TCMD

Fig. 3.4.4 (d) Position gain switch function

VCMD

240 ms

TCMD

− 85 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

of an undershoot increases.

exceeded.

<4> Set a highest possible position gain. While viewing the VCMD

waveform, make an adjustment so that the overshoot value lies within a requested precision. After setting a position gain, perform rapid traverse for a long distance to check that lowfrequency vibration due to an excessively increased position gain does not occur. If the set position gain is too high, vibration after an overshoot exceeds a requested precision. An overshoot itself can be suppressed to some extent by adjustment of <5>.

A large vibration occurs in a

VCMD

20 µm

200 ms

TCMD

return movement. Suppress the vibration to within 50% of the requested precision.

When a precision of 10 µm is requested, adjust the overshoot value to within 10

Fig. 3.4.4 (e) Adequate position gain Fig. 3.4.4 (f) Excessively high position gain

If the position gain is too high, the requested precision 10 µm is

<5> Make a fine PK1V adjustment to eliminate an overshoot and

undershoot. If a large value is set for PK1V, a large undershoot occurs.

VCMD

210 ms

VCMD

20 µm

TCMD

When the value of PK1V is increased, the amount of an overshoot decreases.

Fig. 3.4.4 (g) After PK1V adjustment Fig. 3.4.4 (h) When the value of PK1V is too large

When the value of PK1V is increased excessively, the amount

− 86 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

3.4.5 Rapid Traverse Positioning Adjustment Procedure

(1) Overview

The fine acceleration/deceleration function applies a filter to each axis in the servo software to reduce a shock associated with acceleration/deceleration. By combining the fine acceleration/deceleration function with feed-forward, high-speed positioning can be achieved in rapid traverse. This section describes rapid traverse positioning adjustment.

(2) High-speed positioning by a combination of fine acceleration/deceleration

and feed-forward

(Rapid traverse positioning when fine acceleration/deceleration is not used)

A servo loop not performing feed-forward has a delay equivalent to a position loop gain. The time required for positioning after completion of distribution from the CNC is four to five times the position gain time constant (33 ms for 30 [1/s]) (133 to 165 ms for a position gain of 30). In normal rapid traverse, rapid trav erse linear acceleration/deceleration (Fig. 3.4.5 (a)) is used, so that acceleration changes to a large extent at the start and end of acceleration. However, since feed-forward is not used, acceleration change is made moderate by a position loop gain, and a shock does not occur. If a low linear acceleration/deceleration time constant is set for highspeed positioning, and a high position gain and feed-forward are set, the time required for positioning is reduced, but a shock occurs. I n this case, a shock can be reduced by setting rapid traverse bell-shaped acceleration/deceleration (optional function) (Fig. 3.4.5 (b)).

Rapid traverse linear time constant (T1) only

Feedrate

Acceleration change is large, so a shock tends to occur. Feed-forward cannot be applied.

Time

Fig. 3.4.5 (a) Rapid traverse linear

acceleration/deceleration

Rapid traverse bell-shaped acceleration/deceleration (T1+ T2)

Feedrate

Acceleration change is reduced.

T1 + T2

Fig. 3.4.5 (b) Rapid traverse bell-shaped

acceleration/deceleration

Time

− 87 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

(Rapid traverse positioning when fine acceleration/deceleration is used)

For further reduction in the time required for rapid traverse positioning, a delay due to a position gain needs to be minimized. For this purpose, feed-forward needs to be fully utilized. When feed-forward is applied, the positional deviation decreases. Accordingly, positional deviation convergence occurs more rapidly after distribution, thus reducing the time required for positioning. If feed-forward close to 100% is applied to normal acceleration/deceleration (Fig. 3.4.5 (a) and (b)), a mechanical shock due to acceleration change at the start and end of acceleration/deceleration, and a torque command vibration during acceleration/deceleration can pose a problem. To cope with this, the fine acceleration/deceleration function is available (Fig. 3.4.5 (c) and (d)).

FAD (Tf ≤ 64 ms) is used.

Feedrate

T1 + Tf

Fig. 3.4.5 (c) Fine acceleration/deceleration (FAD) Fig. 3.4.5 (d) Rapid traverse bell-shaped

Compared with linear acceleration/deceleration, acceleration change is reduced, and a smooth curve results. The time required for positioning can be reduced by feedforward.

Time

Rapid traverse bell-shaped acceleration/deceleration (T2 > 64 ms) is used as well.

Feedrate

T1 + T2 + Tf

acceleration/deceleration + FAD

If a second time constant greater than 64 ms is required, rapid traverse bell-shaped acceleration/ deceleration is used (optional function). The curve is made smooth by inserting lineartype FAD of 8 ms.

Time

Fine acceleration/deceleration increases the time required for command distribution by a time constant. Howev er, a time reduction in positioning achieved by feed-forward is greater than this increase, so the time required for positioning can be reduced in total. Thus, positioning can be speeded up using fine acceleration/deceleration. The adjustment procedure is described in (3) below.

(T1 + positioning time based on a position gain)

> (T1 + Tf + positioning time based on feed-forward) A time constant up to 64 ms can be set for fine acceleration/deceleration. If a time constant greater than 64 ms is required, use rapid traverse bell-shaped acceleration/deceleration, and set 8 ms for linear-type fine acceleration/deceleration (Fig. 3.4.5 (d)).

(3) Adjustment procedure

Make a rapid traverse positioning adjustment while viewing the VCMD (servo error amount). Adjust the measurement range so that the time required for position deviation convergence within the inposition width can be seen. At the same time, observe the TCMD to check that the TCMD is not saturated. Before proceeding to the adjustment described below, adjust the velocity loop gain according to Subsec. 3.3.1, "Gain Adjustment Procedure."

− 88 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

The measurement data of Fig. 3.4.5 (e) has been obtained under the condition below. Fine acceleration/deceleration and feed-forward are not used.

• Rapid traverse rate: 20000 mm/min

• Rapid traverse time constant: 150 ms

• Position gain: 30/s

• Travel distance: 100 mm

When the in-position width is 20 pulses, a time of about 180 ms is required from distribution completion to positioning. Reducing this time can speed up positioning.

Command from the CNC

Servo delay time of about 180 ms

Fig. 3.4.5 (e) Measurement of time before adjustment

Positional deviation

In-position width

<1> Default parameter setting for fine acceleration/deceleration and

feed-forward

Set the parameters according to Table 3.4.5. By setting the default

parameters, the time required for positioning can be much

reduced.

Table 3.4.5 Default parameters for rapid traverse positioning adjustment

Item

Rapid traverse feed-forward enable Fine acceleration/deceleration function enable Linear-type fine acceleration/deceleration Fine acceleration/deceleration time constant Feed-forward enable No. 2005, B1 No. 1883, B1 1 Feed-forward coefficient No. 2092(*1) No. 1985(*2) 9700 Velocity feed-forward coefficient No. 2069(*1) No. 1962(*2) 100

Series 16 Series 15 Setting

No. 1800, B3 No. 1800, B3 1

No. 2007, B6 No. 1951, B6 1

No. 2009, B2 No. 1749, B2 1

No. 2109(*1) No. 1702(*2) 40

Default parameter

*1 When using different values for cutting and rapid traverse,

use the cutting feed/rapid traverse switchable fine acceleration/deceleration function according to Subsec.

3.4.2, "Cutting Feed/Rapid Traverse Switchable Function."

*2 Series 15-B does not support the cutting feed/rapid traverse

switchable function.

− 89 −

3. α SERIES PARAMETER ADJUSTMENT B-65150E/04

<2> Velocity feed-forward adjustment

When feed-forward is enabled, the time required for positioning

can be reduced, but a swell may occur due to insufficient velocity

loop response immediately before machining stops. A swell can

be reduced by an increased velocity loop gain, but there is an

upper limit on the velocity loop gain. So, adjust the velocity

feed-forward coefficient to reduce a swell for positioning time

reduction.

The default settings cause a swell immediately before machining

stops (Fig. 3.4.5 (f)). The swell can be reduced by increasing the

velocity feed-forward coefficient (Fig. 3.4.5 (g)).

A swell is observed immediately before machining stops.

An optimum is achieved when the swell here is reduced.

Fig. 3.4.5 (f) Before velocity feed-forward

adjustment FAD: 64 ms Feed-forward: 98.5% Velocity feed-forward coefficient: 100%

Fig. 3.4.5 (g) After velocity feed-forward

adjustment FAD: 64 ms Feed-forward: 98.5% Velocity feed-forward coefficient: 250%

− 90 −

B-65150E/04 3. α SERIES PARAMETER ADJUSTMENT

<3> Fine adjustment of feed-forward

Reduce the time required for positioning by making a fine adjustment of the feed-forward coefficient. If the feed-forward coefficient is not sufficiently large (Fig. 3.4.5 (h)), increase the feed-forward coefficient by about 0.5%. If the feed-forward coefficient is too large (Fig. 3.4.5 (i)), decrease the feed-forward coefficient by about 0.5%.

If the feed-forward coefficient of the position loop is too small, an undershoot occurs, resulting in a longer time

Fig. 3.4.5 (h) When the feed-forward coefficient is

too small FAD: 64 ms Feed-forward: 98% Velocity feed-forward coefficient: 250%

If an adequate feed-forward coefficient is set, the in-position width is satisfied nearly at the same as distribution command completion, and shortest-time positioning is achieved as shown in Fig. 3.4.5 (j).

If the position feed-forward coefficient is too large, an overshoot occurs immediately before machining stops. If such an overshoot is allowed from the viewpoint of precision, the time required for positioning is reduced.

Fig. 3.4.5 (i) When the feed-forward coefficient

is too high FAD: 64 ms Feed-forward: 99% Velocity feed-forward coefficient: 250%

Optimal adjustment in precision and time

Fig. 3.4.5 (j) When an adequate feed-forward coefficient is set

FAD: 64 ms Feed-forward: 98.5% Velocity feed-forward coefficient: 250%

− 91 −

4. SERVO FUNCTION DETAILS B-65150E/04

4 SERVO FUNCTION DETAILS

− 92 −

B-65150E/04 4. SERVO FUNCTION DETAILS

4.1 LIST OF SERVO FUNCTIONS

Servo software series

Function name

[Servo initialization functions] Flexible feed gear Parameter invalid alarm detail output

Position gain setting range expansion function

[Servo functions] HRV control OVC alarm (type 2) Level-up HRV 250 µs acceleration feedback Velocity loop high cycle management function (IP) Velocity loop high cycle management function (PI) Velocity loop proportional, support for tandem

Function for changing the proportional gain in the stop state Improvement of the function for changing the proportional gain in the stop state

Addition of the N pulse suppress function Machine speed feedback function Machine speed feedback function (normalized) Observer function

Observer function (addition of the stop-time disable function)

Torque command filter Torque command filter

(switchable between cutting feed/rapid traverse) Dual position feedback function Dual position feedback function

(zero width improvement) Vibration-damping control function

Notch filter Vibration suppression filter Current loop 1/2PI function Feed-forward function

Advanced preview control (advanced preview feed-forward)

AACBAAAACCA

-------N-EA

AACBAAAACCA

----AF-ECCA

----------A

AACBAAAACCA

-------ACCA

-----BGACCA

----------I

-DQ--AFACCA

-------U--D

AACBAAAACCA AACBAAAACCA A-N--ADFCCA AACBAAAACCA

--W--BHACCA

AACBAAAACCA

-------U--D

A-CBAAAACCA

--YIAFJFCCA

------DAACA

- -G- - AAACCA

----------E

-------K-CA

AACBAAAACCA AAC- - AAACCA

section in

this manual

2.1

2.1.5 Supplement 4

of Subsec.

2.1.5

4.2

4.3

4.4.1

4.4.2

4.4.3

4.4.4

4.5.1

4.5.2

4.5.3

4.5.4

4.5.5

4.5.6

4.5.7

4.6.1

4.6.2

− 93 −

4. SERVO FUNCTION DETAILS B-65150E/04

Servo software series

Function name

Advanced preview control (RISC based high-precision contour control) Advanced preview control (RISC based high-precision contour control) type 2

Backlash acceleration function Two-stage backlash acceleration function

Two-stage backlash acceleration function (enabled only for cutting)

Static friction compensation function Overshoot compensation function Overshoot compensation function type 2 Position gain switch function Position gain switch function type 2

High-speed positioning function setting range expansion

Low-speed integration function Fine acceleration/deceleration function

Fine acceleration/deceleration function (switchable between cutting feed/rapid traverse) Fine acceleration/deceleration function (linear-type acceleration/deceleration)

Dummy serial feedback function FSSB dummy function Brake control Emergency stop distance reduction function type 1 Emergency stop distance reduction function type 2

Separate detector hardware disconnection stop distance reduction function

OVC and OVL alarm stop distance reduction function Abnormal load detection

Abnormal load detection (switchable between cutting feed/rapid traverse)

Function for obtaining current offsets at ESP Support for linear motors Current loop gain quadruple function Linear motor torque ripple correction Torque control function type 1 Torque control function type 2 Super-precision machining function Tandem control function

Tandem control function (damping compensation function)

AAC- - AAACCA

-------ACCA

AACBAAAACCA

--Q- AFACCA

------KJECA

AACBAAAACCA AACBAAAACCA

-------K-CA

-BC- -AAACCA

-------M-EA

-------O-FA

-BC- -AAACCA

-----D-ECCA

-------J-CA

-------K-EA

BDQI AAEACCA

----------C AACBAAAACCA ABL - - ACACCA

-------Y-LI

-------N-EA

-------Y--E

- -EEAAAACCA

-----H-G-CA

-------ACCA

-----D-ACCA

-------R--D

-------ECCA

-----E-ECCA

-----H-S-ID

--------C--

--F---AACCA

--Q----ACCA

section in

this manual

4.6.3

4.6.4

4.6.5

4.6.6

4.7

4.8.1

4.8.2

4.8.3

4.9.1

4.10

4.11.1

4.11.2

4.11.3

4.11.4

4.12

4.12.1

4.13

4.14.1

4.14.2

4.15

4.16

4.17

4.17.2

− 94 −

GE Fanuc B-65150E/04 Parameter Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 OVERVIEW

1.3 RELATED MANUALS

2.1 INITIALIZING SERVO PARAMETERS

2.1.2 Parameter Initialization Flow

2.1.5 Actions for Invalid Servo Parameter Setting Alarms

3.1 SERVO ADJUSTMENT SCREEN

3.2 ACTIONS FOR ALARMS

3.3.1 Gain Adjustment Procedure

3.3.3 Vibration during Travel

3.3.4 Cumulative Feed

3.3.5 Overshoot

3.4.1 Level-up HRV Control Adjustment Procedure

3.4.2 Cutting Feed/Rapid Traverse Switchable Function

3.4.4 High-Speed Positioning Adjustment Procedure

3.4.5 Rapid Traverse Positioning Adjustment Procedure

4 SERVO FUNCTION DETAILS