MITSUBISHI BNP-B2334B User Manual

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CNC

AC SERVO

SERVO ADJUSTMENT MANUAL

BNP-B2334B(ENG)

1 PROLOGUE

1-1 Servo Adjustment ......................................................................1-2

1-1-1 Basic knowledge on machines...............................................................1-2

1-1-2 How to use a high-coder........................................................................1-3

1-1-3 D/A Output specifications for MDS-C1/CH-Vx .......................................1-4

1-1-4 D/A Output specifications for MDS-B-SVJ2...........................................1-6

1-1-5 Parameters Concerning with Acceleration/Deceleration Processing .....1-8

1-1

1 PROLOGUE

1-1 Servo Adjustment

1-1-1 Basic knowledge on machines

It is important to have basic knowledge on machine characteristics. It is required to comprehend the characteristics of the machine and set the appropriate parameters. Especially, the 2 items mentioned below have to be fully understood.

(1) Load inertia

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

Servo response ∝

(Proportion)

Speed loop gain (VGN)

Load inertia

(2) Resonance frequency

All machines have a resonance point and the resonance of ball screw is a serious problem for general machine tools. Resonance has to be suppressed as it prevents VGN from being raised. Notch filter is installed on servo and it suppresses the resonance. However, resonance frequency has to be set for each machine to set parameters. The clue to the efficient servo adjustment is recognizing resonance frequency, suppressing resonance and raising VGN as much as possible.

Vibration waveform

1-2

1-1-2 How to use a high-coder

Before adjusting servo, it is required to understand the servo condition. Measure the D/A output (analogue output) mounted on the servo drive unit with a high-coder etc. Get used to using a high-coder before starting servo adjustment. Prepare the cable SH21 (NC bus cable, etc.) and the tools shown below in advance. Relay terminal (MR-J2CN3TM) is a tool designated for MDS-B-SVJ2 and MR-J2-CT. In case that DO output has already been used, let the signal go through to encourage the D/A output by using a relay terminal as the D/A output, contactor and DO output for break control shares the same connector.

SH21

(NC bus cable)

MR-J2CN3TM

(Relay terminal)

Have a look at the trial output in the display when finished connecting high-coder. An example of MDS-B-SVJ2 is shown the right.

Ch.1 Trial output of

saw-tooth wave SV061=101 SV063=0

Ch.2. Trial output of

rectangular wave SV062=102 SV064=0

Memory

Single shot

Scroll

Waveform of MDS-B-SVJ2 trial output result

1-3

1 PROLOGUE

1-1-3 D/A Output specifications for MDS-C1/CH-Vx

(1) D/A Output specifications

Item Explanation

No. of channels 2ch Output cycle 888 µsec (minimum value) Output precision 8bit Output voltage Output scale setting ±1/256 to ±128 times

Output pins

Function

Option

(2) Setting the output data

No. Abbrev Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be outputted to each data D/A output channel. SV062 DA2NO D/A output channel 2 data No.

0V to 2.5V to +5V

CN9 connector MO1 = pin 9 MO2 = pin 19 GND = pin 1, 11

Phase current feed back output function

L-axis U-phase current FB : pin 7 L-axis V-phase current FB : pin 17 M-axis U-phase current FB : pin 6 M-axis V-phase current FB : pin 16

A drive unit with 2 axes (MDS-C1/CH-V2) also has 2 channels for D/A output. Therefore, set the output data of the axis (SV061,62), which is not observed, to “-1”.

Signal 1 2 3 4 5 6

MUIFB

LUIFB

7 8

MO1

CN9 connector

11 12 13 14 15 16 17 18

Signal

MVIFB

LVIFB

MO2 19

No. Output data Standard output unit

-1 D/A output non-selected 13 (in case of 2000r/min) 1000r/min / V 3.55ms

ch1: Speed feedback r/min

For an Amp. with 2 axes (MDS-C1/CH-V2). Set for the parameter of the axis which is not used.

Standard setting value of output scale

(Setting values in SV063, SV064)

9 (in case of 3000r/min) 1500r/min / V 3.55ms

Standard

output unit

Output

cycle

ch2: Current command Stall% 131 Stall 100% / V 1 Current command Stall% 131 Stall 100% / V 3.55ms 2 – 3 Current feedback Stall% 131 Stall 100% / V 3.55ms 4 – 5 – 6 Position droop NC display unit / 2 328 (When the display unit=1µm) 10µm / 0.5V 3.55ms 7 –

8 Feedrate (F∆T)

(NC display unit / 2)

/ communication cycle

55 (When 1µm,3.5ms)

1000(mm/min)

/ 0.5V

3.55ms

9 – 10 Position command NC display unit / 2 328 (When the display unit=1µm) 10µm / 0.5V 3.55ms 11 – 12 Position feedback NC display unit / 2 328 (When the display unit=1µm) 10µm / 0.5V 3.55ms 13 –

Collision detection estimated

torque Collision detection

disturbance torque

Stall% 131 Stall 100% / V 3.55ms

Current command

(High-speed) Current feedback

(High-speed)

77 Estimated disturbance torque Internal unit 8 (adjustment required)

Internal unit 8 (adjustment required)

–

– –

888µs

888µs 888µs

125Saw-tooth wave test output 0V to 5V 0 (256) Cycle: 227.5ms 888µs 126Rectangular wave test output 0V to 5V 0 (256) Cycle: 1.7ms 888µs

1272.5V (data 0) test output 2.5V 0 (256)

–

888µs

1-4

(3) Setting the output scale

Usually, the standard setting value is set for the output scale (SV063, SV064). When “0” is set, the output will be made as well as when “256” is set.

DATA ×

(Example) When outputting the current FB with 100%/V–stall (SV061=3, SV063=131)

100 ×

No. Abbrev. Parameter name Explanation Normal setting range

SV063 DA1MPY D/A output channel 1

SV064 DA2MPY D/A output channel 2

SV063 5 [V]

256

131 5 256

output scale

256 (8bit)

256

The standard setting value is specified usually. (When “0” is set, the output will be made as well as when “256” is set)

+ 2.5 [V] (offset) = Output voltage [V]

+ 2.5 = 3.499 [V]

-32768 to 32767

(4) Output voltage range and offset

The output voltage range for MDS-C1/CH-Vx series is different from MDS-B-SVJ2 series. When using MDS-C1/CH-Vx series, adjust the zero level on Hi-coder side because of 2.5V offset voltage. (When the data is “0”, 2.5V)

Memory

+5 [V]

Single

shot

Scroll

+10 [V]

Memory

Single

shot

Scroll

ch1 waveform

+2.5 [V]

ch.1 waveform

0 [V]

+5 [V]

-10 [V]

+10 [V]

ch.2 waveform

+2.5 [V]

ch.2 waveform

0 [V]

-10 [V]

Output waveform of MDS-C1/CH-Vx

Output waveform of MDS-B-SVJ2

1-5

1 PROLOGUE

1-1-4 D/A Output specifications for MDS-B-SVJ2

(1) D/A output specifications

Item Explanation

No. of channels 2ch Output cycle 888µsec (min. value) Output precision 8bit Output voltage range

-10V to 0 to +10V

Output scale setting ±1/256 to ±128 times

CN3 connector MO1 = pin 4

Output pins

MO2 = pin 14 GND = pin 1, 11

Offset amount adjustment function

Function

Output clamp function Low path filter function

Relay terminal: MR-J2CN3TM

Option

Connect from the CN3 connector using the SH21 cable as a lead-in wire.

(2) Setting the output data

No. Abbrev Parameter name Explanation

SV061 DA1NO D/A output

channel 1 data No.

SV062 DA2NO D/A output

channel 2 data No.

No. Output data

0 0V test output For offset am ount adjustment 1 Speed feedback 1000r/min / 2V 888µsec 21 Motor load level 100% / 5V 113.7ms

2 Current feedback 3 Speed command 1000r/min / 2V 888µsec 23 Regenerative load level 100% / 5V 910.2ms 4 Current command 5 V-phase current value 10A / V 888µsec 25 Speed cumulative item – 888µsec 6 W-phase current-value 10A / V 888µsec 26 Cycle counter

Estimated disturbance

torque Collision detection

disturbance torque

9 Positio n f e e dbac k ( s t roke ) 100mm / V 3.55ms 29

10 P o s i t i o n fee d b a ck (p u l s e ) 10µm / V 3.55ms 30 11 Position droop mm / V 3.55ms 31

12 Position droop (×10) 100µm / V 3.55ms to – 13 Position droop (×100) 10µm / V 3.55ms 99 14 Feedrate (F∆T) 10000(mm/min) / V 888µsec 100 5V test output 15 Feedrate (F∆T × 10) 1000(mm/min) / V 888µsec 16 Model position droop mm / V 3.55ms

Model position droop

(×10) Model position droop

(×100) q-axis current

cumulative value d-axis current

cumulative value

Input the No. of the data to be outputted to each D/A output channel. (Channel No.9, 10, 29 and 30 correspond to C1 and subsequent versions of software.) (Channel No.8 and 28 correspond to C3 and subsequent versions of software)

Standard

output unit

Rated(stall)

100% / 2V

Rated(stall)

100% / 2V

Output

cycle

No. Output data

888µsec 22 Amplifier load level 100% / 5V 113.7ms

888µsec 24 PN bus wire voltage 50V / V (1/50) 888µsec

0-5V (Regardless

of resolution)

Rated(stall)

100% / 2V

Rated(stall)

100% / 2V

888µsec 27

888µsec 28

Excessive error detection amount Collision detection estimated torque

Rated (stall)

Position command (stroke) Position command (pulse)

Saw-tooth wave test

101

100µm / V 3.55ms

10µm / V 3.55ms

– 888µsec

output

Rectangular wave test

102

output

103

Setting prohibited

Cycle: 113.7ms

Cycle: 227.5ms

CN3 Connector

Signal

MO1

COM

5 6 7 8 9

VDD

Standard

output unit

mm / V 3.55ms

100% / 2V

100mm / V 3.55ms

10µm / V 3.55ms

-5 to 5V

0 to 5V

Signal 11 12 13 14 15 16 17 18 19 20

EMGX

Output

cycle

888µsec

MBR MO2

1-6

(3) Setting the output scale

This is set when an output is to be made with a unit other than the standard output unit.

(Example 1) When SV061 = 5, SV063 = 2560

The V-phase current value will be output with 1 A/V unit to D/A output ch.1.

(Example 2) When SV063 = 11, SV064 = 128

The position droop will be output with a 2mm/Vunit to D/A output ch.2.

No. Abbrev. Parameter name Explanation Normal setting range

SV063 DA1MPY D/A output channel 1

output scale

SV064 DA2MPY D/A output channel 2

output scale

When “0” is set, the output will be made with the standard output unit. To change the output unit, set a value other than 0. The scale is set with a 1/256 unit. When 256 is set, the unit will be the same as the standard output.

(4) Setting the offset amount

This is used when the zero level of the output voltage is to be finely adjusted. The output scale when the data No. is “0” will be the offset amount. After setting the offset, set the data No. to a value other than “0”, and do not set it to “0” again. Because the offset amount is saved in the drive unit memory, it does not need to be set again when the drive unit power is turned ON next.

-32768 to 32767

No. Abbrev. Parameter name Explanation Normal setting range

SV061 DA1NO D/A output channel 1

data No.

SV062 DA2NO D/A output channel 2

data No.

SV063 DA1MPY D/A output channel 1

offset amount

SV064 DA2MPY D/A output channel 2

offset amount

Set “0”. After setting the offset amount in SV063 and SV064, change the data No. to a value other than “0”.

The amount can be set with the output precision unit. Observe the output value and set so that the output value is 0V. Because the offset amount is saved in the drive unit memory, it does not need to be set again when the drive unit power is turned ON next.

0 to 102

-10 to 10

1-7

1 PROLOGUE

1-1-5 Parameters Concerning with Acceleration/Deceleration Processing

As for acceleration/deceleration control with NC, there are 4 types of processing. The setting of acceleration/deceleration time constant is based on “constant time”, which means that the inclination changes in accordance with the speed. (cf. constant inclination)

(1) Exponential (primary delay) acceleration/deceleration

Acceleration/deceleration is made according to exponential function. This acceleration/deceleration control has been used for a long time as the way it is controlled is very simple. However, it takes longer time to complete positioning and it is not used for rapid traverse feed any more. This is occasionally used for cutting feed.

(2) Exponential acceleration - linear deceleration

This acceleration/deceleration control enabled to shorten the time to complete positioning by improving the exponential acceleration/deceleration control.

(3) Linear acceleration/deceleration

This acceleration/deceleration control is most commonly used. Comparing with exponential acceleration/ deceleration control, the motor torque output is more ideal and the time to complete positioning can be reduced. This acceleration/deceleration control requires the memory capacity, therefore, it was limited when using conventional NC though the present NC has been relieved from such a limitation. Use linear acceleration/deceleration for rapid traverse feed. Use also for the cutting feed.

(4) S-pattern (Soft) acceleration/deceleration

Use this acceleration/deceleration control in case that the shock at the start of acceleration when using linear acceleration/deceleration, or in case that the torque output efficiency is not good enough as the acceleration/deceleration torque is not constant (the protrusion can be observed in the torque waveform) i n the axis with a large inertia (acceleration/deceleration time constant ≥300ms). However, this acceleration/deceleration type cannot be used for the cutting feed in interpolation axis because the synchronization between axes is not available.

0.632 X F

Gt1

(2) Exponential acceleration-linear deceleration

GtL+Gt1

2XGt1

GtL+Gt1

0.632 X F

Gt1

(1) Exponential (primary delay)

acceleration/deceleration

Gt1

GtL

(3) Linear acceleration/deceleration

GtL

1-8

GtL Gt1/2

Gt1/2

(4) S-pattern (Soft) acceleration/deceleration

Axis specification parameters (M60S series) concerning with acceleration/deceleration control.

M60S Abbrev. Parameter name Unit Explanation Setting range #2001 rapid Rapid traverse

rate

#2002 clamp Cutting feed

clamp speed

#2003 smgst Acceleration/

deceleration mode

#2004 G0tL G0 time constant

(linear)

#2005 G0t1 G0 time constant

(exponential)

#2006 G0t2 Not used. 0

mm/min Set rapid traverse rate for each axis.

The setting value has to be less than the maximum spindle speed of the motor.

mm/min Set the cutting feed (G1 feed) clamp speed.

The programmed speed is restricted by this parameter.

Designate modes for acceleration/deceleration (smoothing) control;

bit Meaning when “0” is set. Meaning when “1” is set. 0 LR 1: Linear acceleration/deceleration

1 R1

3 R3 4 LC 1: Linear acceleration/deceleration 5 C1

7 C3

8 OT1

9 OT2 10 OT3 (Speed loop step stop)

11 (Note) Set this parameter(bit8-10) with a limit switch (H/W). 12 13 14 15

Set “0” in bits with no particular description.

ms Set time constant for linear control with G0 feed (rapid traverse)

ms Set the exponential time constant with G0 feed (rapid traverse)

Set the G0 feed (rapid traverse) acceleration/deceleration type.

Set the G1 feed (cutting feed) Acceleration/deceleration type.

Stroke end stop time constant G0tl Stroke end stop type: linear deceleration

acceleration/deceleration, or time constant at the 1st step of S-pattern acceleration/deceleration control

acceleration/deceleration, exponential acceleration-linear deceleration time constant, or time constant at the 2nd step of S-pattern time constant.

2: Exponential (primary delay)

acceleration/deceleration

8: Exponential acceleration, linear

deceleration

F: S-pattern (soft)

acceleration/deceleration

2: Exponential (primary delay)

acceleration/deceleration

8: Exponential acceleration, linear

deceleration

F: S-pattern (soft)

acceleration/deceleration Stroke end stop time constant G0tl×2 Position loop step stop

1 to 999,999

1 to 4000

1 to 5000

#2007 G1tL G1 time constant

(linear)

#2008 G1t1 G1 time constant

(exponential)

#2009 G1t2 ms Not used 0

#2013 #2014

OT– OT+

Soft limit I – Soft limit I +

ms Set time constant for linear control with G1 (cutting feed)

acceleration/deceleration, or time constant at the 1st step of S-pattern time constant.

ms Set the exponential time constant with G1 feed (cutting feed)

acceleration/deceleration, exponential acceleration-linear deceleration time constant, or time constant at the 2nd step of S-pattern time constant.

mm These set the soft limit area with zero point of basic machine

coordinate system as reference point. When the inputted value exceeds this parameter, the machine cannot move. When #2013 is set to the same value as #2014 except for “0”, this function is disabled. (For maker setup)

1 to 4000

1 to 5000

-99999.999 to

99999.999

1-9

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-1 Setting Initial Parameters .....................................................2-3

2-1-1 Setting the gear ratio .............................................................................2-3

2-1-2 Setting detector specifications...............................................................2-3

2-1-3 Confirming the machine specifications value.........................................2-3

2-2 Gain Adjustment ...................................................................2-4

2-2-1 Preparation before operation.................................................................2-4

2-2-2 Measuring the inertia rate......................................................................2-6

2-2-3 Determining the standard speed loop gain ............................................2-7

2-2-4 Explanation of notch filter ......................................................................2-8

2-2-5 Adjusting the speed loop gain..............................................................2-12

2-2-6 Adjusting the position droop waveform................................................2-14

2-3 Adjusting Acceleration/Deceleration Time Constant...........2-20

2-3-1 Rapid traverse feed (G0 feed) .............................................................2-20

2-3-2 Cutting feed (G1).................................................................................2-21

2-4 Initial Adjustment for the Servo Functions..........................2-22

2-4-1 Standard settings for the lost motion compensation ............................2-22

2-4-2 Excessive error width detection...........................................................2-23

2-4-3 Vertical axis drop prevention control....................................................2-24

2-5 Procedures for Adjusting Each Functions................................2-28

2-5-1 Disturbance observer function.............................................................2-28

2-5-2 Overshooting compensation................................................................2-30

2-5-3 Collision detection function..................................................................2-34

2-5-4 Voltage non–sensitive zone (Td) compensation ..................................2-38

2-6 Full Closed System..................................................................2-39

2-6-1 Basic knowledge..................................................................................2-39

2-6-2 Speed loop delay compensation..........................................................2-42

2-6-3 Dual feedback control..........................................................................2-44

2-7 MDS-C1/CH-Vx Parameter List...............................................2-46

2-1

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

Prepare the following manuals when adjusting the MDS-C1-Vx Series (200V series) and MDS-CH-Vx Series (400V series) servo parameters in accordance with this manual.

“MDS-C1 SERIES SPECIFICATIONS MANUAL” BNP-C3000 “MDS-CH SERIES SPECIFICATIONS AND

INSTRUCTION MANUAL ” BNP-C3016

When adjusting the servo for the first time (primary adjustment), set and adjust the following items in order from 2-1 to 2-4. “2-5 Procedures for adjusting each function” are set and adjusted only when required.

2-1 Setting initial parameters 2-2 Gain adjustment 2-3 Adjusting acceleration/deceleration time constant

s for the primary adjustment, set and adjust the items in order from 2-1 to 2-4.

2-4 Initial adjustment for the servo functions

In this manual, [Normal setting range] of parameters are shown instead of [Setting range]. [Normal setting range] means the range of the values used in actual parameter adjustment (though [Setting range] means the range of values that does not cause an error).

No. Abbrev. Parameter name Explanation

SV008 VIA Speed loop leading

compensation

“1364” is set as a standard. ”1900” is set as a standard during SHG control. Adjust in increments of approx. 100 at a time.

Normal

setting range

700 to 2500

CAUTION

This manual explains only in case of high gain mode of MDS-C1-Vx.

2-2

2-1 Setting Initial Parameters

Input the setting values listed in the "Standard Parameter list per motor" in the specifications manual for the initial parameters before adjusting the servo. If a wrong value is input, the initial parameter error (ALM37) will occur. In this case, the parameter number causing an error is displayed on the NC screen. Some parameters are determined by the machine specification and they are explained below.

2-1-1 Setting the gear ratio

Input the ratio of gear tooth. When initial parameter error (ALM37) –error parameter number 101– occurs, reconsider the specification as electric gear must be overflowing. When the machine specification is “rack and pinion”, π is included in the deceleration ratio. In this case, the accurate positioning is impossible to be made. Express the π with a rough fractional number when calculating the gear ratio.

No. Abbrev Parameter name Explanation

SV001

SV002 PC2 Machine side gear ratio

PC1 Motor side gear ratio

Calculate the reducible number of each gear tooth and set the result. When PC1 < PC2, deceleration is set. In case that π is included as well as “rack and pinion”, the accurate positioning is impossible to be made as π is calculated into a rough fractional number when calculating the gear ratio. For accurate positioning, the full-closed loop control using a linear scale is required.

PC2=Machine side

gear ratio

PC1=Motor side

gear

ratio

2-1-2 Setting detector specifications

When using the linear scale, refer to the linear scale instruction manual, and set the parameters correctly.

No. Abbrev Parameter name Explanation

SV019 RNG1 Position detector resolution

SV020 RNG2 Speed detector resolution

SV025 MTYP Motor/detector type

For semi-closed loop (using the detector at the motor end only), set the same value as SV020. For full-closed loop, set in accordance with the linear scale specification. Set the motor detector resolution with kp/rev (1000 pulse/1 rotation) unit.

The 2 high-order digits have to be set in accordance with the specification of the detector at the motor end and linear scale. Refer to the "2-7 List of MDS-C1/CH-Vx Parameters" in addition.

2-1-3 Confirming the machine specifications value

Confirm the following machine specifications value to be set in axis specification parameters.

M60S

Series

#2001 rapid Rapid traverse rate Set the rapid traverse rate.

#2002 clamp Cutting feed clamp speed Specify the maximum speed of the cutting feedrate.

#2003 smgst Acceleration/deceleration

Abbrev. Parameter name Explanation

Confirm the maximum rotation speed of the motor.

Even though the feedrate for G01 exceeds this value, clamped with this speed. Set in accordance with machine specifications. In machine tools, rapid traverse

mode

feed is generally set to “Linear acceleration/deceleration” mode and cutting feed is generally set to “Exponent acceleration/deceleration” mode. S-pattern (soft) acceleration/deceleration function is occasionally used for the machine with a large inertia.

2-3

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-2 Gain Adjustment

2-2-1 Preparation before operation

(1) Confirming the safety

The servo is ready to be operated when the initial parameter settings are completed. Confirm the safety by checking the following items before operation.

Cancel the emergency stop and make READY ON.

Confirm the axis movement by using a manual pulse generator.

Is any alarm occurring?

re there any vibration or strange sound?

Is the load too large? (Is the current too large?)

Confirm the soft limit movement by using a manual pulse generator.

Does the axis stop before hitting the machine? Confirm the soft limit (over travel) protection.

Make a program taking account of axis movement range.

Make a program taking account of soft limit position.

(Refer to the sample program.)

Specify the single block operation and set the rapid traverse override to less than 25%.

Move slowly at first confirming the program.

Move axis forward and backward by memory operation (program operation). If there is no problem, cancel the single block and raise the override up to 100% gradually.

If the acceleration current is too large, make acceleration/deceleration time constant longer. If there is more than 100% of acceleration current, that will be enough.

(Sample program of rapid traverse feed for reciprocating operation.)

G28 X0; X axis zero return N01 G90 G0 X-200.

G4 X1.0; Dwell for 1 second. (1-second pause) Use “X” even for Y axis and Z axis. G0 X0; Make X axis move to X=0 by rapid traverse feed. G4 X1.0; Dwell for 1 second. (1-second pause) Use “X” even for Y axis and Z axis. GOTO 01 Back to “N01”

; Move X axis to X= -200 with rapid traverse feed by absolute position command (the line N01).

Make sure not collide. No “.” means 200µm, do not fail to add “.”.

Do not fail to confirm the soft limit movement (over travel) to prevent collision.

CAUTION

Be careful of the position of other axes and pay attention when the cutter has already mounted as the collision possibly occurs before the soft limit.

2-4

(2) Confirming the acceleration/deceleration waveform with a Hi-coder

Measure speed FB waveform and current waveform during acceleration/deceleration after connecting a Hi-coder. Zero level adjustment on Hi-coder side is required to obtain the waveform shown right because of 2.5V offset.

(Items to be checked)

1) Voltage output level (ch.1, ch.2)

2) Zero level (ch.1, ch.2)

3) Output polarity of the current FB

Make sure that the hi-code data is reliable as the rest of the servo adjustment procedures which will be done later depend on this Hi-coder data.

When measuring repeatedly, set the trigger for starting Hi-coder measurement at the start of speed FB. When measuring the data later, change the data of ch.2 only and leave ch.1 at speed FB, so that the measurement is always executed at the same timing. Set the timing of the measurement, and the data can be compared easily in case that the operation conditions including parameters are changed. The waveforms shown in this manual are measured at one acceleration/deceleration as the reciprocating operation includes the same waveform which has different polarity. In case of the waveform shown the right, the trigger level is set as follows;

ch.1: 100mV ↑direction

Speed FB [500 r/min/div] SV061 = 0 SV063 = 13

Current FB [50 %/div] SV062 = 3 SV064 = 131

Speed FB [500 r/min/div] SV061 = 0 SV063 = 13

Current FB [50 %/div] SV062 = 3 SV064 = 131

Memory

Single

Scroll

shot

Acceleration/deceleration waveform of

reciprocating operation

Single

shot

Cursor

Determine the measuring timing

by setting the trigge

No. Abbrev. Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. SV062 DA2NO D/A output channel 2 data No.

SV063 DA1MPY D/A output channel 1 output scale SV064 DA2MPY D/A output channel 2 output scale

The data No. to be output each D/A output channel is output.

The output will be made with a standard output unit normally. The scale is set with a 1/256 unit. Refer to “1-2-3 D/A Output Specifications for MDS-C1/CH-Vx ”.

2-5

Normal

setting range

-1 to 12, 64, 65, 77, 125 to 127

-32768

to 32767

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(

)

2-2-2 Measuring the inertia rate

Measure the load inertia by using the disturbance observer function of a servo drive unit to determine the standard speed loop gain (standard VGN). Set the measured load inertia rate in the servo parameter SV037.

Measure the unbalance torque and set it in SV032.

In case of horizontal axis, set “SV032=0”. In case of vertical axis, refer to “2-4-1 (1) unbalance torque and frictional torque ”.

Speed FB SV061 = 0

Set “SV037=100”, “SV043=600” and “SV044=0”.

Set “SV061=0”, “SV062=77”, “SV063=13”, and “SV064=8”.

ccelerate/decelerate and then adjust the output scale o

ch.2.

Change SV037 during acceleration/deceleration so that the estimated disturbance torque becomes flat.

Designate the load inertia scale as the value of SV037 at which the estimated disturbance torque becomes the flattest.

Memory Single

shot

Cursor

Memory

Single

shot

Cursor

No need to compensate the disturbance observer itself. Therefore, set gain (SV044) to “0”.

Output the estimated disturbance torque to D/A output ch.2.

In case that 3000r/min is specified, set SV063 to “9”.

djust the output scale (SV064) so that the disturbance torque waveform in case of SV037=100 becomes as shown below. (Adjust so that the inertia rate can be judged.)

Make a program taking account of the soft limit position. (Refer to the sample program.)

The load inertia rate of the following example including the motor itself is JL = 3.4 x JM. (Set SV043 back to “0” and take a note of SV037.)

Memory

Single

shot

Cursor

Estimated disturbance torque

SV062 = 77

SV037 = 100

(Too low)

SV037 = 340

(Optimum)

SV037 = 500

(Too high)

2-6

2-2-3 Determining the standard speed loop gain

The standard speed loop gain (standard VGN) is determined referring to the respective load inertia rate in the following table. If the standard VGN is set as it is, vibration would occur in most models; so at this point, keep this value in mind as the target value for adjusting the gain.

No. Abbrev. Parameter name Explanation

SV005 VGN1 Speed loop gain 1 Determine the standard setting value by measuring load inertia scale

and referring to the graph below.

Standard VGN

Motor only

500

<HC>

400

HC353 to HC703

300

200

100

200

HC52 to HC152

300

HC202 to HC902 HC53 to HC203

400

Load inertia scale (%) SV037 setting value

Motor only

500

<HC-H>

400

HC-H1502

300

200

100

200

HC-H902, 1102

300

HC-H202 to 702

HC-H102, 152HC-H52

400

Load inertia scale (%) SV037 setting value

500

600

500

<HAN>

400

HA80N/100N/900N

43N to HA103N

300

200

100

150

HA200N to HA700N HA203N to HA703N

250

200

300

Load inertia scale (%) SV037 setting value

500

<HC-H>

400

HC-H903, 1103

300

200

100

200

HC-H52 to 153

300

400

Load inertia scale (%) SV037 setting value

HA053 to HA33N

HC-H203 to 703

Normal

setting range

100 to 400

HA40N

350

500

400

600

2-7

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-2-4 Explanation of notch filter

Machine resonance occurs when the speed loop gain is increased to improve the control accuracy. The machine resonance is a phenomenon that occurs when the servo's speed loop control acts on the machine's specific frequency (characteristic resonance frequency). When adjusting the speed loop gain, a notch filter must be set to suppress this machine resonance (vibra tion) resulting in an in crease of vibration. The notch filter functions to suppress the servo response at the set frequency, and thereby suppress the occurrence of vibration. Always understand the methods of setting the notch filter before adjusting the speed loop gain. Refer to section "2-2-5 Adjusting the speed loop gain" for details on setting the notch filter.

(1) Notch filter specifications

Mainly the following two notch filters are used with the MDS-C1/CH-Vx series.

MDS-C1/CH-Vx filters

Frequency range Frequency settings Depth compensation settings

Notch filter 1 100Hz to 2250Hz SV038 SV033.bit1 to 3 Notch filter 2 100Hz to 2250Hz SV046 SV033.bit5 to 7

The operation frequency parameter can be set in 1Hz increments, but the internal control will function at the frequency shown below which is the closest to the setting value. Set the setting frequency shown below in the parameter when adjusting the notch filter. The depth compensation is a function that sets the notch filter at a low frequency. A stable notch filter can be set even at a low frequency. Usually, the standard value that matches the setting frequency is set as shown below.

Setting frequency and standard filter depth for notch filter 1 and 2

Setting frequency Standard filter depth Setting frequency Standard filter depth Setting frequency Standard filter depth

2250Hz 0 562Hz 0 281Hz 4 1800Hz 0 529Hz 0 250Hz 4 1500Hz 0 500Hz 0 225Hz 4 1285Hz 0 474Hz 0 204Hz 4 1125Hz 0 450Hz 0 187Hz 8 1000Hz 0 429Hz 0 173Hz 8

900Hz 0 409Hz 0 160Hz 8 818Hz 0 391Hz 4 150Hz 8 750Hz 0 375Hz 4 132Hz 8 692Hz 0 346Hz 4 125Hz 8 642Hz 0 321Hz 4 112Hz 8 600Hz 0 300Hz 4 100Hz C

(Note) The depth compensation setting above shows a HEX setting value when the bit0 or bit4 setting is 0.

bit

SV033 setting

When

bit0, 4 = 0

When

bit0, 4 = 0

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

* *

Does not change Does not change 0, 4, 8, C 0, 4, 8, C

Does not change Does not change 1, 5, 9, D 1, 5, 9, D

Notch filter 2

depth

compensation

Notch filter 2

depth

compensation

2-8

(2) Measuring the resonance frequency

The resonance frequency must be measured before setting the notch filter frequency. To measure, gradually increase the speed loop gain to generate vibration, and measure the current waveform with a Hi-corder. The phase current feedback output function is used to measure the resonance frequency of the MDS-C1/CH-Vx. (Refer to the following table) Output the U-phase current feedback to Ch. 1 of the Hi-corder, and the V-phase feedback to Ch. 2 as shown on the right. Then measure the two phase current feedbacks simultaneously. Depending on the motor rotation angle, there may be cases where vibration cannot be measured at either one of the current phases; however, if measuring the two phases simultaneously, the

U-phase current FB

V-phase current FB

Memory

Single

shot

Scroll

7 wave length/30ms: 7÷0.03=233Hz

vibration can always be measured. Once the resonance frequency has been measured,

Measuring vibration frequency (233Hz)

(Measure manually when vibration occurs.)

immediately apply emergency stop and stop the vibration. To calculate the vibration frequency, select an easy-to-view range in the Hi-corder grid, and calculate the number of waves generated in one second. (The unit is [Hz] at this time.)

Phase current feedback output function (CN9)

MDS-C1/CH-V1 MDS-C1/CH-V2 Signal Output pin GND pin

L axis L axis (No. 1 axis)

M axis (No. 2 axis)

U-phase current FB 7 pins V-phase current FB 17 pins U-phase current FB 6 pins V-phase current FB 16 pins

1, 11 pins

(Common for each

signal)

1. Measure the Y-phase current feedback and V-phase current feedback simultaneously so that the measurement can be completed without being affected by the motor angle.

POINT

2. The phase current feedback is used, so when the motor is rotating, a SIN wave that is 4-fold the speed (for HC motor) can be measured.

3. If a "squeak" is heard at the instant when acceleration/deceleration is started, the machine is vibrating at a high frequency exceeding 700Hz. The 750Hz or 1125Hz filter is effective in this case.

CAUTION

When generating resonance, make sure that the speed loop gain is not increased too far resulting in a large vibration. After measuring the resonance frequency, immediately apply emergency stop to stop the vibration. The machine or servo amplifier could fail if vibration is generated for a long time.

2-9

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(3) Setting the notch filter frequency

After measuring the resonance frequency, refer to the "Setting frequency and standard filter depth for notch filter 1 and 2". Select the setting frequency larger than but closest to the resonance frequency and set the parameter. Set the depth compensation parameter to the standard filter depth that matches the frequency. In the example of measurement on the previous page, the measured resonance frequency is 233Hz. Thus, set the following:

Filter setting frequency = 250Hz, Filter depth = 4

The notch filter easily becomes unstable when a low frequency is set. Even when set,

POINT

Basically, all resonance can be removed by setting the notch filter. The MDS-C1/CH-Vx series has the following functions in addition to the notch filter. Use those as necessary.

only the resonance frequency may change (the vibration tone changes), and the resonance may not be completely removed. If the state is unstable, try using a higher frequency.

(4) Jitter compensation

Jitter compensation is effective to eliminate the vibration occurring when the axis motor whose backlash is comparatively large or whose linear movement object is heavy stops rotating. Set from 1 pulse by turn and confirm how it works. Jitter compensation is effective only in case that the vibration occurs due to the backlash, thus, it does not work when the vibration is caused by other factors. (Even when set, only the vibration tone changes.) If the jitter compensation is not effective, remove the vibration with the notch filter.

Jitter compensation

Parameter setting

SV027. bit4 0 1 0 1 SV027. bit5 0 0 1 1

No jitter

compensation

Compensation 1

pulse

Compensation 2

pulses

Compensation 3

pulses

(5) Other filters

The notch filter 3 with an operation frequency fixed at 1125Hz, and the speed feedback filter fixed at 2250Hz are the other notch filters available. The usage methods are the same as notch filter 1 and 2. Set them as necessary such as when treating with the third frequency.

Other MDS-C1/CH-Vx filters

Frequency range Frequency settings Depth compensation settings

Notch filter 3 1125 Hz fixed SV033. bit4 None

Speed feedback filter 2250 Hz fixed SV017. bit3 None

2-10

Parameter settings related to resonance removing filter

No. Abbrev. Parameter name Unit Explanation

SV038 FHz1 Notch filter frequency 1 Hz Set the resonance frequency to be suppressed. (Valid at 36 or more.)

Set “0” when the filter is not be used.

SV046 FHz2 Notch filter frequency 2 Hz Set the resonance frequency to be suppressed. (Valid at 36 or more.)

Set “0” when the filter is not to be used.

SV017 SPEC*

mtr drva drvu mpt mp abs vdir fdir vfb qro dfbx fdir2 <Start speed feedback f ilter> Eliminate the high frequency vibration of a motor and a det ector. bit Meaning when “0” is set Meaning when “1” is set 3 vfb Speed FB filter stop Speed FB filter start (2250Hz fixed)

SV027 SSF1

aflt Zrn2 afse ovs lmc omr zrn3 vfct upc vcnt <Start jitter compensation> Eliminate the vibration while the motor is stopping.

4 0 1 0 1 5

<Active adaptive filter> bit Meaning when “0” is set Meaning when “1” is set C Raise the sensitivity of the adaptive filter.

E zrn2 Set to “1” F aflt Adaptive filter stopped Adaptive filter activated

SV033 SSF2

dos dis nfd2 nf3 nfd1 zck <Depth compensation for the notch filter 1> bit Explanation

<Activate notch filter 3> Eliminate the high frequency vibration.

bit Meaning when “0” is set Meaning when “1” is set 4 nf3 Notch filter 3 stopped Notch filter 3 stopped (fixed to1125Hz) <Depth compensation for notch filter 2> bit Explanation

Servo specification selection

Servo function selection 1

Servo function selection 2

F EDCBA98765 4 3 2 10

bit

vfct

afse

F EDCBA98765 4 3 2 10

to 3 nfd1

5 to 7 nfd2

No jitter

compensation

0 0 1 1

00: Standard sensitivity 11: high-sensitivity of vibration detector (Set 2 bit at the same time.)

When bit0 (zck) = 0 (Standard), set the first digit of SV033 to even numbers such as 0, 2, 4…A, C, and E. 0 is the deepest. The higher the setting value is, the shallower the filter is.

Set the same as the depth compensation for notch filter 1. Set shallowly to make control stable and prevent other vibrations apart from the filter frequency though the effective vibration elimination can not be expected.

Pulse of

compensation

type1

Pulse of

compensation

type2

compensation

Normal

setting range

150 to 1125

Pulse of

type3

2-11

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(

2-2-5 Adjusting the speed loop gain

The speed loop gain (SV005) is gradually increased from the state where reson ance does not occur. Once resonance starts, set the notch filter to remove the resonance. Next, increase the speed loop gain while removing the vibration with the notch filter, and adjust the speed loop gain targeting the standard VGN determined from the load inertia. A 30% margin must be secured to ultimately set the standard VGN value, so set a standard VGN x 1.3 value and confirm that resonance does not occur. If the resonance cannot be eliminated even when the notch filter is set, the speed loop gain setting will be limited. Set a value 30% lower than the maximum value at which resonance does not occur.

START speed loop gain adjustment.

Set the standard VGN for the isolated motor (load inertia scale 100%) for the speed loop gain (VGN1: SV005).

Start at state where there is no vibration. Refer to section "2-2-3 Determining the standard speed loop gain".

Confirm the vibration by operating the items below.

• Rapid traverse feed (RAPID)

• Change override

• Operate with a manual pulse generator

• Change the axis position

(Or change the table position)

Does vibration occur?

YES

Measure the resonance frequency

with Hi-corder.

Set notch filter to measured

resonance fre

uency.

SV005 ≥ 1.3 × standard VGN1?

Increase the speed loop gain

SV005) by 10 to 20%.

YES

Secure a 30% margin.

Set the speed loop gain (SV005) to standard VGN.

Speed loop gain adjustment is completed.

Do not set the notch filters to the frequency where vibration does not occur as a

CAUTION

means of insurance. Setting many notch filters does not necessarily guarantee a better effect.

2-12

(

)

1. The final SV005 (VGN1) setting value is 70% of the maximum value at which machine resonance does not occur. If the resonance is suppressed and the SV005 setting is increased by using a vibration suppression function, such as a notch filter,

POINT

<<Reference material>> Machine resonance is not the only vibration that occurs at the servo shaft. Types of vibration that occur at the servo shaft are listed below.

Types of vibration

Machine resonance

Hunting

Isolated machine vibration

Delay in servo control response

The speed loop PI gain (VGN, VIA) is unbalanced

Insufficient machine rigidity

the servo can be adjusted easier later on.

2. If the vibration is caused by resonance (mutual action of servo control and machine characteristics), the vibration can always be stopped by lowering SV005 (VGN1). If the vibration does not change even when SV005 is lowered, there may be a problem in the machine. The notch filter is not effective when there is a problem i n the machine.

Cause

Vibration

frequency

150Hz to 1kHz

Several Hz

10 to 20Hz

Measures Explanation

• Set the notch filter

• Lower VGN1 (SV005)

• Lower VIA (SV008)

• Raise VGN1 (SV005)

• Use the disturbance observer

• Lower PGN1 (SV003)

• Use S-pattern (soft)

acceleration/deceleration

There may be several resonance points. The vibration can always be stopped by lowering VGN1.

Visually apparent that the shaft vibrates during acceleration, or the shaft trembles when stopped.

The machine vibrates due to impact during acceleration/deceleration. A "clonk" sound may be heard during acceleration.

Judging the type of vibration

Is a vibration sound heard?

YES

sound heard only during acceleration/

Set standard VGN1 for isolated

motor in speed loop gain (SV005).

Is a vibration deceleration?

YES

Is a vibration sound heard?

YES

Isolated machine vibration

Set standard VGN1 for isolated

motor in speed loop gain (SV005).

Does vibration occur?

Machine resonance

YES

Is the frequency low, and

vibration visible?

Hunting

Vibration other than servo system.

Vibration of oil pump, etc.

YES

2-13

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-2-6 Adjusting the position droop waveform

After adjusting the filter and determining the optimal speed loop gain (VGN1), adjust the speed loop leading compensation (VIA) and position loop gain (PGN) observing the position droop waveform.

(1) Measuring the position droop

During rapid traverse feed, position droop takes a few millimeters. However, the unit of the waveform to be observed is “µm” and the

Memory

Single

shot

Scroll

overflowing waveform is displayed on the Hi-coder. Before adjusting, make the waveform as shown right appear on the Hi-coder.

Smooth convergence is the most important thing about position droop waveform. The position droop have to converge smoothly when the speed becomes constant or when positioning is completed and position droop becomes “0”. Both of the waveforms enclosed with circles can be used for gain adjustment, however, the waveform at when positioning is completed is normally used because it enables to confirm the overshooting at the same time when adjusting servo.

It is necessary to confirm that the waveform of the positioning converges smoothly (approaches to “0”) at the range of 10µm/0.5V because accurate control is required for the feed axis of machine tools.

Speed FB

[500 r/min/div]

SV061 = 0 SV063 = 13

Position droop

[100 µm/div]

SV062 = 6 SV064 = 33

Speed FB

[500 r/min/div]

SV061 = 0 SV063 = 13

Memory

Overflowing range

Position droop waveform

Single

shot

Scroll

Confirm here

Converge smoothly

Position droop

[10 µm/div]

SV062 = 6 SV064 = 328

Confirm the waveform

when positioning is completed

2-14

(2) Adjusting speed loop leading compensation

There may be no problem when used at a normal load inertia scale. However, if used at a load inertia scale exceeding 500% with an insufficient speed loop gain (SV005) set, the position droop waveform may vibrate just before the motor stops. If the speed loop gain is small, and the shaft has relatively low wear, the motor may repeatedly reciprocate just before stopping resulting in hunting. If vibration of the position droop is not improved much even when the position loop gain (SV003) is lowe red, the leading compensation (SV008) value set for the proportional gain (SV005) is too large, so lower SV008 by approx. 100.

No. Abbrev. Parameter name Explanation

SV008 VIA Speed loop leading

compensation

1364 is set as a standard. 1900 is set as a standard during SHG control. Adjust in increments of approx. 100.

Memory

Single

shot

Scroll

Memory

Speed FB

[500 r/min/div]

SV061 = 0 SV063 = 13

Lower SV008

Single

shot

Scroll

Normal

setting range

700 to 2500

Position droop

[10 µm/div] SV062 = 6 SV064 = 328

POINT

Insufficient speed loop gain

After adjusting speed loop leading

compensation (SV008)

1. The vibration can be eliminated by lowering VIA (SV008); however, VIA only adjusts the gain balance for the speed loop's PI control. As long as VGN1 (SV005) is set lower than the standard value, high-accuracy control cannot be expecte d.

2. Disturbance observer can also suppress the vibration. (Refer to “2-5-1 Disturbance observer”.)

2-15

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(3) Adjusting position loop gain

When raising the position loop gain, the responsiveness of the position and cutting accuracy is improved. Setting time is shortened and the cycle time can also be reduced. However, be aware of the limit value determined by the speed loop characteristics and machine characteristics. The same position gain has to be set in both interpolation axes (the axes to perform synchronous control with). Set the position loop gain of the all axes to the lowest limit value of all.

No. Abbrev. Parameter name Explanation

SV003 PGN1 Position loop gain 1 Set 33 as a standard. Adjust in increments of approx. 3. If PGN is

increased, cutting precision will be improved and the setting time will be shortened.

Limit of the position loop gain

Limit of PGN Phenomenon Cause Remedy

Limit of speed loop characteristics Limit of machine characteristics

Position droop waveform vibrates during positioning. Overshooting occurs during positioning. Machine vibrates or makes strange noise during acceleration/deceleration. When feeding with the maximum scale by a pulse generator, machine vibrates or makes strange noise.

Insufficient speed loop gain (VGN1)

Insufficient machine rigidity

Suppress the resonance more and raise VGN. Use disturbance observer.

Use SHG control function. Use S-pattern acceleration/deceleration function when vibration occurs in rapid traverse feed. (NC function)

Memory

Single

shot

Scroll

Memory

Single

shot

Scroll

Speed FB

[500 r/min/div]

SV061 = 0 SV063 = 13

Lower

PGN

Normal

setting range

18 to 70

Position droop

[10 µm/div] SV062 = 6 SV064 = 328

CAUTION

After adjusting PGN (23SHG) PGN is too high (33SHG)

Set the same position loop gain (PGN) to all the interpolation axes. (For the PGN of X, Y, Z axes, set the smallest value of the three to all of X, Y, Z axis.)

2-16

(4) SHG (Smooth High Gain) control

A high-response control and smooth control (reduced impact on machine) were conventionally conflicting elements; however, SHG control enables the two elements to function simultaneously by controlling the motor torque (current GB) with an ideal waveform during acceleration/deceleration. Start the adjustment with PGN1=23 (hereinafter referred to as 23SHG) for the feed axis of a machine tool at first. Try to adjust the SHG value so that it become as close to 47SHG as possible. If more than 33SHG can be set, this machine tool is a precision machine. If more than 23SHG can be set, the machine tool precision is good enough. SHG control function is efficient for feed axes of machine tools (X axis, Y axis or Z axis of the machining center etc.) to meet the demand of high-speed and high-accuracy cutting. When changing normal control to SHG control, start adjusting, by setting PGN1 to “1/2”. SHG control is as effective as when PGN1 is doubled. SHG control also can shorten the cycle time as it reduces the setting time.

No. Abbrev. Parameter name

SV003 PGN1 Position loop gain 1 1 18 21 23 26 33 38 47 60 70 18 to 70 SV004 PGN2 Position loop gain 2

SV057 SHGC SHG control gain

SV008 VIA Speed loop leading

compensation

SV015 FFC Acceleration feed

forward gain

Memory

Single

shot

Setting

ratio

8 3

6 108 126 140 160 187 225 281 360 420

Set 1900 as a standard for SHG control.

Set 100 as a standard for SHG control. 0 to 300

Scroll

48 56 62 70 86 102 125 160 186

Setting example

Memory

Single

shot

Scroll

Normal

setting range

48 to 186

108 to 420

700 to 2500

Speed FB

[500 r/min/div]

SV061 = 0 SV063 = 13

Current FB

[50%/div] SV062 = 3 SV064 = 131

CAUTION

Little delay with fast positioning

Ideal acceleration waveform Torque is not constant

SHG control (PGN = 26SHG) Normal control (PGN = 26)

The SHG control is an optional function. Confirm if the option is set in the NC with a System Specification Order List.

2-17

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(5) Confirming overshooting

Adjust to make overshooting amount become less than 1 µm.

Cause and remedy of overshooting

Speed FB

[500 r/min/div]

SV061 = 0

Waveforms

Position droop

[10 µm/div]

SV062 = 6

-Position loop gain is too high.

-Acceleration feed forward gain (SV015) is too high.

-Torsion of the machine system is too large. If a machine has a torsion factor, overshooting is easily

Cause

caused as the axis is pushed to a stop when positioning.

-Lower the position loop gain

-When acceleration feed forward gain (SV015) is set to more than “100”, lower it.

-Try the speed loop delay compensation during full closed loop control (when using linear scale). (Refer to [2-6-2 Speed loop delay compensation].)

Remedy

-If nothing has improved after lowering gain parameter, use overshooting compensation as the cause seems to be on machine side. Overshooting can be resolved by 1% to 3% of compensation. (Refer to “2-5-2 Overshooting compensation” in this manual.)

During rapid traverse feed During pulse feed

Memory

Single

shot

Scroll

Position

command

[20 µm/div]

SV061 = 10

Position FB

[20 µm/div]

SV062 = 12

-Position loop gain is too high.

-Friction of the machine system is too large. If the machine static friction is too large, overshooting is easily caused as a large torque is maintained when the machine starts operation.

-If the general motion of the machine is unstable, possibly caused by the machine-side problem.

Memory

Single

shot

Scroll

POINT

If more than “100” is set in acceleration feed forward gain (SV015) during SHG control, overshooting will be caused easily.

2-18

(6) Adjusting the position droop waveform

START position droop waveform

Confirm that the SHG control function is o

Confirm the balance in PI control.

YES

Set SV008 back to a standard value and;

lower SV003 by 3 during normal control. lower the gain by 1 grade during SHG control.

Set PGN1 to half of the current value when start adjusting in SHG control.

adjustment

SHG control?

YES

tioned.

Set SV003 = 23

SV004 = 62 SV057 = 140 SV008 = 1900 SV015 = 100

Does droop vibrate

when positioning?

YES

Lower SV008 by 100.

Has vibration suppressed?

Confirm that the SHG control function is optioned.

Lower SV003 by 3 during normal control. Lower the gain by 1 grade during SHG control.

Perform rapid traverse reciprocating operation or manual pulse feed with

maximum scale.

Is position droop waveform

Confirm the speed loop limit.

Does machine vibrate or

Confirm machine limit.

YES YES

Using SHG control function?

overshootin

Does position droop

waveform vibrate?

make strange noise?

Has position loop gain

reached to its limit?

YES

NO NO

YES

Raise SV003 by 3 during normal control. Raise the gain by 1 grade during SHG control.

PGN1 target value

-Feed axis of the machine tool: 47SHG

(Determined by considering the

required precision.)

Does PGN have to be raised?

Determine the PGN limit value for each axis and set the minimum value in all axes. (The same value has to be set in both interpolation axes.)

Position droop waveform adjustment is completed.

2-19

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-3 Adjusting Acceleration/Deceleration Time Constant

2-3-1 Rapid traverse feed (G0 feed)

For rapid traverse feed, linear acceleration/ deceleration function is normally used. Occasionally, S-pattern (soft) acceleration/deceleration function is used to ease the collision against machines.

(1) Confirm that the rapid traverse rate ≤ max.

rotation speed

Fist of all, confirm that the rapid traverse rate is less than the maximum rotation speed of the servo motor.

(2) Adjust acceleration/deceleration time constant

by the maximum current command value

Perform the rapid traverse reciprocating operation confirming in NC servo monitor screen and adjust acceleration/deceleration time constant (with NC axis specification parameter) so that the maximum current command value during acceleration/deceleration becomes less than the range of the table shown below.

(Acceleration/deceleration time constant is not judged by current FB but by current command)

Speed FB

[500 r/min/div]

SV061 = 0

Current FB

[50 %/div]

SV061 = 3

Position droop

[100 µm/div]

SV062 = 6

Memory

Single

shot

Scroll

(3) Confirm the rapid traverse feed

Waveforms during rapid traverse feed

Confirm: 1) if the machine does not vibrate or make strange noise.

2) if the waveforms during acceleration/deceleration are not disturbed when observing current FB waveform and position droop waveform.

3) if the friction torque is normal.

4) 1) to 3) with the override changing.

Max. current command value when adjusting acceleration/deceleration time constant (MDS-C1/CH-Vx)

Motor type HC52 Within 388% HA40N Within 400% HC-H52 Within 400%

HC102 Within 340% HA80N Within 365% HC-H102 Within 340% HC152 Within 380% HA100N Within 260% HC-H152 Within 500% HC202 Within 275% HA200N Within 225% HC-H202 Within 340% HC352 Within 251% HA300N Within 200% HC-H352 Within 260% HC452 Within 189% HA700N Within 205% HC-H452 Within 270% HC702 Within 221% HA900N Within 220% HC-H702 Within 280% HC902 Within 227% HC-H902 Within 215% HA053N Within 240% HC-H1102 Within 200% HC53 Within 264% HA13N Within 240% HC-H1502 Within 190% HC103 Within 257% HA23N Within 230% HC-H53 Within 290% HC153 Within 266% HA33N Within 230% HC-H103 Within 280% HC203 Within 257% HA43N Within 295% HC-H153 Within 350% HC353 Within 230% HA83N Within 275% HC-H203 Within 320% HC453 Within 177% HA103N Within 245% HC-H353 Within 240% HC703 Within 189% HA203N Within 210% HC-H453 Within 240% HA303N Within 180% HC-H703 Within 195% HA-LF11K2 Within 215% HA703N Within 180% HC-H903 Within 230% HA-LF15K2 Within 240% HC-H1103 Within 190%

Max. current

command value

Motor type

Max. current

command value

Motor type

Max. current

command value

2-20

2-3-2 Cutting feed (G1)

For cutting feed, exponent acceleration/deceleration function is normally used. S-pattern acceleration/ deceleration cannot be used as it disables synchronous interpolation.

(1) Reciprocating operation without dwell

During cutting feed, no confirmation of in-position is made before going on to the next step. Adjust the acceleration/deceleration time constant during acceleration/deceleration by recip rocating operation without dwell. Set the feedrate at the maximum (clamp: axis specification parameter) and confirm the maximum current command during the turn without swell.

(Cutting feed reciprocating operation Sample program)

G28 X0; X axis zero return N01 G90 G1 X-200. F8000

G1 X0; Turn without dwell and move to X=0 with F5000 cutting feed. G4 X1.0; Dwell for a second. (Pause for a second) Use “X” even for Y axis and Z axis. GOTO 01 Go back to the line N01.

Max. cutting feedrate

; Move X axis to X=-200 with F5000 cutting feed by absolute position command.

(2) Adjust acceleration/deceleration time constant by max. current command value

Confirm the maximum current command value in the servo monitor and adjust acceleration/deceleration time constant (with NC axis specification parameter) so that the maximum current command value becomes less than the range of the table shown in the chapter “2-3-1 Rapid traverse feed (G0)”.

(3) Set all the interpolation axes to the same value as the axis with the longest time constant

For example, set the same value for the cutting feed time constant of X axis, Y axis and Z axis in machining center because interpolation control is required.

(4) Confirm the cutting feed

Confirm : 1) if the machine does not vibrate or make strange noise.

2) if the waveforms during acceleration/deceleration are not disturbed when observing current FB waveform and position droop waveform.

3) 1) and 2) with the override changing.

POINT

Perform reciprocating operation without dwell when adjusting cutting feed (G1) time constant.

CAUTION

1. Set the same value for the cutting feed time constant in both interpolation axes and for the position loop gain (PGN).

2. For vertical axis, perform from downward stop to upward start without dwell and confirm the current command.

2-21

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-4 Initial Adjustment for the Servo Functions

2-4-1 Standard settings for the lost motion compensation

(1) Unbalance torque and frictional torque

As for the initial adjustment of lost motion compensation, set the standard compensation amount. Measure the unbalance torque and the frictional torque to calculate the standard compensation amount. During a stop, the static frictional torque may effect. Feed slowly by about F1000, measure the load current in the servo monitor screen of NC and calculate by the following expression.

Unbalance torque =

(+ Feed load current%) + (– Feed load current%)

Frictional torque =

(+ Feed load current%) – (– Feed load current%)

Unbalance torque and frictional torque

Horizontal axis Unbalance axis

Lathe: Z axis

In machine tools

Unbalance torque 0

Frictional torque

Vertical machining center: X axis, Y axis Horizontal machining center: X axis, Z axis etc.

The load torque when feeding by about F1000. The difference between load torque and unbalance

Lathe: X axis Vertical machining center: Z axis Horizontal machining center: Y axis etc. The average of the load torque when feeding to both + and – direction by about F1000.

torque when feeding by about F1000.

(2) Setting the standard compensation amount

As for lost motion compensation type, use type 2 (SV027.bit9). Set the unbalance torque in SV032 and set the doubled frictional torque in SV016 as a standard compensation amount. (Set SV041 to “0”.) To adjust the compensation amount more accurately, determine the value to be set in SV016 and SV041 by measuring the roundness.

How to set the standard lost motion compensation amount

Setting item Parameter setting

(1) Start lost motion compensation type 2 SV027.bit9 = 1 (SV027.bit8 = 0) (2) Unbalance torque setting SV032 = unbalance torque [%] (3) Lost motion compensation standard amount SV016 = 2 x frictional torque [%] (SV041 = 0)

When using the disturbance observer, further adjustment by roundness

CAUTION

measurement is required because the lost motion compensation amount (SV016) calculated as mentioned above will become over compensation.

2-22

(Example)

In case that the load current% is -25% in + direction and -65% in – direction when performing JOG feed by about F1000,

Unbalance torque =

Therefore, set SV032 = -45, SV016 = 40.

No. Abbrev Parameter name Explanation

SV027 SSF1 Normally type 2 is used for the lost motion compensation.

F EDCBA98765 4 3 2 10 aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt

bit Explanation 8 00: lost motion compensation stop 10: lost motion compensation type 2 9

Servo function selection 1

No. Abbrev. Parameter name Unit Explanation

SV032 TOF Torque offset Stall% Set the unbalance torque am ount. -60 to 60

-25 + (-65) 2

= -45%

lmc

01: lost motion compensation type 1 11: Setting prohibited

Frictional torque =

-25 - (-65) 2

= 20%

Normal

setting range

SV016 LMC1 Lost motion

compensation 1

SV041 LMC2 Lost motion

compensation 2

Stall% Set “2 × (frictional torque)” as an initial value.

When using disturbance observer, further adjustment by roundness measurement is required.

Stall% Set “0” as a standard (initial adjustment value).

When “0” is set, compensate the value set in SV016 in both + and – direction.

2-4-2 Excessive error width detection

In most cases, no problem will occur with the standard setting values.

No. Abbrev. Parameter name Unit Explanation

SV023 OD1 Excessive error

detection width during servo ON

SV026 OD2 Excessive error

detection width during servo OFF

mm Calculate as follows by using rapid traverse rate and position

loop gain (PGN1). When “0” is set, the excessive error alarm will not be detected.

OD1=OD2=

Rapid traverse rate (mm/min)

60 × PGN1

0 to 60

Normal

setting range

3 to 15

÷ 2 (mm)

(Round fractions off.)

2-23

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-4-3 Vertical axis drop prevention control

Vertical axis drop prevention control is performed for the unbalance axis which equips a mot or brake. Set the time to delay the servo ready OFF confirming the drop amount when an emergency stop occurs.

(1) Parameter settings

Set the 3 parameters (SV048, SV055 and SV056) at the same time to enable vertical axis drop prevention control. For MDS-C1/CH-Vx series, set the parameters of the axes which does not perform the vertical axis drop prevention control because the converter unit of MDS-C1 series are in common with other servo axes and spindles. (Refer to “2-4-3(3) Parameter settings in each system” in this manual)

1) Adjust the vertical axis drop prevention time (SV048) and set the minimum value at which the axis does not drop when the Emergency stop is inputted.

2) Set the same value as the adjusted vertical axis drop prevention time (SV048) for the max. gate off delay time after emergency stop (SV055).

3) Set the same axis as the acceleration/deceleration time constant in the deceleration time constant at emergency stop (SV056) is set for the axis that controls the drop prevention.

4) If the vertical axis is MDS-C1/CH-V2 (drive unit with 2 axes), set the servo parameter of the other axis.

SV048 = the same value as SV048 of the vertical axis SV055 = the same value as SV055 of the vertical axis SV056 = the sa m e v a l u e as ra p i d trav e r s e acce l erat i o n /dec e l erat i o n t i m e c o n s t a n t o f t h e i d e n tica l axi s

5) If the converter which supplies the PN power to the vertical axis is controlled by a spindle driv e unit, set the spindle parameter SP033.bit15 = 1.

6) If the converter which supplies the PN converter to the vertical axis is controlled by the other servo drive unit, set the servo parameters of the axis. (as mentioned in (4))

No. Abbrev. Parameter name Unit Explanation

SV048 EMGrt Vertical axis drop

prevention time

SV055 EMGx Max. Gate off delay

time after emergency stop

SV056 EMGt Deceleration time

constant at emergency stop

ms Increase the setting by 100 ms at a time and set the minimum

value where the axis does not drop.

ms Set the time from emergency stop input to compulsory ready OFF.

When performing vertical axis drop prevention control, set the same value as SV048.

ms When performing vertical axis drop prevention control, set the

deceleration control. Set the same value as the rapid traverse acceleration/deceleration time constant.

1. SV048 and SV055 are set individually in each axis. However, when using MDS-C1/CH-V2 (drive unit with 2 axes), both axes are controlled at the same time

POINT

with the larger setting value of these 2 parameters.

2. This control will not function if an alarm for which dynamic brakes are set as the stopping method occurs in an axis where the vertical axis drop prevention control is being carried out.

3. A drop amount of several µm to 10µm) will rem ain due to the brake play.

Normal

setting range

0 to 300

CAUTION

When only SV048 and SV055 are set and SV056=0, machine will occasionally come into collision because stopping method is changed from “decelerating to a stop” to “Step s to a stop”.

2-24

(2) Adjustment procedures for vertical axis drop prevention control

START adjusting for vertical axis drop control

Is servo converter controlled

by a spindle?

YES

Set spindle parameter.

(SP033.bitF = 1)

(In case of 5) and 6) in the next chapter, set for

the converter control axis at the same time.)

Set SV048 = 100

Decrease SV048 by 100

Set the value as SV048 in SV055.

Cancel the emergency stop.

Input the emergency stop by checking the coordinate position in NC screen.

Set SV056 to the same vale as rapid traverse

acceleration/deceleration time constant.

Confirm the drop amount.

MDS-C1/CH-V2 (drive unit with 2 axes)?

YES

Has drop amount decreased?

YES

Set SV048 and SV055 of the identical drive

unit axis to the same value as vertical axis.

Add 100 to SV048.

Set SV056 of the identical drive unit axis to the same value as rapid traverse acceleration/deceleration time constant identical axis.

of the

Adjustment for vertical axis drop prevention

control is completed.

2-25

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(3) Parameter settings in each system

1) In case that a spindle controls the converter, Z axis = drive unit with 1 axis. (Z axis: Vertical axis)

MDS-C1-V2

X axis, Y axis

MDS-C1-V1

Z axis

MDS-C1-SP

Spindle

MDS-C1-CV

Converter

Axis

Parameters

SV048 – – Set after adjustment. SV055 – – The same value as SV048. SV056 – – The s am e v a lu e a s ra p i d t r av e r s e ti m e co n s t a n t of Z a x i s.

X axis Y axis Z axis (Vertical axis) Spindle

MDS-C1/CH-V2 MDS-C1/CH -V1 MDS-C1/CH -SP

Spindle parameter SP033.bitF = 1

2) In case that a spindle control the converter, Z axis = drive unit with 2 axes (Z axis: Vertical axis)

MDS-C1-V1

X axis

MDS-C1-V2

Y axis, Z axis

MDS-C1-SP

Spindle

MDS-C1-CV

Converter

Axis

Parameter

SV048 – The same value as Z axis. Set after the adjustment. SV055 – The same value as Z axis. The same value as SV048.

SV056 –

X axis Y axis Z axis (Vertical axis) Spindle

MDS-C1/CH -V1 MDS-C1/CH -V2 MDS-C1/C H -SP

The same value as rapid traverse time constant of Y axis.

The same value as rapid traverse time constant of Z axis.

2-26

Spindle parameter SP033.bitF = 1

(3) In case that Z axis controls the converter, Z axis = drive unit with 1 axis (Z axis: Vertical axis).

MDS-C1-V2

X axis, Y axis

MDS-C1-V1

Z axis

Axis

Parameter

SV048 – – Set after the adjustment. SV055 – – The same value as SV048. SV056 – – The s am e v a lu e a s ra p i d t r av e r s e ti m e co n s t a n t of Z a x i s.

X axis Y axis Z axis (Vertical axis) Spindle

MDS-C1/CH -V2 MDS-C1/CH -V1 MDS-C1/CH -SP

MDS-C1-CV

Converter

MDS-C1-SP

Spindle

MDS-C1-CV

Converter

Spindle parameter No need to set

(4) In case that Z axis controls the converter, Z axis = drive unit with 2 axes (Z axis: Vertical axis).

MDS-C1-V1

X axis

MDS-C1-V2

Y axis, Z axis

MDS-C1-CV

Converter

MDS-C1-SP

Spindle

MDS-C1-CV

Converter

Axis

Parameter

SV048 – The same value as Z axis. Set after the adjustment. SV055 – The same value as Z axis. Set the same value as SV048.

SV056 –

X axis Y axis Z axis (Vertical axis) Spindle

MDS-C1/CH -V1 MDS-C1/CH -V2 MDS-C1/CH -SP

Spindle

The same value as rapid traverse time constant of Y axis.

Set the same value as rapid traverse time constant of Z axis.

parameter No need to set

2-27

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-5 Procedures for Adjusting Each Functions

2-5-1 Disturbance observer function

(1) When to use

1) When improving cutting accuracy Disturbance observer function is efficient to improve the cutting accuracy. For roundness measurement, cutting accuracy can be improved especially at around 45 degrees.

2) When suppressing the vibration of position droop waveform Disturbance observer function can suppress the vibration of position droop waveform caused by the insufficient speed loop gain (VGN) without lowering speed loop leading compensation (VIA).

3) When suppressing the collision sound during lost motion compensation When the lost motion compensation amount is increased, the collision sound is occasionally caused. The compensation amount can be made smaller by using disturbance observer function, and it also suppresses the collision sound.

(2) Precautions

1) Vibration (resonance) is easily caused Disturbance observer is hardly used for some machine characteri st ics.

2) Lost motion compensation has to be readjusted The optimum lost motion compensation amount (SV016, SV041) changes when the disturbance observer's filter frequency (SV043) and gain (SV044) are changed.

When starting disturbance observer, lost motion compensation has to be adjusted again.

CAUTION

2-28

(3) Procedures for disturbance observer adjustment

START disturbance observer adjustment.

Set the load inertia rate in SV037.

Lower SV005 (VGN) by 10 to 20%.

SV043 (filter) = 100 SV044 (gain) = 100

Move the axis (by JOG or manual pulse generator) and confirm there is any vibration.

Does vibration occur?

If vibration still occurs even though “gain=100” is set, impossible to use.

YES

isturbance observer cannot be used.

No. Abbrev. Parameter name Unit Explanation

SV037 JL Load inertia scale % Set the value calculated in the way explained in “2-2-2 Measuring

SV043 OBS1 Disturbance

observer filter frequency

SV044 OBS2 Disturbance

observer gain

rad/sec Set the disturbance observer filter band.

% Set the disturbance observer compensation gain.

Raise SV044 (gain) by 50.

YES

Does vibration occur?

SV044 (gain) = 300 ?

YES

Increase SV005 by 1.3 times.

Does vibration occur?

YES

Lower SV005 by 10%. Lower SV005 by 30%.

the inertia rate”.

Set “100” as a standard. The setting is enabled at more than 100.

As a standard, set between 100 and 300. Lower the setting if vibration occurs.

Lower SV044 (gain) by 50.

Check the vibration limit of VGN again.

Disturbance observer adjustment

is completed.

Normal

setting range

150 to 600

100

100 to 300

2-29

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-5-2 Overshooting compensation

(1) When to use

1) When compensating overshooting Both overshooting during rapid traverse positioning and during pulse feed can be improved.

Single

Memory

shot

Scroll

Memory

Single

shot

Scroll

[500 r/min/div]

Speed FB

SV061 = 0

Position

command

[20 µm/div]

SV061 = 10

Position droop

[10 µm/div] SV062 = 6

Position FB [20 µm/div]

SV062 = 12

Overshooting during rapid traverse positioning Overshooting during pulse feed

(2) Precautions

1) Do not use overshooting compensation function to solve the problem caused by gain adjustment Overshooting can occur when position loop gain (SV003) and acceleration feed forward gain (SV015) is too high. Adjust the gain at first whenever overshooting is found. In case that the overshooting cannot be solved by gain adjustment, use overshooting compensation function as it seems to be caused by machine-side factors including torsion and friction. The overshooting can be suppressed with overshooting compensation by 1% to 3%. In the full closed system using a linear scale, adjust with [2-6-2 Speed loop delay compensation] (SV007) at first.

2) If the compensation amount is too much, the roundness precision will be worsened When the overshooting compensation amount is too much, the roundness precision is occasionally worsened. Be careful when setting the value which is more than 5% in SV031 (compensation amount).

3) The overshooting which is more than 1µm has to be suppressed Normally the overshooting which is more than 1µm is considered as a p roblem. If it is less than 1 µm is hardly suppressed due to the control resolution.

2-30

(3) Details of overshooting compensation

1) Overshooting compensation type 1 This is an old compatible type and not used for an initial adjustment.

2) Overshooting compensation type 2 This is an old compatible type and not used for an initial adjustment.

3) Overshooting compensation type 3 This is compatible with the standard specifications. The offset amount is set base d on the motor’s stall current. Determine the amount that is free from overshoot by adjusting the compensation gain (SV031, SV042) while increasing its value in increments of 1%. This adjustment is usually made within the range from 1% to 3%. During the feed forward control (the high-speed high-accuracy control), an overshoot may be occurred due to inappropriate adjustment of the feed forward gain. So, when adjusting the compensation gain (SV031, SV042), stop the feed forward control, or set “fwd_g” to “0”. After adjusting, set the range of the non-sensitive zone for the overshooting compensation “SV034(SSF3)/bit F to C” (ovsn) to “1” (2μm). If overshoot occurs in the feed forward control mode only (no overshoot occurs in the normal control mode), adjust the feed forward gain (fwd_g).

POINT

In the full closed system using a linear scale, adjust with [2-6-2 Speed loop delay compensation] (SV007) at first.

2-31

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(4) Procedures for overshooting compensation

START overshooting compensation

adjustment.

When using the high-speed high-accuracy control, change it to the normal control.

Confirm the overshooting by operating the machine while observing the position droop and the position FB.

YES

Is overshooting amount

more than 1µm?

-Lower position loop gain (SV003)

-Lower acceleration feed forward gain (SV015). (When “SV015>100” is set)

Adjust the gain again.

In case that the compensation is impossible even by 5%.

YES

Has overshooting suppressed?

Start overshooting compensation type3.

SV027.bitB, A = 1,1 SV031 = 1

Is overshooting amount

more than 1µm?

YES

SV031 ≥ 5 ?

Raise SV031by 1.

Did the positioning direction

make any difference?

Use SV042 and make further adjustment.

YES

Check the machine side factor.

Check a linear guide, oil pressure and ball screw etc.

When using the high-speed high-accuracy control,

set “SV034, bit F to C=1”..

shot

2-32

No. Abbrev. Parameter name Explanation

SV027 SSF1

F EDCBA98765 4 3 2 10 aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt

bit Explanation A

SV034 SSF3

F EDCBA98765 4 3 2 10 ovsn os2 zeg

bit Explanation

Servo function selection 1

Servo function selection 3

No. Abbrev. Parameter name Unit Explanation

SV031 OVS1 Overshooting

compensation 1

SV042 OVS2 Overshooting

compensation 2

The overshooting compensation starts with the following parameter.

00: Overshooting compensation

ovs

When using the feed forward control (the high-speed high-accuracy control), set the range of the non-sensitive zone.

C D

ovsn

E F

Stall%

(rated current%)

Stall%

(rated current%)

stop

01: Overshoot compensation

type1

Set the non-sensitive zone for the overshooting compensation type 3 in increments of 2µm. During the feed forward control, set the non-sensitive zone of the model position droop and ignore overshoo t of the mode l. Set it to the standard 2µm (0001).

Increase the value by 1% at a time and find the value where overshooting dose not occur. When OVS2 is “0”, the setting value will be applied in both the + and – directions. Set “0” as a standard. Set this when the compensation amount is to be changed according to the direction.

10: Overshooting compensation

type2

11: Overshoot compensation

type3

mohn has2 has1

setting range

Normal

-1 to 3

POINT

1. When either parameter SV031:OVS1 or SV042:OVS2 is set to “0”, the same amount of compensation is carried out in both + and – direction, using the setting value of the other parameter (the parameter which is not set to “0”).

2. To compensate in only one direction, set -1 in the parameter (OVS1 or OVS2) for the direction in which compensation is prohibited.

2-33

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-5-3 Collision detection function

(1) When to use

1) To ease an impact when a machine collides Collision detection function can ease the impact to the machine by detecting the alarm at the collision as soon as possible when collision occurs and by causing the pullback torque.

2) To keep the alarm history separating collision alarms from over load alarms Collision alarms are conventionally detected as over load alarms. Collision detection function enables to keep the collision alarm history with special alarm numbers only for collision alarms.

(2) Precautions

1) Collision detection function does not guarantee the machine precision As before, prevent the machine collision when operating a machine.

2) Alarm can be detected incorrectly Collision is detected by detecting the disturbance torque, therefore, frictional torque or cutting torque can be incorrectly taken for a collision depending on condition of the machine or operation.

(3) Details of collision detection method 1

The required torque is estimated by considering the position command issued by the NC. The disturbance torque is calculated by the difference from the actual torque. When this disturbance torque exceeds the collision detection level set by the parameters, a collision is detected. As soon as a collision is detected, pullback torque (which is adjustable with a parameter) is commanded and ease the impact. After the motor stopped, alarm 58 (during G0 command) or 59 (during G1 command) will occur, the system will be stopped.

Collision detection level setting parameter Detection alarm During rapid traverse (during G0 feed) SV060 Alarm 58

During cutting feed (during G1 feed) SV060 × clG1 (SV035.bitC to E) Alarm 59

(4) Details of collision detection method 2

When the current command reaches the motor’s maximum current, collision is detected. As soon as the collision is detected, pullback torque (which can be adjusted by a parameter) is commanded. After the motor stopped, the alarm 5A will occur and the system will stop. If the acceleration/deceleration time constant is short, and if detections are easily made incorrectly during normal operation, make the acceleration/deceleration time constant longer and adjust so that the current during acceleration is not saturated (so that the current does not reach the maximum value). Or, turn the parameter SV035.bitB ON and ignore the collision detection method 2.

2-34

(5) Torque estimated gain (SV059)

In SHG control mode, when the rapid traverse reciprocating operation is carried out after setting the unbalance torque (SV032), frictional torque (SV045) and “SV035.bitF=1”, the value to be set in SV059 is displayed in MPOS (MP scale offset amount) in NC servo monitor screen. (Refer to [2-4-1 (1) Unbalance torque and frictional torque].) When accelerating, the value converges gradually. Set the convergence value to torque estimate gain (SV059).

(6) Collision detection level (SV60)

Collision detection level during G0/G1 feed

Feed Detection level setting How to adjust

First, set “SV060: TLEV= 100”, and carry out no-load operation at the maximum rapid traverse feed rate. If an alarm does not occur, lower the setting by “10”, and if an alarm occurs, raise

G0 SV060

SV060 x clG1

(SV035)

the setting by “20”. Set the value which is in increment of the limit value at which the alarm does not occur by 1.5 times. If SV035.bitA (clet)=1 is set, the maximum disturbance torque will appear in MPOS in the NC servo monitor. When setting, refer to the value shown in MPOS. The detection level during G1 feed is set as an inter-fold of the detection level during G0 feed. Calculate the maximum cutting load, and adjust the SV035.bitC to E (clG1) setting value so that the detection level becomes larger than the maximum cutting load.

(7) Confirming parameter settings

Calculate the estimated torque abstracting acceleration factors from position command to detect the collision. It is required to obtain the following items to detect collision correctly.

1) Torque estimated gain (SV059)

2) Frictional torque (SV045)

3) Unbalance torque (SV032)

When confirming the setting values of above–mentioned parameters, output current FB and collision detection estimated torque at the same time as shown the right and adjust so that they both forms the same waveform.

Memory

Current FB

[50 %/div] SV061 = 3 SV063 = 131

Collision detection

estimated torque

[50 %/div] SV062 = 14 SV064 = 131

Single

shot

Scroll

Compare the waveform

Torque during acceleration : SV059

Whole torque offset : SV032

How to confirm collision detection parameters

Torque during constant feed : SV045

2-35

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

(8) Procedures for collision detection adjustment

START collision detection adjustment.

SHG control?

YES

Set “SV035.bit9,8 = 10”.

(Standard pullback torque=80%.)

Set the unbalance torque in SV032 and set the frictional torque in SV045.

Set SV035.bitF = 1.

Make axis reciprocate.

When the value appeared in MPOS of NC servo monitor screen converges, set the converged value in SV059.

Change to SHG control and

adjust position loop gain.

Lower SV060 by 10.

Perform reciprocating operation confirming the disturbance torque appeared in MPOS of NC servo monitor screen.

Does alarm 58 occur?

YES

Lower SV060 by 20 and confirm

that no alarm is occurring.

Set SV035.bitA = 1, SV035.bitF = 0 and make disturbance torque appear in MPOS.

Set SV060 = 100

Perform reciprocating operation.

Does alarm 58 occur?

YES

Reconsider the parameter settings.

Increase SV060 by 1.5 times to

determine the setting value.

Do you ignore the method 2?

In case that acceleration is saturated.

Set SV035.bitB = 1.

YES

Do you use

collision detection function

during cutting feed?

YES

Increase the specified value of the maximum cutting torque by 1.5 times and set in SV035.bitC to E.

SV035.bitC to E = 0

Collision detection is completed.

2-36

No. Abbrev. Parameter name

SV035 SSF4

clt clG1 cl2n clet cltq iup tdt

bit Meaning when “0” is set Meaning when “1” is set 8

Servo function selection 4

F EDCBA98765 4 3 2 10

Set the pullback torque during collision detection with a ratio of

cltq

A clet

B cl2n

C D clG1 E

F clt

maximum motor torque. 00:100% 01:90% 10:80% (Standard) 11:70% Setting for normal use

Collision detection method 2 is enabled. Set the collision detection level for the collision detection method 1 cutting (G1) feed. G1 collision detection level will be SV060 × clG1.

When clG1=0, the collision detection method 1 will not function during cutting feed.

Setting for normal use

No. Abbrev. Parameter name Unit Explanation

SV032 TOF Torque offset Stall% Set the unbalance torque amount.

The amount is the same as the value set when lost motion compensation was adjusted.

SV045

(8 low-order

digit bit)

SV059 TCNV Collision detection

SV060 TLMT Collision detection

(Note) 8 low-order digit bit: The 16 bit-length parameter is divided into 8 high-order digit bit and 8 low-order digit bit. If high-order digit

TRUB Frictional torque Stall% Set the frictional torque amount.

Refer to [2-4-1 (1) Unbalance torque and frictional torque].

– When SV035.bitF (clt) = 1 is set and axis performs reciprocating torque estimating gain

Stall% Set the collision detection level of method 1 G0 feed when using

level

bit are set to “0” and low-order digit bit are set to “-128 to 127”, set as well as normal parameters.

operation, the value to be set is appeared in MPOS on servo monitor screen. Set the converged value after a few reciprocating operations. When operating as above, set SHG control function, SV032 and SV045 in advance or set SV060 = 0

the collision detection function. When “0” is set, all collision detection function will not function.

Explanation

The peak value of disturbance torque in the last 2 seconds appears in MPOS on servo monitor screen.

Collision detection method 1 is disabled.

The setting value of SV059 is appeared in MPOS on servo monitor screen.

Normal

setting range

-60 to 60

10 to 30

0 to 32767

70 to 150

POINT

1. SHG control has to be enabled for using the collision detection function or for performing SV059 setting value calculating operation.

2. Set the detection level with an allowance to avoid incorrect detections.

3. When SV060=0 is set, all collision detection functions will be disabled.

4. Collision detection method 2 is enabled when the value except for “0” is set. Set the parameter (SV035.bitB) to ignore the collision.

5. Adjust the torque estimated gain (SV059) again when detection resolution was changed because of detector change and when position loop gain (PGN) or the setting of position control system is changed (when closed loop control is changed to semi-closed loop control).

2-37

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-5-4 Voltage non-sensitive zone (Td) compensation

(1) When to use

1) When improving the cutting precision Voltage non–sensitive zone compensation is effectual when the cutting accuracy is worsened before passing the quadrants during circle cutting or when the cutting accuracy while unbalance axis is lowering is worse than while it is rising. In short, voltage non–sensitive zone compensation improves the control precision when the control speed is slow and the output torque is controlled with nearly “0”.

(2) Precautions

1) Vibration (resonance) easily occurs

Deceleration Frictional

torque = torque

Cutting direction

Lowering

For unbalance torque For circle cutting

Motor torque

= 0

Frictional torque

Balanced

Unbalance torque

Vibration can be inducted as voltage non–sensitive zone compensation can make the same effect as when the current loop gain is raised.

2) The drive sound during the motor rotation becomes noisier If setting 100% (as a standard), the sound during the motor rotation will be noisier. However, the cutting precision is improved as long as vibration does not occur.

(3) Adjustment procedures

Set the value from 50 to 100% observing the vibration or noise occurrence.

No. Abbrev. Parameter name Unit Explanation

SV030 (8 low-order digits)

(Note) 8 low-order digit bit: The 16bit-length parameter is divided into 8 high-order digit bit and 8 low-order digit bit. If high-order digit bit

IVC1 Voltage non

-sensitive band compensation

are set to “0” and low-order digit bit are set to “-128 to 127”, set as well as normal parameters.

When 100% is set, the voltage equivalent to the logical

non-energized time will be compensated. Compensation equivalent to 100% is possible even when 0 is set. If vibration or vibration sound occurs because of over-compensation, adjust the value to 100% or less.

Normal

setting range

0 to 100

2-38

2-6 Full Closed System

2-6-1 Basic knowledge

(1) Full closed loop control

All the servo control performs closed loop control which uses a feedback from the detector. “Full closed loop control” means the system which directly detects the machine position by using a linear scale mainly and it is distinguished from “Semi-closed loop control” which detects the motor position. In the machine which drives the table with a ball screw,

1) coupling or backlash of the connecting point between a table and a ball screw

2) pitch error of a ball screw exist and they worsen the precision. The high-accuracy position control, which is not affected by a backlash nor pitch error, is enabled by detecting the table position directly as the table position means the machine end.

Position

command

Position FB

Speed Current Voltage

command

PGN

Speed FB

command

VGN

Current FB

command

Servo motor

ENC

Full closed loop control

Table

Linear scale

Detector at ball screw end also can be used.

However, the precision can be worse than we expected as the non-linear factor s such a s backlash and the torsion of ball screw prevent the position loop gain from being raised. The reason why this is caused is that the machine system is included in control loop in full closed loop. In other words, even though using the full closed loop to prevent the influence from the backlash etc., the high-accuracy cannot be obtained if the machine rigidity is not high enough. It does not mean that the precision can be improved by adding a linear scale to a conventional machine. Additionally, not only the parameter adjustment but also the machine side factors including the position where the linear scale is attached are very important to improve the precision. Semi-closed loop is widely used because of its stability. It is stable as it does not includes the non-linear factors of the machine system in its control loop. NC has backlash compensation function and pitch error compensation function, the high-accuracy control is enabled by issuing a command in the direction which cancels the machine error.

POINT

In full closed system, the machine system is directly included in the position loop control. Therefore, the precision is not improved as the gain cannot be raised if the machine rigidity is not high enough.

2-39

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

)

(2)

Servo adjustment

How to adjust the servo in full closed system is the same as in semi-closed system. However, the position loop gain is generally lower than that in semi-closed system as the vibration and overshooting is easily caused. Some functions are enabled only in full closed loop control (Refer to 2-6-2 and subsequent chapters). Set those functions if necessary. In full closed system, the way that the machine error compensation is used is different from semi-closed loop control. Confirm the parameter settings referring to the table below.

Machine error compensation in full closed loop control

Machine error compensation

Backlash compensation

Pitch error compensation

Relative position compensation

Parameter Use Necessity Details

Axis specification parameter

Machine error compensation parameter

This compensates the machine backlash.

This compensates the scale parallelism. (This originally compensates the pitch error of the ball screw.) This compensates the orthogonality between axes.

(Partly O)

O Use this parameter for as it is almost impossible to

O A linear scale cannot compensate the orthogonality

Normally set “0” as machine backlash can be compensated by a linear scale. Occasionally, this parameter is used for compensating the backlash of a linear scale itself.

attach a linear scale to a ball screw completely. (The pitch error can be compensated by linear scale FB.)

between axes, therefore, this parameter has to be set as well as in semi-closed loop control.

M60S

Series

#2011 G0back

#2012 G1back

(Note) Set the axis number in the shown in above parameter list as follows; Set “0” for the 1st axis, “1” for the 2nd axis and “2 ” for

Abbrev. Parameter name Unit Explanation Setting range

#40 1 cmpax

#40 2 drcax

#40 6 sc

the 3rd axis.

Backlash during G0 (rapid traverse) feed Backlash during G1 (cutting) feed

Machine error compensation / base axis Machine error compensation / compensation axis Machine error compensation / compensation scale



Command

unit / 2

Normally set “0” in full closed system.

In case that the base axis is a compensation axis, pitch error will be compensated. In case that the base axis is not a compensation axis, relative position will be compensated.

When “0” is set in this parameter, nothing will be compensated.

-9999 to 9999

Axis name

0 to 99

[MACHINE ERROR COMPENSATION] SETUP PARA5. 1/15 # 4000 Pinc 0

# ---<1>--- # ---<2>--- # ---<3>--- # ---<4>--- # ---<5>--cmpax 4001 X| 4011 Y| 4021 Z| 4031 X| 4041 X| drcax 4002 X| 4012 Y| 4022 Z| 4032 Y| 4042 Z| rdvno 4003 4111| 4013 4211| 4023 4311| 4033 4411| 4043 4511| mdvno 4004 4101| 4014 4201| 4024 4301| 4034 4401| 4044 4501| pdvno 4005 4200| 4015 4300| 4025 4400| 4035 4500| 4045 4600| sc 4006 2| 4016 2| 4026 2| 4036 2| 4046 2| spcdv 4007 10000| 4017 10000| 4027 10000| 4037 10000| 4047 10000|

#( ) DATA( ) LSK mm ABS G40 G54 MEMORY MAC COMP PLC MACRO PSW MENU

Pitch error compensation

Relative position compensation

Machine error compensation screen on NC (M60S Series

2-40

)

(3) Overrun detection

In full closed system, the machine end position FB detected with a linear scale is used for position control, and at the same time, the motor end position FB is also detected and the difference between both FBs is observed. In case that the error amount, which means the difference between machine end position FB and motor end position FB, exceeds the servo parameter SV054, alarm 43 occurs and the system is stopped to prevent the overrun due to scale FB error. The error amount during acceleration/deceleration is normally less than 100µm, therefore, setting “2mm” as a standard (parameter setting “0”) has no problem.

Position

command

Positioned

loop

–

PGN

Error

Speed

command

Motor end position FB

Servo motor

ENC

Machine end position FB

Table

Linear scale

No. Abbrev. Parameter name Unit Explanation

SV054 ORE Closed loop

overrun detection width

mm When the difference between the motor end detector and the linear

scale (position detector) exceeds SV054, it is considered as overrun and alarm 43 will occur. If “-1” is set, alarms will not be detected. If “0” is set, overrun will be detected by 2mm.

The FB position mentioned above can be confirmed on the NC servo monitor screen.

[SERVO MONITOR (2)] ALARM/DIAGN 2. 2/6 CYC CNT (p) 12321 0 99999

GRDSP 10.000 10.000 10.000 GRID 8.769 0.000 0.000 MAC POS 35.688 0.000 0.000 MOT POS 35.230 0.000 0.000 SCA POS 35.188 0.000 0.000 FB ERROR (i) 42 0 0 DFB COMP (i) 0 0 0 DIS TO GO 7.201 0.000 0.000 POSITION (2) 35.688 0.000 0.000 MANUAL IT 0.000 0.000 0.000

LSK mm ABS G40 G54 MEMORY

ALARM SERVO SPINDLE PLC-I/F MENU

Normal

setting range

Servo monitor screen on NC (M60S Series

2-41

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-6-2 Speed loop delay compensation

(1) When to use

1) In case that the overshooting is caused when positioning or during pulse feed

Generally, machine end is positioned delaying from the motor end positioning. In position loop control of full closed loop, the machine end position is used as the position feedback. Therefore, the machine end position easily causes overshooting as the motor end position leads too much. Speed loop delay compensation function (type 2) prevents the overshooting by weakening the speed loop PI control after positioned loop has become “0”. (Weakening the lead compensation means delaying.)

(2) Precautions

1) If the setting value is too large, the positioned loop falls into arrears

Speed loop delay compensation function weakens the leads compensation (PI control), as a result, it takes longer time to complete positioning. If the setting value is too large, positioning will not be performed and position droop will fall into arrears.

Speed FB

[500 r/min/div]

SV061 = 0

Memory

Single

shot

Scroll

Adjust

SV007

Memory

Single

shot

Scroll

Position droop

[10 µm/div] SV062 = 6

CAUTION

When overshooting is occurring

If the setting value is too large, the positioned loop falls into arrears.

After adjusting speed loop delay compensation (SV007)

2-42

(3) Procedures for speed loop delay compensation

1) Start delay compensation control

Start delay compensation selection type 2 with SV027.bit1,0.

2) Set torque offset (SV032)

Set the unbalance torque of the axis in SV032 (TOF). (For how to measure the unbalance torque, refer to [2-4-1(1) Unbalance torque and frictional torque].)

3) Adjust speed loop delay compensation

Measure the position droop waveform and confirm the overshooting. Raise SV007 (VIL) by 5 at a time so that the overshooting will be eliminated. Do not raise too much, or position droop will fall into arrears after the axis has stopped.

No. Abbrev. Parameter name Unit Explanation

SV027 SSF1 Use type 2 for delay compensation. (Type 1 is an old compatible type.)

F EDCBA98765 4 3 2 10 aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt

bit Meaning when “0” is set Meaning when “1” is set

SV007 VIL Speed loop delay

SV032 TOF Torque offset Stall% Set the unbalance torque.

Servo function selection 1

compensation

Set this when limit cycle occurs, or when overshooting occurs

00: Delay compensation selection

vcnt

during positioning.

Set the same value as that is set when adjusting the lost motion compensation.

disabled

01: Delay compensation selection

type 1

10: Delay compensation selection

type 2

11: Setting prohibited

Normal

setting range

0 to 30

-60 to 60

2-43

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-6-3 Dual feedback control

(1) When to use

1) When the precision of the surface cut by deep cuts function is not good

When using a linear scale, the feedback will be returned sensitively until the cutting load collides as it directly detects the machine end position including a table etc. As a result, the position loop control becomes unstable, and the cut surface may have undulation. Dual feedback control enables the stable control and also the cutting precision is improved as the high frequency factors included in the machine end FB is eliminated.

2) When position droop vibrates during acceleration/deceleration

In case that the rigidity of machine system is low in the full closed system of a larger machine etc., position loop gain cannot be raised occasionally as the response at acceleration/deceleration becomes vibrative and overshooting is caused. By using dual feedback control, the vibration limit of the position loop gain (PGN) can be raised as it enables the stable position loop control.

(2) Precautions

1) Optional functions

Dual feedback control is an optional function. In case that the initial parameter error (error No. 103, error No. 2303 in M60S series) occurs, option parameter does not exist.

2) Do not raise the control time constant (SV051) too much

When raising the control time constant (SV051), the limit of position loop gain can be raised up to the level of semi-closed loop control, however, it affects interpolation precision and the quadrant protrusion cannot be compensated completely by lost motion compensation. (In case that the machine backlash is large,) this phenomenon occurs remarkably especially in the machine whose cutting feedrate is very fast. When raising time constant, the position loop control becomes stable as it becomes similar to the semi-closed loop control, however, it means that the machine end (linear scale) FB is not used.

3) Positioning time is postponed

In dual feedback control, positioning is performed according to the motor end FB position, and then moved to the machine end FB position according to control time constant (SV051). If the control time constant is small (less than about 20ms), it will not affect. However, if the difference between motor end FB and machine end FB is large and the control time constant is also large, it takes longer time to carry out the final positioning.

2-44

(3) Procedures for dual feedback control adjustment

1) Start dual feedback control

Set SV017.bit1 to “1” and turn OFF/ON the power again.

2) Confirm the effect

A certain effect can be obtained just by starting dual feedback control. If the effect is enough, set SV051 to “1” to make it clear that this function is being used and finish adjusting. If the effect is not enough, following adjustment is required.

3) Set control voltage non–sensitive zone (SV052)

Set the machine backlash amount in SV052. Set the value which is equivalent to #2012:G1back, the axis specification parameter of NC (M60S series), in semi–closed loop control. (Note: The setting unit for G1back is normally [0.5µm].)

4) Adjust the control time constant

Raise SV051 by 5ms at a time from “0”, adjust the time constant so that the precision of cut surface is improved and overshooting is suppressed, increase the adjusted time constant by 1.5 times to doubl e to allow a margin, and finally set the resulted value.

No. Abbrev. Parameter name Unit Explanation

SV017 SPEC* Dual feedback control is started with the following parameters.

F EDCBA98765 4 3 2 10 mtr drva drvu mpt mp abs vdir fdir vfb qro dfbx fdir2

bit Meaning when “0” is set Meaning when “1” is set 1 dfbx Dual feedback control stop Dual feedback control start

SV051 DFBT Dual feedback control

SV052 DFBN Dual feedback control

Servo specification selection

ms Set the dual feedback control time constant.

time constant

voltage dead zone

When “0” is set, the control is performed by 1ms.

µm Set the machine backlash amount.

Set the value which is equivalent to the NC parameter G1back.

setting range

Normal

0 to 20

0 to 10

1. Dual feedback control is for compensating the phenomenon caused by the insufficient rigidity of the machine. If there are any other items to be improved in the machine side (for example, the position where the scale is attached etc.), improve them at first.

POINT

2. Before using dual feedback control function, complete the servo adjustment in normal control (which means the full closed loop control without dual feed back control) and confirm the position loop gain (PGN).

3. Lower the position loop gain if overshooting or vibration occurs during acceleration/deceleration even though control time constant (SV051) is set to “10ms”.

2-45

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-7 MDS-C1/CH-Vx Parameter List

No. Abbrev. Parameter name Explanation Setting range Reference

SV001 PC1*

SV002 PC2*

SV003 PGN1

SV004 PGN2

SV005 VGN1 Speed loop gain 1

SV006 VGN2

SV007 VIL

SV008 VIA

SV009 IQA

SV010 IDA

SV011 IQG SV012 IDG

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Motor side gear ratio Machine side gear ratio

Position loop gain 1

Position loop gain 2

Speed loop gain 2

Speed loop delay compensation

Speed loop lead compensation

Current loop q axis lead compensation Current loop d axis lead compensation Current loop q axis gain Current loop d axis gain

Set the motor side and machine side gear ratio. For the rotary axis, set the total deceleration (acceleration) ratio. Even if the gear ratio is within the setting range, the electronic gears may overflow and cause an alarm.

Set the position loop gain. The standard setting is “33”. The higher the setting value is, the more precisely the command can be followed and the shorter the positioning time gets, however, note that a bigger shock is applied to the machine during acceleration/ deceleration. When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC). (If “201” or bigger is set, the SHG control cannot be used.) When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC). When not using the SHG control, set to “0”. Set the speed loop gain. Set this according to the load inertia size. The higher the setting value is, the more accurate the control will be, however, vibration tends to occur. If vibration occurs, adjust by lowering by 20 to 30%. The value should be determined to be 70 to 80% of the value at the time when the vibration stops.

If the noise is bothersome at high speed during rapid traverse, etc, lower the speed loop gain. As in the right figure, set the speed loop gain of the speed 1.2 times as fast as the motor’s rated speed, and use this with SV029 (VCS). When not using, set to “0”. Set this when the limit cycle occurs in the full-closed loop, or overshooting occurs in positioning. Select the control method with SV027 (SSF1)/bit1, 0 (vcnt). Normally, use “Changeover type 2”. When you set this parameter, make sure to set the torque offset (SV032 (TOF)). When not using, set to “0”.

No changeover

When SV027 (SSF1)/ bit1, 0 (vcnt)=00 The delay compensation control is always valid.

Changeover type 1

When SV027 (SSF1)/ bit1, 0 (vcnt)=01 The delay compensation control works when the command from the NC is “0”. Overshooting that occurs during pulse feeding can be suppressed.

Changeover type 2

When SV027 (SSF1)/ bit1, 0 (vcnt)=10 The delay compensation control works when the command from the NC is “0” and the position droop is “0”. Overshooting or the limit cycle that occurs during pulse feeding or positioning can be

suppressed. Set the gain of the speed loop integration control. The standard setting is “1364”. During the SHG control, the standard setting is “1900”. Adjust the value by increasing/decreasing it by about 100 at a time. Raise this value to improve contour tracking precision in high-speed cutting. Lower this value when the position droop vibrates (10 to 20Hz). Set the gain of current loop. As this setting is determined by the motor’s electrical characteristics, the setting is fixed for each type of motor. Set the standard values for all the parameters depending on each motor type.

1 to 32767

VGN1 VGN2

VCS VLMT

(Rated speed*1.2)

1 to 32767

2-1-1

1 to 200

0 to 999

(rad/s)

1 to 999

-1000 to 1000

0 to 32767 2-6-2

1 to 9999

1 to 20480

1 to 4096

2-2-6 (3) 2-2-6 (4)

2-2-3 2-2-5

2-2-6 (2) 2-2-6 (4)

–

2-46

No. Abbrev. Parameter name Explanation Setting range Reference

Set the normal current (torque) limit value. (Limit values for both +

SV013 ILMT

SV014 ILMTsp

SV015 FFC

SV016 LMC1

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Current limit value

Current limit value in special control

Acceleration rate feed forward gain

Lost motion compensation 1

and - direction.) When the value is “500” (a standard setting), the maximum torque is determined by the specification of the motor. Set the current (torque) limit value in a special control (initial absolute position setting, stopper control, etc). (Limit values for both of the + and - directions.) Set to “500” when not using. When a relative error in the synchronous control is large, apply this parameter to the axis that is delaying. The standard setting value is “0”. For the SHG control, set to “100”. To adjust a relative error in acceleration/deceleration, increase the value by 50 to 100 at a time. Set this when the protrusion (that occurs due to the non-sensitive band by friction, torsion, backlash, etc) at quadrant change is too large. This compensates the torque at quadrant change. This is valid only when the lost motion compensation (SV027 (SSF1/ lmc)) is selected. Type 1: When SV027 (SSF1)/ bit9, 8 (lmc)=01

Set the compensation amount based on the motor torque before the quadrant change. The standard setting is “100”. Setting to “0” means the compensation amount is zero. Normally, use Type 2.

Type 2: When SV027 (SSF1)/ bit9, 8 (lmc)=10

Set the compensation amount based on the stall (rated) current of the motor. The standard setting is double of the friction torque. Setting to “0”

means the compensation amount is zero. When you wish different compensation amount depending on the direction

When SV041 (LMC2) is “0”, compensate with the value of SV016

(LMC1) in both of the + and -directions.

If you wish to change the compensation amount depending on the

command direction, set this and SV041 (LMC2). (SV016: +

direction, SV041: - direction. However, the directions may be

opposite depending on other settings.)

When “-1” is set, the compensation won’t be performed in the

direction of the command.

0 to 999

(Stall [rated]

current %)

0 to 999

(Stall [rated]

current %)

0 to 999

(%)

-1 to 200 (%)

-1 to 100

(Stall [rated]

current %)

2-2-6 (4)

2-4-1

–

2-47

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Setting range Reference

F E D C B A 9 8 7 6 5 4 3 2 1 0 spm mpt3 mp abs vdir fdir vfd seqh dfbx fdir2

bit Meaning when “0” is set Meaning when “1” is set 0 fdir2 1 dfbx 2 3 vfb 4 fdir

Servo

SV017 SPEC*

SV018 PIT*

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

specification selection

Ball screw pitch Set the ball screw pitch. Set to “360” for the rotary axis.

5 vdir

6 7 abs 8 mp

A B C

D E F (Note) Set to “0” for bits with no particular description.

Speed feedback forward polarity Speed feedback reverse polarity – Dual feedback control stop Dual feedback control start 2-6-3 READY/Servo ON time normal READY/Servo ON time high speed –

seqh

Speed feedback filter stop Speed feedback filter stop (2250Hz) 2-2-4 (5) Position feedback forward polarity Position feedback reverse polarity – Standard setting HA motor (4 pole motor)

Incremental control Absolute position control – MP scale 360P (2mm pitch) MP scale 720P (1mm pitch) – MP scale ABS detection NC contr ol MP scale ABS detection automatic

mpt

Setting for normal use

spm

When using the S type drive unit of the MDS-C1-Vx (200V type)

Setting for MDS-CH-Vx (400V type) Setting prohibited

to F

Detector installation position 90 degrees (B, D)

(Standard setting)

1 to 32767

(mm/rev)

Reference

–

2-48

No. Abbrev. Parameter name Explanation Setting range Reference

In the case of the semi-closed loop control

Set the same value as SV020 (RNG2). (Refer to the explanation of SV020.)

In the case of the full-closed loop control

Set the number of pulses per ball screw pitch.

Detector model name Resolution SV019 setting OHE25K-ET, OHA25K-ET 100,000 (p/rev) 100 OSE104-ET, OSA104-ET 100,000 (p/rev) 100 OSE105-ET, OSA105-ET 1,000,000 (p/rev) 1000 RCN723 (Heiden hain) 8,000,000 (p/rev) 8000

Relative position detection scale

AT41 (Mitsutoyo) 1 (µm/p)

Position

SV019 RNG1*

SV020 RNG2*

SV021 OLT

SV022 OLL

SV023 OD1

SV024 INP

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

detector resolution

Speed detector resolution

Overload detection time constant

Overload detection level

Excessive error detection width during servo ON

In-position detection width

FME type, FLE type (Futaba)

MP type (Mitsubishi Heavy Industries)

AT342 (Mitsutoyo) 0.5 (µm/p)

AT343 (Mitsutoyo) 0.05 (µm/p)

LC191M (Heidenhain)

LC491M (Heidenhain)

Set the number of pulses per one revolution of the motor end detector.

Detector model name SV020 setting OSE104, OSA104 100 OSE105, OSA105 1000

Set the detection time constant of Overload 1 (Alarm 50). Set to “60” as a standard. (For machine tool builder adjustment.)

Set the current detection level of Overload 1 (Alarm 50) in respect to the stall (rated) current. Set to “150” as a standard. (For machine tool builder adjustment.) Set the excessive error detection width when servo ON. <Standard setting value>

When “0” is set, the excessive error detection will not be performed. Set the in-position detection width. Set the accuracy required for the machine. The lower the setting is, the higher the positioning accuracy gets, however, the cy cl e ti me (setting time ) becomes lon ger. The standard setting is “50”.

OD1=OD2=

Refer to

specification

manual for each

detector

Refer to

specification

manual for each

detector Refer to

specification

manual for each

detector

Refer to

specification

manual for each

detector Refer to

specification

manual for each

detector

Rapid traverse rate

(mm/min) 60*PGN1

PIT/Resolution (µm)

The same as SV018

(PIT)

PIT/Resolution (µm)

Twice as big as

SV018 (PIT)

20 times as big as

SV018 (PIT)

PIT/Resolution (µm)

/2 (mm)

1 to 9999

(kp/rev)

1 to 9999

(kp/pit)

1 to 9999

(kp/rev)

1 to 999

(s)

110 to 500

(Stall [rated]

current %)

0 to 32767

(mm)

0 to 32767

(µm)

2-1-2

2-4-2

–

2-49

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Reference

F E DCBA987654 3 2 1 0 pen ent mtyp

bit Explanation 0 Set the motor type. Set this along with SV017 (SPEC)/spm.

1 1) When SV017/spm=0 (Normal drive unit) 2 Setting 0x 1x 2x 3x 4x 5x 6x 7x 3 x0 HA40N HA50L HA53L 4 5 x2 HA100N HA200L HA203L 6 x3 HA200N HA300L HA303L 7 x4 HA300N HA500L HA503L x5 HA700N x6 HA900N x7 HA-LH11K2 x8 HA-LH15K2 x9 xA HA150L HA153L xB xC xD xE HA-LF11K2 xF HA-LF15K2

Setting 8x 9x Ax Bx Cx Dx Ex Fx x0 HA43N HC52 HC53 x1 HA83N HC102 HC103 HC103R x2 HA103N HC152 HC153 HC153R

SV025 MTYP*

x5 HA703N HC452 HC453 HC503R x6 HC702 HC703

x9 xA HA93N xB xC HA053N xD HA13N xE HA23N xF HA33N

2) When SV017/spm=1 (S type drive unit) Setting 8x 9x Ax Bx Cx Dx Ex Fx x0 x1 x2 x3 x4 HC353 x5 HC452 HC453 x6 HC702 x7 x8 x9 xA xB xC xD xE xF

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Motor/Detector type

*When using MDS-C1-Vx Series (200V type)

Reference

mtyp

x1 HA80N HA100L HA103L

x3 HA203N HC202 HC203 HC203R

x7 HC902 –

x4 HA303N HC352 HC353 HC353R

2-50

No. Abbrev. Parameter name Explanation Reference

2 Setting 0x 1x 2x 3x 4x 5x 6x 7x 3 x0 4 5 x2 6 x3 7 x4 x5 x6 x7 x8 x9 xA xB xC xD

SV025 MTYP*

Setting 8x 9x Ax Bx Cx Dx Ex Fx x0 HC-H52 HC-H53 x1 HC-H102 HC-H103 x2 HC-H152 HC-H153

x5 HC-H452 HC-H453 x6 HC-H702 HC-H703

x9 HC-H1502 xA xB xC xD xE xF

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Motor/Detector type

When using MDS-CH-Vx Series (400V type)

bit Explanation Reference 0 1

x3 HC-H202 HC-H203

x7 HC-H902 HC-H903

Set the motor type. Set this along with SV017 (SPEC)/spm. Set SV017(SPEC)/spm to 2.

mtyp

x4 HC-H352 HC-H353

x8 HC-H1102 HC-H1103

–

2-51

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Setting range Reference

9 A B pen setting ent setting Detector model name

C 0 0 OSE104 D 1 1 OSA104 E F 3 3 4 Setting impossible OHE25K-ET, OSE104-ET 5 Setting impossible OHA25K-ET, OSA104-ET

SV025 MTYP*

Motor/Detector type

8 Setting impossible

9 Setting impossible

A Setting impossible B Setting impossible

E Setting impossible F Setting impossible

Excessive error

OD2

SV026

detection width during servo OFF

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Continuing from the previous page.

bit Explanation Reference 8

Set the detector type. Set the position detector type for “pen”, and the speed detector type for “ent”. In the case of the semi-closed loop control, set the

ent

same value for “pen” and “ent”.

pen

2 2 OSE105, OSA105

6 Setting impossible

7 Setting impossible

(Current

synchronization)

(Current

synchronization)

Set the excessive error detection width when servo ON. For the standard setting, refer to the explanation of SV023 (OD1).

When “0” is set, the excessive error detection will not be performed.

OSE105-ET, OSA105-ET, RCN723 (Heidenhain)

Relative position detection scale, MP type (Mitsubishi Heavy Industries) AT41 (Mitsutoyo), FME type, FLE type (Futaba) AT342,AT343 (Mitsutoyo), LC191M/491M (Heidenhain), MDS-B-HR

The setting of the slave axis in the speed/current synchronization control. When the master axis is the semi-closed control. The setting of the slave axis in the speed/current synchronization control. When the master axis is the full-closed control. (Current synchronization control is only for MDS-C1-V2.)

0 to 32767

(mm)

–

2-4-2

2-52

No. Abbrev. Parameter name Explanation Setting range Reference

F E DCBA9876543 2 1 0 aflt zrn2 afse ovs lmc omr zrn3 vfct upc vcnt

bit Meaning when “0” is set Meaning when “1” is set Reference 0

2 upc Start torque compensation invalid Start torque compensation valid – 3 4 Set the number of compensation pulses of the jitter compensation. 5 01: Jitter compensation 1 pulse 11: Jitter compensation 3 pulses

SV027 SSF1 6 zrn3 ABS scale: Set to “1” in using AT342, AT343, LC191M/491M. –

8 Set the compensation amount with SV016 (LMC1) and SV041 (LMC2).

A Set the compensation amount with SV031 (OVS1) and SV042 (OVS2).

C D E zrn2 Set to “1”. F aflt Adoptive filter stop Adoptive filter start –

SV028

SV029

SV030

Servo function selection 1

Speed at the change of speed

VCS

loop gain

The higher order 8bits and lower order 8bits are used for different functions. “The setting value of SV030” = (Icx*256) + IVC

Abbrev. Parameter name

Voltage dead

IVC (Low order)

(High order)

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

time compensation

Icx

Current bias 1

7 omr

(Note) Set to “0” for bits with no particular description.

Not used. Set to “0”. If the noise is bothersome at high speed during rapid traverse, etc,

lower the speed loop gain. Set the speed at which the speed loop gain changes, and use this with SV006 (VGN2). (Refer to SV006.) When not using, set to “0”..

Set the execution changeover type of the speed loop delay compensation.

vcnt

00: Delay compensation

changeover invalid

01: Delay compensation

changeover type 1

vfct

00: Jitter compensation invalid 10: Jitter compensation 2 pulses 2-2-4 (4)

Machine end compensation invalid

lmc

00: Lost motion compensation

stop

01: Lost motion compensation

type 1

ovs

00: Overshooting compensation

stop

01: Overshooting compensation

type 1

00: Adoptive filter sensitivity standard

afse

11: Adoptive filter sensitivity increase (Set 2 bits at a time)

Explanation

When 100% is set, the voltage equivalent to the logical non-energized time will be compensated. When “0” is set, a 100% compensation will be performed. Adjust in increments of 10% from the default value 100%.

If increased too much, vibration or vibration noise may be generated. Set to “0” as a standard. Use this in combination with SV040 and the high order 8bits of SV045.

10: Delay compensation type 2

11: Setting prohibited

Machine end compensation valid

10: Lost motion compensation

type 2

11: Setting prohibited

10: Overshooting compensation

type 2

11: Overshooting compensation

type 3

0 –

0 to 9999

(r/min)

Setting range Reference

0 to 255

(%)

0 to 127

2-6-2

2-4-1

2-5-2

2-5-4

–

2-53

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Setting range Reference

Set this if overshooting occurs during positioning. This compensates the motor torque during positioning. This is valid only when the overshooting compensation SV027 (SSF1/ovs) is selected. Type 1: When SV027 (SSF1)/ bitB, A (ovs)=01

Set the compensation amount based on the motor’s stall current. Normally, use Type 3 as this is an old compatible type.

Type 2: When SV027 (SSF1)/ bitB, A (ovs)=10

Set the compensation amount based on the motor’s stall current. Normally, use Type 3 as this is an old compatible type.

Type 3: When SV027 (SSF1)/ bitB, A (ovs)=11

This is compatible with the standard specifications. The offset

SV031 OVS1

SV032 TOF

F E D C B A 9 8 7 6 5 4 3 2 1 0 dos hvx svx nfd2 nf3 nfd1 zck

bit Meaning when “0” is set Meaning when “1” is set Reference

Overshooting compensation 1

Torque offset Set the unbalance torque of vertical axis and inclined axis.

amount is set based on the motor’s stall current. Determine the amount that is free from overshoot by adjusting the compensation gain (SV031, SV042) while increasing its value in increments of 1%. In the feed forward control mode, set “SV034(SSF3)/bit F to C”

(ovsn), as well. When you wish different compensation amount depending on the direction

When SV042 (OVS2) is “0”, compensate with the value of SV031

(OVS1) in both of the + and -directions.

If you wish to change the compensation amount depending on the

command direction, set this and SV042 (OVS2). (SV031: +

direction, SV042: - direction. However, the directions may be

opposite depending on other settings.)

When “-1” is set, the compensation won’t be performed in the

direction of the command.

0 zck Z phase check valid (Alarm 42) Z phase check invalid –

1 Set the filter depth for Notch filter 1 (SV038). 2

4 nf3 Notch filter 3 stop Notch filter 3 start (1125Hz) 2-2-4 (5)

SV033 SSF2

Servo function selection 2

8 svx Set the performance mode of the servo control. (Only for MDS-C1-Vx)

5 Set the operation frequency of Notch filter 2 (SV046).

9 hvx

A B C D E F

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

(Note) Set to “0” for bits with no particular description

Value 000 001 010 011 100 101 110 111

nfd1

Depth (dB)

DeepÅ

Value 000 001 010 011 100 101 110 111

nfd2

Depth (dB)

DeepÅ

00: By current loop gain 10: High gain mode selected 01: MDS-B-Vx compatible mode

Digital signal output selection 0 : MP scale absolute position detection, offset demand signal output

dos

1 : Specified speed signal output 2 to F : Setting prohibited

selected

Infntly

-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

deep

Infntly

-18.1 -12.0 -8.5 -6.0 -4.1 -2.5 -1.2

deep

11: High gain mode selected

-1 to 100

(Stall [rated]

current %)

-100 to 100

(Stall [rated]

current %)

ShallowÆ

2-5-2

2-4-1 (1)

2-5-3 2-6-2

2-2-4 (1) 2-2-4 (6)

–

2-54

No. Abbrev. Parameter name Explanation Setting range Reference

F E D C B A 9 8 7 6 5 4 3 2 1 0 osvn os2 zeg mohn has2 has1

bit Meaning when “0” is set Meaning when “1” is set Reference

0 has1

1 has2

Setting for normal use (Except for HC)

2 mohn MDS-B-HR motor thermal valid MDS-B-HR motor thermal ignored – 3 4

SV034 SSF3

6 os2 7

8 9 A B C D E

F E D C B A 9 8 7 6 5 4 3 2 1 0 clt clG1 cl2n clet cltq ckab iup tdt

bit Meaning when “0” is set Meaning when “1” is set Reference 0 1 2 3 4 5

6 iup

SV035 SSF4

8 9

A clet

B cl2n

C D E

F clt

Servo function selection 3

Servo function selection 4

5 zeg

(Note) Set to “0” for bits with no particular description.

7 ckab Setting for normal use

Z phase normal edge detection (Setting for normal use) Setting for normal use Overspeed detection level

Set the non-sensitive band of the overshooting compensation type 3 in increments of 2µm at a time.

ovsn

In the feed forward control, the non-sensitive band of the model position droop is set, and overshooting of the model is ignored. Set the standard 2µm (0001).

Td creation time setting Set to “0”. (For machine tool builder adjustment)

tdt

*When using MDS-C1-Vx Series (200V type): Set to “1” when using any of motors from HC152 to HC702 and from HC153 to HC453.

Set the retracting torque for collision detection in respect to the

cltq

maximum torque of the motor. 00: 100% 01: 90% 10: 80% (Standard) 11: 70% Setting for normal use The disturbance torque peak of the

Collision detection method 2 valid Collision detection method 2

Collision detection method 1 Set the collision detection level during cutting feed (G1).

clG1

The G1 collision detection level=SV060*clG1. When clG1=0, the collision detection method 1 during cutting feed won’t function.

Setting for normal use The guide value of the SV059

HAS control 1 valid (HC: High acceleration rate support) HAS control 2 valid (HC: Overshooting support)

Z phase reverse edge detection (Valid only when SV027/bit6=1)

changeover

No signal 2 (Alarm 21) special detection

latest two seconds i s d isp la ye d in MPOS of the servo monitor screen.

invalid

setting value is displayed in MPOS of the servo monitor screen.

2-5-3

–

2-55

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Setting range Reference

F E D CBA98765432 1 0 amp rtyp ptyp

bit Explanation Reference 0 1 2 3 Setting 0x 1x 2x 3x 4x 5x 6x 7x 8x

4 x0 5 x1 CV-110 CR-10

6 x2 CV-220 CR-15 7 x4 CV-37 CR-37 x5 CV-150 CV-450 CV-550 x6 CV-55 CV-260 CR-55

x7 CV-370 x8 CV-75 CR-75

SV036 PTYP*

9 A 0 MDS-C1-CV (Setting when using power supply regeneration)

Power supply type

B 2 3 4 5 6 7

8 9 A to F

D E F

Load inertia

SV037

SV038

SV039

scale

FHz1

LMCD

The parameters marked with * such as PC1* are the parameters enabled when the NC power is turned ON again.

Notch filter frequency 1 Lost motion compensation timing

Set “the motor inertia + motor axis conversion load inertia” in respect to the motor inertia.

SV037 (JL) =

Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to “0”.

Set this when the lost motion compensation timing doest not match. Adjust by increasing the value by 10 at a time.

When the CN4 connector of the drive unit and the power supply are connected, setting below is necessary. To validate the external emergency stop function, add 40h.

ptyp

Not

CV-300

used

x3 CR-22

x9 CV-185 CR-90

*When using MDS-C1-Vx Series (200V type):

Set the regenerative resistor type when MDS-A-CR is used.

rtyp

amp

ettingRegenerative resistor model name

(Note) The “rtyp” setting is required only for MDS-A-CR Series.

*When using MDS-CH-Vx Series (400V type)

Set to “1” when MDS-CH-V1-185 is used.

Always set to “0”.

GZG200W260HMJ 26Ω 80W GZG300W130HMJ × 2 26Ω 150W MR-RB30 13Ω 300W MR-RB50 13Ω 500W GZG200W200HMJ × 3 6.7Ω 350W GZG300W200HMJ × 3 6.7Ω 500W R-UNIT-1 30Ω 700W R-UNIT-2 15Ω 700W R-UNIT-3 15Ω 2100W No setting

Jl + Jm

*100 Jm : Motor inertia

Jl : Motor axis conversion load inertia

Resistance

value

Capacity

0 to 5000

(%)

0 to 9000

(Hz)

0 to 2000

(ms)

2-2-2 2-5-1

2-2-4

–

2-56

No. Abbrev. Parameter name Explanation Setting range Reference

The higher order 8bits and lower order 8bits are used for different functions. “Setting value of SV040” = (Icy*256) + LMCT

SV040

SV041

SV042

SV043

SV044

SV045

SV046

SV047

SV048

SV049

SV050

SV051

SV052

SV053

Abbrev. Parameter name

LMCT (Low order)

(High order)

LMC2

OVS2

OBS1

OBS2

The higher order 8bits and lower order 8bits are used for different functions. “Setting value of SV045” = (Icy*256) + LMCT

Abbrev. Parameter name

TRUB (Low order)

(High order)

FHz2

EMGrt

PGN1sp

PGN2sp

DFBT

DFBN

OD3

Lost motion compensation non-sensitive band

Icy

Current bias 2

Lost motion compensation 2

Overshooting compensation 2

Disturbance observer filter frequency

Disturbance observer gain

Frictional torque

Ib1

Current bias 3

Notch filter frequency 2 Inductive voltage compensation gain

Vertical axis drop prevention time

Position loop gain 1 in spindle synchronous control

Position loop gain 2 in spindle synchronous control

Dual feed back control time constant

Dual feedback control nonsensitive band

Excessive error detection width in special control

Set the non-sensitive band of the lost motion compensation in the feed forward control. When “0” is set, the actual value that is set is 2µm. Adjust by increasing by 1µm at a time. Normally, set to “40” if you use HC202 to HC902, HC203 to HC703. Use this in combination with SV030 and the high order 8bits of SV045.

Set this with SV016 (LMC1) only when you wish to set the lost motion compensation amount to be different depending on the command directions. Set to “0” as a standard. Set this with SV031 (OVS1) only when you wish to set the overshooting compensation amount to be different depending on the command directions. Set to “0” as a standard. Set the disturbance observer filter band. Set to “100” as a standard. To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2). When not using, set to “0”. Set the disturbance observer gain. The standard setting is “100” to “300”. To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1). When not using, set to “0”.

When you use the collision detection function, set the frictional torque.

Set to “0” as a standard. Use this in combination with SV030 and the high order 8bits of SV040.

Set the vibration frequency to suppress if machine vibration occurs. (Valid at 36 or more) When not using, set to “0”. Set the inductive voltage compensation gain. Set to “100” as a standard. If the current FB peak exceeds the current command peak, lower the gain. Input a length of time to prevent the vertical axis from dropping by delaying Ready OFF until the brake works when the emergency stop occurs. Increase the setting by 100ms at a time and set the value where the axis does not drop. Set the position loop gain during the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). Set the same value as the value of the spindle parameter, position loop gain in synchronous control. When performing the SHG control, set this with SV050 (PGN2sp) and SV058 (SHGCsp). Set this with SV049 (PGN1sp) and SV058 (SHGCsp) if you wish to perform the SHG control in the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). When not performing the SHG control, set to “0”. Set the control time constant in dual feed back. When “0” is set, the actual value that is set is 1ms. The higher the time constant is, the closer it gets to the semi-closed control, so the limit of the position loop gain is raised. Set the non-sensitive band in the dual feedback control. Set to “0” as a standard.

Set the excessive error detection width when servo ON in a special control (initial absolute position setting, stopper control, etc.). If “0” is set, excessive error detection won’t be performed when servo ON during a special control.

Explanation

2-57

Setting range Reference

0 to 100

(µm)

0 to 127

-1 to 200

(Stall [rated]

current %)

-1 to 100

(Stall [rated]

current %)

0 to 1000

(rad/s)

0 to 500

(%)

Setting range Reference

0 to 100

(Stall

[rated]

current %)

0 to 127 –

0 to 9000

(Hz)

0 to 200

(%)

0 to 20000

(ms)

1 to 200

(rad/s)

0 to 999

(rad/s)

0 to 9999

(ms)

0 to 9999

(µm)

0 to 32767

(mm)

2-5-2

2-5-1

2-4-1 (1)

2-5-3

2-2-4

2-4-3

2-6-3

–

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

No. Abbrev. Parameter name Explanation Setting range Reference

When SV035 (SSF4)/ bit7 (ckab)=0

SV054

SV055

SV056

SV057

SV058

SV059

SV060

SV061

SV062

SV063

SV064

SV065

Abbrev

ORE

When SV035 (SSF4)/ bit7 (ckab)=1 (Note) This applies to only MDS-C1-Vx Series.

The higher order 8bits and lower order 8bits are used for different functions. “Setting value of SV054” =(NSE*256)+ORE

Abbrev. Parameter name

ORE (Low order)

(High order)

EMGx

EMGt

SHGC

SHGCsp

TCNV

TLMT

DA1NO

DA2NO

DA1MP

DA2MP

TLC

Parameter name Explanation

Set the overrun detection width in the full-closed loop control.

Overrun detection width in closed loop control

If the gap between the motor end detector and the linear scale (machine end detector) exceeds the value set by this parameter, it is judged to be overrun and Alarm 43 will be detected. When “-1” is set, the alarm detection won’t be performed. When “0” is set, overrun is detected with a 2mm width.

Overrun detection width in closed loop control

Special detection

NSE

width for No signal 2

Max. gate off delay time after emergency stop

Deceleration time constant at emergency stop

SHG control gain

SHG control gain in spindle synchronous control

Collision detection torque estimating gain

Collision detection level

D/A output ch. 1 data No. D/A output ch. 2 data No. D/A output ch. 1 output scale D/A output ch. 2 output scale

Tool end compensation spring constant

Set the overrun detection width in the full- closed loop control. If the gap between the motor end detector and the linear scale (machine end detector) exceeds the value set by this paramet er, it is judged to be overrun and Alarm 43 w ill be detected. When “255” is set, the alarm detection won’t be performed. When “0” is set, overrun is detected with a 2mm width.

When SV035 (SSF4)/ bit7 (ckab), this setting is valid. Set the special detection width for No signal 2 (Alarm 21). When “0” is set, overrun is detected with a 15µm width.

Set a length of time from the point when the emergency stop is input to the point when READY OFF is compulsorily executed. Normally, set the same value as the absolute value of SV056. In preventing the vertical axis from dropping, the gate off is delayed for the length of time set by SV048 if SV055’s value is smaller than that of SV048. In the vertical axis drop prevention time control, set the time constant used for the deceleration control at emergency stop. Set a length of time that takes from rapid traverse rate (rapid) to stopping. Normally, set the same value as the rapid traverse acceleration/ deceleration time constant. When executing the synchronous operation, put the minus sign to the settings of both of the master axis and slave axis. When performing the SHG control, set this with S003 (PGN1) and SV004 (PGN2). When not performing the SHG control, set to “0”. Set this with SV049 (PGN1sp) and SV050 (PGN2sp) if you wish to perform the SHG control in the spindle synchronous control (synchronous tapping, synchronous control with spindle/C axis). When not performing the SHG control, set to “0”. Set the torque estimating gain when using the collision detection function. After setting as SV035/bitF(clt)=1 and performing acceleration/ deceleration, set the value displayed in MPOS of the NC servo monitor screen. Set to “0” when not using the collision detection function. When using the collision detection function, set the collision detection level during the G0 feeding. If “0” is set, none of the collision detection function will work. Input the data number you wish to output to D/A output channel. In the case of MDS-C1-V2, set the axis on the side to which the data will not be output to “-1”.

Set the scale with a 1/256 unit. When “0” is set, output is done with the st an dard outpu t unit .

Set the spring constant of the tool end compensation. In the semi-closed loop control, the tool end compensation amount is calculated with the following equation.

Compensation amount= F: Commanded speed R: Radius

When not using, set to “0”.

Explanation

F(mm/min)2 *SV065

R (mm) *10

(µm)

Setting range Reference

-1 to 32767 (mm)

Setting range Reference

0 to 255

(mm)

0 to 127

(µm)

0 to 20000

(ms)

-20000 to

20000

(ms)

0 to 1200

(rad/s)

0 to 1200

(rad/s)

-32768 to

32767

0 to 999

(Stall [rated]

current %)

-1 to 127

-32768 to 32767

(Unit: 1/256)

-32768 to

32767

2-6-1 (3)

2-4-3

2-2-6 (4)

2-5-3

1-1-3

–

2-58

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-1 Setting Initial Parameters ..........................................................3-3

3-1-1 Setting the gear ratio .............................................................................3-3

3-1-2 Initial settings of speed loop gain...........................................................3-3

3-1-3 Confirming the machine specifications value.........................................3-3

3-2 Gain Adjustment ........................................................................3-4

3-2-1 Preparation Before Operation................................................................3-4

3-2-2 Measuring the inertia rate......................................................................3-6

3-2-3 Determining the standard speed loop gain ............................................3-8

3-2-4 Explanation of resonance suppression filter..........................................3-9

3-2-5 Adjusting the adaptive filter..................................................................3-10

3-2-6 Explanation of notch filter ....................................................................3-11

3-2-7 Adjusting the speed loop gain..............................................................3-14

3-2-8 Adjusting the position droop waveform................................................3-16

3-3 Adjusting Acceleration/Deceleration Time Constant................3-22

3-3-1 Rapid traverse feed (G0 feed) .............................................................3-22

3-3-2 Cutting feed (G1).................................................................................3-24

3-4 Initial Adjustment for the Servo Functions ...............................3-25

3-4-1 Standard settings for the lost motion compensation ............................3-25

3-4-2 Excessive error width detection...........................................................3-27

3-4-3 Setting deceleration control time constant...........................................3-27

3-4-4 Adjustment procedures for vertical axis drop prevention control..........3-28

3-5 Procedures for Adjusting Each Functions................................3-29

3-5-1 Voltage non-sensitive zone (Td) compensation...................................3-29

3-5-2 Disturbance observer function.............................................................3-30

3-5-3 Overshooting compensation................................................................3-32

3-5-4 Collision detection function..................................................................3-36

3-5-5 Vertical axis lifting control.....................................................................3-40

3-6 MDS-B-SVJ2 Parameter List...................................................3-42

3-1

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

Prepare the following manual when adjusting the servo parameters for MDS-B-SVJ2 in accordance with this manual.

SPECIFICATIONS AND INSTRUCTION MANUAL

Hereinafter referred to as “Instruction Manual”

When adjusting the servo for the first time (primary adjustment), set and adjust the following items in order from 3-1 to 3-4. “3-5 Procedures for adjusting each function” are set and adjusted only when required.

“MDS-B-SVJ2 Series SPECIFICATIONS AND INSTRUCTION MANUAL“ BNP-B3937

3-1 Setting initial parameters 3-2 Gain adjustment 3-3 Adjusting acceleration/deceleration time constant

s for the primary adjustment, set and adjust the items in order from 3-1 to 3-4.

3-4 Initial adjustment for the servo functions

In this manual, [Normal setting range] of parameters are shown instead of [Setting range]. [Normal setting range] means the range of the value used in actual parameter adjustment (though [Setting range] means the range of the values that does not cause an error).

No. Abbrev. Parameter name Explanation Normal setting range

SV008 VIA Speed loop leading

compensation

“1364” is set as a standard. “1900” is set as standard during SHG control. Adjust in increment of approx. 100 at a time.

700 to 2500

3-2

3-1 Setting Initial Parameters

Input the setting values shown in “4-3 Standard parameter list according to motor” in the instruction manual as for initial parameters before adjusting servo. If a wrong value is inputted, the initial parameter error (ALM37) will occur. In this case, the parameter number causing an error is displayed on the NC screen. Some parameters are determined by the machine specification and they are explained below.

3-1-1 Setting the gear ratio

Input the ratio of gear tooth. When initial parameter error (ALM37) -error parameter number 101 occurs, reconsider the specification as electric gear must be overflowing. (Refer to “4.2.2 Limitations to electric gear setting value” in the specifications manual.) When the machine specification is “rack and pinion” , π is included in the deceleration ratio. In this case, the accurate positioning is impossible to be made. Express the π with a rough fractional number when calculating the gear ratio.

No. Abbrev. Parameter name Explanation

SV001 PC1 Motor side gear ratio

SV002 PC2 Machine side gear ratio

Calculate the reducible number of each gear tooth and set the result. When PC1 < PC2, it is set as deceleration is set. In case that π is included as well as “rack and pinion”, the accurate positioning is impossible to be made as π is calculated into a rough fractional number when calculating the gear ratio.

PC2=Machine side

gear ratio

PC1=Motor side

gear

ratio

3-1-2 Initial settings of speed loop gain

The standard value of speed loop gain (VGN1) is determined by load inertia. If the adjustment has not been done yet, set the standard value of JL=100% (motor only) to JL=200%. Do not set the too large value, or the vibration occurs. Set the value which does not cause a vibration but large enough to perform rapid traverse feed.

No. Abbrev. Parameter name Explanation

SV005 VGN1 Speed loop gain Set JL=100% (motor only) to JL=200% as a standard.

SV008 VIA Speed loop leading

compensation

Set 1364 as a standard.

3-1-3 Confirming the machine specifications value

Confirm the following machine specifications value to be set in axis specifications parameters.

M60S

Series

#2001 rapid Rapid traverse rate Set the rapid traverse rate.

#2002 clamp Cutting feed clamp

#2003 smgst Acceleration/

Abbrev. Parameter name Explanation

Confirm the maximum rotation speed of the motor. Specify the maximum speed of the cutting feedrate.

speed

deceleration mode

Even though the feedrate for G01 exceeds this value, clamped with this speed. Set in accordance with machine specifications. In machine tools, rapid traverse feed is generally set to “Linear acceleration/deceleration” mode and cutting feed is generally set to “Exponent acceleration/deceleration” mode. S-pattern (soft) acceleration/deceleration function is occasionally used for the machine with a large inertia.

3-3

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-2 Gain Adjustment

3-2-1 Preparation Before Operation

(1) Confirming the safety

The servo is ready to be operated when the initial parameter settings are completed. Confirm the safety by checking the following items before operation.

Cancel the emergency stop and make READY ON.

Confirm the axis movement by using a manual pulse generator.

Confirm the soft limit movement by using a manual pulse generator.

Make a program taking account of axis movement range.

Specify the single block operation and set the rapid traverse override to less than 25%.

Is any alarm occurring?

re there any vibration or strange sound?

Is the load too large? (Is the current too large?)

Does the axis stop before hitting the machine? Confirm the soft limit (over travel) protection.

Make a program taking account of soft limit position.

(Refer to the sample program.)

Move slowly at first confirming the program.

Move axis forward and backward by memory operation (program operation). If there is no problem, cancel the single block and raise the override up to 100% gradually.

If the acceleration current is too large, make acceleration/deceleration time constant longer. If there is more than 100% of acceleration current, that will be enough.

(Sample program of rapid traverse feed for reciprocating operation)

G28 X0; X axis zero return N01 G90 G0 X-200.

Make sure not collide. No “.” means 200µm, do not fail to add “.”.

; Move X axis to X= -200 with rapid traverse feed by absolute position command (the line N01).

Do not fail to confirm the soft limit movement (over travel) to prevent collision.

CAUTION

Be careful of the position of other axes and pay attention when the cutter has already mounted as the collision possibly occurs before the soft limit.

3-4

(2) Confirm the acceleration/deceleration waveform with a Hi-coder

Measure the speed FB waveform and current FB waveform during acceleration/deceleration after connecting a Hi-coder.

(Items to be checked)

1) Voltage output level (ch.1, ch.2)

2) Zero level (ch.1, ch.2)

3) Output polarity of the current FB

Make sure that the Hi-coder data is reliable as the rest of the servo adjustment procedures which will be done later depend on this Hi-coder data.

Output zero level can be adjusted on servo side. (Refer to [1-2-4 (4) Setting the offset amount] in this manual.)

Speed FB

[1000 r/min/div]

SV061 = 1 SV063 = 0

Current FB

[100 %/div] SV062 = 2 SV064 = 0

Speed FB

[1000 r/min/div]

SV061 = 1 SV063 = 0

Memory Single

Memory

shot

Acceleration/deceleration waveform of

Single

shot

Scroll

reciprocating operation

Scroll

can be compared easily in case that the operation conditions including parameters are changed.

The waveforms shown in this manual are measured at one acceleration/deceleration as the

Current FB

[100 %/div] SV062 = 2 SV064 = 0

reciprocating operation includes the same waveform which has different polarity. In case of the waveform shown the right, the trigger level is set as follows;

ch.1: 100mV ↑direction

No. Abbrev. Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. SV062 DA2NO D/A output channel 2 data No. SV063 DA1MPY D/A output channel 1 output scale SV064 DA2MPY D/A output channel 1 output scale

The data No. to be output each D/A output channel is output.

When “0” is set, the output will be made with the standard output unit. To change the output unit, set a value other than “0”. The scale is set with a 1/256 unit.

Determine the measuring timing

by setting the trigger

Normal

setting range

0 to 30

100 to 102

-32768

to 32767

3-5

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-2-2 Measuring the inertia rate

Measure the load inertia by using a servo drive unit to determine the standard speed loop gain (standard VGN1). Set the measured load inertia rate in the servo parameter SV 037.

(1) Measuring the inertia with the disturbance observer

Measure the unbalance torque and set it in SV032.

Set “SV037=100”, “SV043=600” and “SV044=0”.

Set “SV061=1”, “SV062=7”, “SV063=0”, and “SV064=0”.

Change SV037 during acceleration/deceleration so that the estimated disturbance torque becomes flat.

Designate the load inertia scale as the value of SV037 at which the estimated disturbance torque becomes the flattest.

In case of horizontal axis, set “SV032=0”. In case of vertical axis, refer to “3-4-1 (1) unbalance torque and frictional torque ”.

No need to compensate the disturbance observer itself. Therefore, set gain (SV044) to “0”.

Output the estimated disturbance torque to D/A output ch.2.

Make a program taking account of the soft limit position. (Refer to the sample program)

The load inertia rate of the following example including the motor itself is JL = 3.4 × JM. (Set SV043 back to “0” and take a note of SV037)

Speed FB

[1000r/min/div]

SV061 = 1

Estimated

disturbance

torque [100%/div] SV062 = 7

Memory

Single

shot

Cursor

SV037 = 100

(Too low)

Memory

Single

shot

Cursor

SV037 = 340

(Optimum)

3-6

Memory

Single

shot

Cursor

SV037 = 500

(Too high)

(2) Measuring the inertia with collision detection

The load inertia measured by a servo drive unit can be displayed in the NC monitoring screen.

Measure the unbalance torque and set it in SV032

Measure the frictional torque and set it in SV045.

In case of horizontal axis, set “SV032=0”. In case of vertical axis, refer to “3-4-1 (1) Unbalance torque and frictional torque”.

Refer to “3-4-1 (1) Unbalance torque and frictional torque” for the details of frictional torque measurement.

(SV003=33, SV004=86, SV057=187)

Set to SHG control.

Set “SV034=0003”, “SV060=0”.

ccelerate/decelerate, and the load inertia rate (%) will be displayed in [MAX CURRENT 1] in NC SERVO MONITOR screen. The displayed value is the converged value after performing acceleration/deceleration a couple of times.

[SERVO MONITOR] ALARM/DIAGN 2. 1/6 <X> <Y> <Z> GAIN (1/sec) 33 0 0 DROOP (i) 15151 0 0 SPEED (rpm) 3000 0 0 CURRENT (%) 25 -2 -48 MAX CUR 1(%) 340 288 290 MAX CUR 2(%) 0 3 50 OVER LOAD(%) 15 12 27 OVER REG (%) 30 16 22

MP DISP D1 D2 D3 LARM

LSK mm ABS G40 G54 MEMORY MESSAGE SERVO SPINDLE I/F DIAGN MENU

Screen of M64S when load inertia rate of X axis is set to be displayed

Refer to [3-2-8 (4) SHG control] for the details of SHG control.

[MAX CURRENT] in NC servo monitoring screen is changed to the load inertia.

cceleration/deceleration is performed with the time constant at which the acceleration/deceleration exceeds 100%. When setting to READY OFF, the calculation result is reset.

Load inertia rate is displayed here. However, more than 1000% cannot be displayed. (In this case, “***” will appear.) In case that the load is too large, measure with a disturbance observer method.

When measuring the load inertia with collision detection, the result of measurement

CAUTION

will be changed if the setting valued of unbalance torque (SV032) or frictional torque (SV045) is changed. Set the exact frictional torque to measure the load inertia as precisely as possible.

3-7

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-2-3 Determining the standard speed loop gain

The standard speed loop gain (standard VGN) is determined referring to the respective load inertia rate in the following table. With most models, vibration will occur if the standard VGN is set, so at this point, use this as the target value for adjusting the gain.

No. Abbrev. Parameter name Explanation

SV005 VGN1 Speed loop gain Determine the standard setting value by measuring load inertia scale

and referring to the graph below.

Standard VGN1

Motor only

500

<HC>

400

300

200

100

2 4 63 5

HC203*

HC352*

HC202*

HC52 HC102 HC152

HC202 HC53 HC103 HC153 HC102* HC152*

600

<HAN>

500

HA80N/83N/100N

400

300

200 100

1.5

HA103N*

HA200N*

2.5 3.5

Standard VGN1

Load inertia scale (%) Setting value for SV037

Standard VIA range

600

<HC-SF>

500

HC-SF203 HC-SF353

400

300

200

100

Load inertia scale (%) Setting value for SV037

HC-SF52 HC-SF102 HC-SF152

300 700

500 900

HC-SF352, HC-SF153

HC-SF53, HC-SF103

VIA

HC-SF202

VIA

1500

1000

500

1100

Load inertia scale (%) Setting value for SV037

<HC-RF>

100 200 400

Load inertia scale (%) Setting value for SV037

600300 500

Standard VGN1

100

<HC-MF>

100 500 30001000 25002000 1500

Load inertia scale (%) Setting value for SV037

HC-MF053 HC-MF13

Standard VIA range

HC-MF73

HC-MF23 HC-MF43

VIA

1500

1000

100

<HA-FF>

100 500300 700 1100900

Load inertia scale (%) Setting value for SV037

HA-FF33

HA-FF053

HA-FF63

-FF43

Normal

setting range

10 to 600

HA43N

HA40N

HA053N/13N HA23N/33N

HC-RF103 HC-RF153 HC-RF203

HA-FF23

-FF13

3-8

3-2-4 Explanation of resonance suppression filter

(1) Resonance suppression filter specifications

The following three resonance suppression filters are used with the MDS-B-SVJ2 series.

MDS-B-SVJ2 resonance suppression filters

Frequency range Frequency settings Depth compensation settings

Adaptive filter Approx. 400Hz to 900Hz Automatically set Adjust filter sensitivity

Notch filter 1 100Hz to 2250Hz SV038 SV033.bit0 to 3 Notch filter 2 750Hz to 2250Hz SV033.bit4, 5 None

(2) Filter setting frequency

There may be several machine resonances, so three types of filters are used according to the resonance frequency. The adaptive filter automatically sets the resonance frequency, but since the resonance point is easily converged to approx. 600Hz, notch filters are used at the other frequencies. In other words, notch filter 1 is used for resonance at frequencies lower than the adaptive filter, and notch filter 2 is used for resonance at frequencies higher than the adaptive filter. This supports the entire range between 100 and 1200Hz where machine resonance occurs.

Used range

Adaptive filter

Notch filter 2 (SV033.bit4, 5)Notch filter 1 (SV038)

Depth compensation is required.

Setting range of Notch filter 2

Setting range of Notch filter 1

0 100 200 300 400 500 600 700 800 900 1000 1200Hz1100

Control band of servo

Range of adaptive filter

Resonance frequency

POINT

The adaptive filter is easily converged to somewhere between 500 and 700Hz, so use notch filters to remove the resonance at other areas.

3-9

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-2-5 Adjusting the adaptive filter

For the MDS-B-SVJ2, the machine resonance is first removed with the adaptive filter. The frequency does not need to be set for the adaptive filter, but the filter sensitivity must be adjusted. If the operation gain (filter depth) is not sufficient, raise the filter sensitivity, and carry out acceleration/deceleration to fully converge the filter coefficient. (Target filter gain 30% or less)

START adaptive filter adjustment.

Set the standard VGN for the isolated motor (load inertia scale 100%) for the speed loop gain (VGN1: SV005).

Start at state where there is no vibration. Refer to section "3-2-3 Determining the standard speed loop gain".

Start the adaptive filter.

Set: SV027 = C000

SV034 = 0004.

Start the adaptive filter and set the monitoring display.

Perform the reciprocating operation confirming the value of

[MAX CURRENT 1 and 2]

in servo monitoring screen.

MAX CURRENT 1: Adaptive filter operation frequency (Hz) MAX CURRENT 2: Adaptive filter operation gain (%)

VGN1 can be raised up to a standard value.

Operation gain ≤ 30%?

MAX CURRENT

2 ≤ 30?

SV005 ≥ Standard VGN1?

YES

SV033 ≥ 0800?

Raise SV005 by 20%

Raise the filter sensitiveness.

(Raise SV033 by 0100 at a time.)

Perform the reciprocating operation confirming the value of

[MAX CURRENT 1 and 2]

in servo monitoring screen.

Stop the adaptive filter.

Set: SV027 = 4000

SV034 = 0000

YES

POINT

Not necessary to set up the

adaptive filter.

For MDS-B-SVJ2, adjust the adaptive filter first.

3-10

Confirm the frequency, and the

adjustment is completed.

3-2-6 Explanation of notch filter

The resonance that cannot be removed with the adaptive filter is removed with the notch filters. The notch filter is set when the speed loop gain is adjusted. The methods for setting the notch filter are explained here first. The notch filter is set with the methods explained in "3-2-7 Adjusting the speed loop gain".

(1) Setting notch filter 1

Check the operation frequency of the adaptive filter adjusted before, and make sure that the filter frequencies are not overlapped. The operating frequency parameter can be set in 1Hz increments, but the internal control will function at the frequency shown below which is the closest to the setting value. Set the setting frequency shown below in the parameter when adjusting the notch filter. The depth compensation is a function that sets the notch filter at a low frequency. A stable notch filter can be set even at a low frequency. Usually, the standard value that matches the setting frequency is set as shown below.

Setting frequency and standard filter depth for notch filter 1

Setting

frequency

2250Hz 0 281Hz 4 150Hz 8 1125Hz 0 250Hz 4 141Hz 8

750Hz 0 225Hz 4 132Hz 8 563Hz 0 205Hz 4 125Hz 8

450 Hz 0 188Hz 8 118Hz 8

375Hz 4 173Hz 8 113Hz 8 321Hz 4 161Hz 8 107Hz 8

Standard filter

depth

Setting

frequency

Standard filter

depth

Setting

frequency

Standard filter

depth

(2) Setting notch filter 2

Notch filter 2 is set with two bits as shown below. There is no depth compensation. The function is the same as when using notch filter 1 with a filter depth of 0.

Setting frequency for notch filter 2

Parameter setting No filter 2250Hz 1125Hz 750Hz

SV033. bit4 0 1 0 1 SV033. bit5 0 0 1 1

1. If the notch filter is set to a low frequency of 400Hz or less, vibration could recur at a frequency lower than the lower frequency. In this case, use depth compensation so that the filter functions at a shallower (weaker) level and suppress the vibration.

POINT

2. The adaptive filter functions rather gradually, so there may be cases when the resonance cannot be completely removed. Use the notch filter in this case.

3. Jitter compensation is also ef fective for a shaft with la rge backlash. Note that this is effective only for vibration that occurs when the motor is stopped.

3-11

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

(3) Measuring the resonance frequency

The resonance frequency must be measured before setting the notch filter frequency. To measure, gradually increase the speed loop gain to generate vibration, and measure the current waveform with a Hi-corder. It can be measured either the current command or the current feedback; the measured frequency will be the same. The scale setting (SV063, SV064) should be set higher than the standard level so that even minute vibrations can be measured. Once the resonance frequency has been measured, immediately apply emergency stop and stop the vibration. To calculate the vibration frequency, select an easy-to-view range in the Hi-corder grid, and calculate the number of waves generated in one second.

Current command. SV061=4

Current FB SV062=2

Memory

Single

shot

Scroll

7 wave length/30ms: 7÷0.03=233Hz

Measuring vibration frequency (233Hz)

(Measure manually when vibration occurs.)

POINT

If a "squeak" is heard at the instant when acceleration/deceleration is started, the machine is vibrating at a high frequency exceeding 700Hz. The 750Hz or 1125Hz filter is effective in this case.

When generating resonance, make sure that the speed loop gain is not increased

CAUTION

too far resulting in a large vibration. After measuring the resonance frequency, immediately apply emergency stop to stop the vibration. The machine or servo amplifier could fail if vibration is generated for a long time.

(4) Setting the notch filter frequency

After measuring the resonance frequency, refer to the "Setting frequency and standard filter depth for notch filter 1 and 2". Select the setting frequency larger than but closest to the resonance frequency, and set the parameter. Set the depth compensation parameter to the standard filter that matches the frequency. In the example measured on the previous page, the measured resonance frequency is 233Hz. Thus, set the following:

Filter setting frequency = 250Hz, Filter depth = 4

The notch filter easily becomes unstable when a low frequency i s set. Even when set, if

POINT

the resonance frequency changes (the vibration tone changes), the resonance may not be completely removed. If the state is unstable, try using a higher freque ncy. Basically , all resonan ce can be remove d by setting the notch filter. The MDS-C1/CH-Vx series has the following functions in addition to the notch filter. Use those as necessary.

Basically, all resonance can be removed with the notch filter settings. The MDS-B-SVJ2 has the following functions in addition to the notch filter and adaptive filter. Use those as necessary.

3-12

(5) Adjusting jitter compensation

Jitter compensation is effective to eliminate the vibration occurring when the axis motor whose backlash is comparatively large or whose liner movement object is heavy stops. Set (SV027.bit4, 5) from 1 pulse by turn and confirm how it works. Jitter compensation is effective only in case that the vibration is occurred because of the backlash, thus, it does not work when the vibration is caused by other factors. (Even when set, only the vibration tone changes.) If the jitter compensation is not effective, remove the vibration with the notch filter.

Parameter settings related to resonance removing filter

No. Abbrev. Parameter name Unit Explanation

SV038 FHz

SV027 SSF1

F EDCBA98765 4 3 2 10 aflt zrn2 ovs lmc vfct zup <Start jitter compensation> Eliminate the vibration when a motor is stopping.

bit 4 0 1 0 1

5 <Start adaptive compensation> bit Meaning when “0” is set Meaning when “1” is set F aflt Stop adaptive stop. Stop adaptive start.

SV033 SSF2

F EDCBA98765 4 3 2 10 afs fhz2 nfd <Notch filter 1 depth compensation> bit Explanation

<Set the frequency of notch filter 2> bit No filter 2250Hz 1125Hz 750Hz 4 0 1 0 1 5 (Note) Notch filter 2 does not have depth compensation function. <Compensate the adaptive filter sensitiveness> bit Explanation

Notch filter frequency 1

Servo function selection 1

Servo function selection 2

0 to 3 nfd

8 to B

Set the resonance frequency to be suppressed. (Valid at 72 or more). Set “0” when the filter is not used.

No jitter

compensation

vfct

fhz2

afs

0 0 1 1

The more the setting value is raised, the shallower the filter becomes. When “0” is set, the filter is set the shallowest. When setting the filter shallower, the vibration is not suppressed well, however, the control is stabilized and the vibration caused by other factor except for the filter frequency can be prevented.

0 0 1 1

When “0” is set, the sensitivity is set to the standard. The more the setting value is raised, the more the sensitivity to detect the vibration element is raised.

Compensation

pulse 1

Compensation

pulse 2

Compensation

Normal

setting range 150 to 1125

pulse 3

3-13

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

(

3-2-7 Adjusting the speed loop gain

After adjusting the adaptive filter, further raise the speed loop gain (SV005). When the machine starts resonating, set the notch filter to remove the resonance, and adjust the speed loop gain targeting the standard VGN determined from the load inertia. A 30% margin must be secured to ultimately set the standard VGN value, so set a standard VGN x 1.3 value and confirm that resonance does not occur. If the resonance cannot be eliminated even when the notch filter is set, the speed loop gain setting is limited. Set a value 30% lower than the maximum value at which resonance does not occur.

START speed loop gain adjustment.

djust the adaptive filter.

Confirm the vibration by operating the items below.

• Rapid traverse feed (RAPID)

• Change override

• Operate with a manual pulse generator

• Change the axis position

(Or change the table position)

Does vibration occur?

YES

Measure the resonance frequency with Hi-corder.

Set notch filter to the measured resonance fre

uency.

Refer to "3-2-5 Adjusting the adaptive filter".

SV005 ≥ 1.3 × standard VGN1?

Increase the speed loop gain

SV005) by 10 to 20%.

YES

Secure a 30% margin.

Set the speed loop gain (SV005) to standard VGN.

Speed loop gain adjustment is completed.

POINT

Set so that the adaptive filter's operation frequency and notch filter's set frequency are not overlapped.

CAUTION

Do not set the notch filters to the frequency that vibration does not occur as a means of insurance. Setting many notch filters is not a complete safety measure.

3-14

(

)

1. The final SV005 (VGN1) setting value is 70% of the maximum value at which

machine resonance does not occur. If the resonance is suppressed and the SV005 setting is increased by using a vibration suppression function, such as a notch filter,

POINT

<<Reference material>> Machine resonance is not the only vibration that occurs at the servo shaft. Types of vibration that occur at the servo shaft are listed below.

Types of vibration

Machine resonance

Hunting

Isolated machine vibration

Delay in servo control response

The speed loop PI gain (VGN, VIA) is unbalanced

Insufficient machine rigidity

the servo can be adjusted easier later on.

2. If the vibration is caused by resonance (mutual action of servo control and machine

characteristics), the vibration can always be stopped by lowering SV005 (VGN1). If the vibration does not change even when SV005 is lowered, there may be a problem in the machine. The notch filter is not effective when there is a problem i n the machine.

Cause

Vibration

frequency

150Hz to 1kHz

Several Hz

10 to 20Hz

Measures Explanation

• Set the notch filter

• Lower VGN1 (SV005)

• Lower VIA (SV008)

• Raise VGN1 (SV005)

• Use the disturbance observer

• Lower PGN1 (SV003)

• Use S-pattern (soft)

acceleration/deceleration

There may be several resonance points. The vibration can always be stopped by lowering VGN1.

Visually apparent that the shaft vibrates during acceleration, or the shaft trembles when stopped.

The machine vibrates due to impact during acceleration/deceleration. A "clonk" sound may be heard during acceleration.

Judging the type of vibration

Is a vibration sound heard?

YES

sound heard only during acceleration/

Set standard VGN1 for isolated

motor in speed loop gain (SV005).

Is a vibration

deceleration?

YES

Is a vibration sound heard?

YES

Isolated machine vibration

Set standard VGN1 for isolated

motor in speed loop gain (SV005).

Does vibration occur?

Machine resonance

YES

Is the frequency low, and

vibration visible?

Hunting

Vibration other than servo system.

Vibration of oil pump, etc.

YES

3-15

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-2-8 Adjusting the position droop waveform

After adjusting the filter and determining the optimal speed loop gain (VGN1), adjust the speed loop leading compensation (VIA) and position loop gain (PGN) observing the position droop waveform.

(1) Measuring the position droop

During rapid traverse feed, position droop takes a few millimeters. However, the unit of the waveform to be observed is µm and the overflowing waveform is displayed on the Hi-coder. Before adjusting, make the waveform as shown the right display on the Hi-coder. Smooth convergence is the most important thing about position droop waveform. The position droop have to converge smoothly when the speed becomes constant or when positioning is completed and position droop becomes “0”. Both of the waveforms enclosed with circles can be used for gain adjustment, however, the waveform at when positioning is completed is normally used because it enables to confirm the overshooting at the same time when adjusting servo.

When the axis is used for a simple positioning as well as magazine or tool changer, all we have to confirm is the data number 12 (100µm/V). However, it is necessary to confirm that the waveform of the positioning converges smoothly (approaches to “0”) at the data number 13

Speed FB

[1000 r/min/div]

SV061 = 0 SV063 = 0

Position droop

[200 µm/div]

SV062 = 12 SV064 = 0

Speed FB

[1000 r/min/div]

SV061 = 0

Memory

Single

shot

Scroll

Overflowing range

Position droop waveform

Single

shot

Scroll

Confirm here

(10µm/V) in the feed axis of machine tools which requires precision.

3-16

Converge smoothly

Position droop

[10 µm/div]

SV062 = 13

Confirm the waveform

when positioning is completed

(2) Adjusting speed loop leading compensation

There may be no problem when used at a normal load inertia scale. However, if used at a load inertia scale exceeding 500% with an insufficient speed loop gain (SV005) set, the position droop waveform may vibrate just before the motor stops. If the speed loop gain is small, and the shaft has relatively low wear, the motor may repeatedly reciprocate around the stop position resulting in hunting. If vibration of the position droop is not improved much even when the position loop gain (SV003) is lowe red, the leading compensation (SV008) value set for the proportional gain (SV005) is too large, so lower SV008 by approx. 100.

No. Abbrev. Parameter name Explanation

SV008 VIA Speed loop leading

compensation

1364 is set as a standard. 1900 is set as a standard during SHG control. Adjust in increments of approx. 100.

Memory

Single

shot

Scroll

Memory

Speed FB

[1000 r/min/div]

SV061 = 1 SV063 = 0

Lower SV008

Single

shot

Scroll

Normal

setting range

700 to 2500

Position droop

[20 µm/div] SV062 = 13 SV064 = 0

POINT

Insufficient speed loop gain

After adjusting speed loop leading

compensation (SV008)

1. The vibration can be eliminated by lowering VIA (SV008); however, VIA is only effective for balancing with proportion gain (VGN1) in this case. As long as SV005 (VGN1) is set lower than the standard value, high–accuracy control cannot be expected.

2. Disturbance observer can also suppress the vibration. (Refer to “3-5-2 Disturbance observer.”)

3-17

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

(3) Adjusting position loop gain

No. Abbrev. Parameter name Explanation

SV003 PGN1 Position loop gain 1 Set 33 as a standard. Adjust in increments of approx. 3. If PGN is

increased, cutting precision will be improved and the setting time will be shortened.

Limit of the position loop gain

Limit of PGN Phenomenon Cause Remedy

Limit of speed loop characteristics Limit of machine characteristics

Insufficient speed loop gain (VGN1)

Insufficient machine rigidity

Suppress the resonance more and raise VGN. Use disturbance observer.

Use SHG control function. Use S-pattern acceleration/deceleration function when vibration occurs in rapid traverse feed. (NC function)

Memory

Single

shot

Scroll

Memory

Single

shot

Scroll

Speed FB

[1000 r/min/div]

SV061 = 1 SV063 = 0

Lower

PGN

Normal

setting range

12 to 47

Position droop

[20 µm/div] SV062 = 13 SV064 = 0

CAUTION

After adjusting PGN (23SHG) PGN is too high (33SHG)

Set the same position loop gain (PGN) to all the interpolation axes. (For the PGN of X, Y, Z axes, set the smallest value of the three to all of X, Y, Z axis.)

3-18

(4) SHG (Smooth High Gain) control

A high-response control and smooth control (reduced impact on machine) were conventionally conflicting elements; however, SHG control enables the two elements to function simultaneously by controlling the motor torque (current GB) with an ideal waveform during acceleration/deceleration. Start the adjustment with PGN1=23 (hereinafter referred to as 23SHG) for the feed axis of a machine tool at first. Try to adjust the SHG value so that it become as close to 33SHG as possible. If more than 33SHG can be set, this machine tool is a precision machine. If more than 23SHG can be set, the machine tool precision is good enough. SHG control function is efficient for feed axes of machine tools (X axis, Y axis or Z axis of the machining center etc.) to meet the demand of high-speed and high–accuracy cutting. When changing normal control to SHG control, start adjusting, by setting PGN1 to “1/2”. SHG control is as effective as when PGN1 is doubled. SHG control also can shorten the cycle time as it reduces the setting time.

No. Abbrev. Parameter name

SV003 PGN1 Position loop gain 1

SV004 PGN2 Position loop gain 2

SV057 SHGC SHG control gain

SV008 VIA Speed loop leading

compensation

SV015 FFC Acceleration feed

forward gain

Memory

Single

shot

Scroll

Setting

ratio

1 12 15 18 21 23 26 33 38 47

8 3

6 72 90 108 126 140 160 187 225 281

Set 1900 as a standard for SHG control.

Set 100 as a standard for SHG control. 0 to 300

32 40 48 56 62 70 86 102 125

Setting example

Memory

Single

shot

Scroll

Normal

setting range

12 to 47

32 to 125

72 to 281

700 to 2500

Speed FB

[1000 r/min/div]

SV061 = 1 SV063 = 0

Current FB

[50%/div] SV062 = 2 SV064 = 0

CAUTION

Little delay with fast positioning

Ideal acceleration waveform Torque is not constant

SHG control (PGN = 26SHG) Normal control (PGN=26)

The SHG control is an optional function. Confirm if the option is set in the NC with a System Specification Order List.

3-19

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

(5) Confirming overshooting

Adjust to make overshooting amount become less than 1 µm.

Cause and remedy of overshooting

Speed FB

[1000 r/min/div]

SV061 = 1

Waveforms

Position droop

[20 µm/div] SV062 = 13

-Position loop gain is too high.

-Acceleration feed forward gain (SV015) is too high.

-Torsion of the machine system is too large. If a machine has a torsion factor, overshooting is easily

Cause

caused as the axis is pushed to a stop when positioning.

-Lower the position loop gain

-When acceleration feed forward gain (SV015) is set to more than “100”, lower it.

-If nothing has improved after lowering gain parameter, use overshooting compensation as the cause seems to be on machine

Remedy

side. Overshooting can be resolved by 1% to 3% of compensation. (Refer to “3-5-3 Overshooting compensation” in this manual)

During rapid traverse feed During pulse feed

Memory

Single

shot

Scroll

Position

command

[20 µm/div]

SV061 = 30

Position FB

[20 µm/div]

SV062 = 10

-Position loop gain is too high.

-Friction of the machine system is too large. If the machine static friction is too large, overshooting is easily caused as a large torque is maintained when the machine starts operation.

-If the general motion of the machine is unstable, possibly caused by the machine-side problem.

Memory

Single

shot

Scroll

POINT

If more than “100” is set in acceleration feed forward gain (SV015) during SHG control, overshooting will be caused easily.

3-20

(6) Adjusting the position droop waveform

START position droop waveform

adjustment.

SHG control?

Confirm that the SHG control function is optioned.

Set SV003 = 23

Does droop vibrate

when positioning?

Confirm the balance in PI control.

Lower SV008 by 100.

YES

Has vibration suppressed?

Set SV008 back to a standard value and; lower SV003 by 3 during normal control. lower the gain by 1 grade during SHG control.

YES

SV004 = 62 SV057 = 140 SV008 = 1900 SV015 = 100

YES

Confirm that the SHG control function is optioned.

Confirm the speed loop limit.

Confirm machine limit.

YES

Lower SV003 by 3 during normal control. Lower the gain by 1 grade during SHG control.

Perform rapid traverse reciprocating operation or manual pulse feed with a maximum scale.

Is position droop waveform

overshootin

Does position droop

waveform vibrate?

Does machine vibrate or

make strange noise?

Has position loop gain

reached to its limit?

Using SHG control function?

YES

Raise SV003 by 3 during normal control. Raise the gain by 1 grade during SHG control.

PGN1 target value

-Feed axis of the machine tool : 33SHG

-General peripheral axis : 33 (Determined by considering the machine precision and the setting time.)

YES

Does PGN have to be raised?

Set PGN1 to half of the current value when start adjusting in SHG control.

Determine the PGN limit value for each axis and set the minimum value in all axes. (The same value has to be set in both interpolation axes.)

Position droop waveform adjustment is completed.

3-21

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-3 Adjusting Acceleration/Deceleration Time Constant

3-3-1 Rapid traverse feed (G0 feed)

For rapid traverse feed, linear acceleration /deceleration function is normally used. Occasionally, S-pattern (soft) acceleration /deceleration function is used to ease the collision against machines.

(1) Confirm that the rapid traverse rate ≤ max.

rotation speed

Fist of all, confirm that the rapid traverse rate is less than the maximum rotation speed of the servomotor. Although the maximum rotation speed is faster than the rated rotation speed in general-purpose motor, try not to exceed the rated rotation speed. If the maximum rotation speed exceeds the rated rotation speed when accelerating, the output torque will be limited.

(2) Adjust acceleration/deceleration time constant

by the maximum current command value

Perform the rapid traverse reciprocating operation confirming in NC servo monitor screen and adjust

Speed FB

[1000 r/min/div]

SV061 = 1

Current FB [100 %/div]

SV061 = 2

Position droop

[200 µm/div]

SV062 = 12

Memory

Single

shot

Scroll

acceleration/deceleration time constant so that the maximum current command value during

Waveforms during rapid traverse feed

acceleration/deceleration becomes less than the range of the table shown below. (Acceleration/deceleration time constant is not judged by current FB but by current command.)

(3) Confirm the rapid traverse feed

Confirm that; 1) the machine does not vibrate or make strange noise.

2) the waveforms during acceleration/ deceleration are not disturbed when observing current FB waveform and position droop waveform.

3) the friction torque is normal.

4) confirm 1) to 3) by changing override.

Max. current command value when adjusting acceleration/deceleration time constant (MDS-B-SVJ2)

Motor type Max. current command value Motor type Max. current command value Motor type

HC52 Within 390% HA40N Within 420% HC102 Within 340% HA102* Within 270% HA80N Within 370% HC152 Within 380% HA152* Within 270% HA100N Within 270% HC202 Within 275% HA202* Within 270% HA200N* Within 270% HC352* Within 270% HA053N/13N Within 240% HC53 Within 265% HA103R Within 225% HA23N/33N Within 235% HC103 Within 260% HA153R Within 225% HA43N Within 300% HC153 Within 265% HA203R Within 225% HA83N Within 280%

HC203* Within 270% HA103N* Within 270% (Note 1) The asterisk "*" after the motor model refers to the combination with a one capacity smaller servo amplifier. (Note 2) Refer to the instruction manual “5-3-1 (1) Adjusting the rapid traverse feed” for other motors.

Max. current command

value

3-22

(4) Confirm the current command and the current FB

If the current FB peak becomes larger than the current command peak (over compensation), an overcurrent (alarm 3A) will occur easily. In this case, lower the inductive voltage compensation gain. If the load inertia is large, an adjustment is definitely required.

1) Set “1” in SV034.mon and make current command and current FB to NC servo monitor screen.

2) Adjust the inductive voltage compensation gain (SV047) so that the current FB peak becomes smaller than current command peak by 3% during rapid traverse acceleration/deceleration.

No. Abbrev. Parameter name Unit Explanation

SV047 EC Inductive voltage

compensation gain

SV034 SSF3

F EDCBA98765 4 3 2 10 daf2 daf1 dac2 dac1 mon

bit MAX current 1 MAX current 2 0

0 3

to 4

3 5

7 8toF Setting prohibited.

Servo function selection 3

% Set “100” as a standard. Lower the gain if the current FB

peak exceeds the current command peak.

Max. current command value (%) when power is turned ON.

Max. current command value (%) for 1 second.

Max current FB value (%) when power is turned ON. Load inertia rate (SV059 setting value) Adaptive filter operation frequency (Hz)

PN bus voltage (V) Maximum estimated torque (%) for

1 second Maximum estimated torque (%) for 1 second

Max. current value (%) for 1 second.

Max. current command FB value (%) for 1 second.

Max. current command value (%) for 1 second.

Adaptive filter operation gain (%) Regenerative operation frequency

monitor (times/sec) Max. current FB value (%) for 1 second Max. disturbance torque (%) for 2 seconds (%)

–

[SERVO MONITOR ALARM/DIAGN 2. 1/6

<X> <Y> <Z> GAIN (1/sec) 33 0 0 DROOP (i) 15151 0 0 SPEED (rpm) 3000 0 0 CURRENT (%) 25 -2 -48 MAX CUR 1 (%) 288 288 290 MAX CUR 2 (%) 285 3 50 OVER LOAD (%) 15 12 27 OVER REG (%) 30 16 22

MP DISP D1 D2 D3 LARM

LSK mm ABS G40 G54 MEMORY

MESSAGE SERVO SPINDLE I/F DIAGN MENU

Current command peak Current FB peak

Normal

setting range

70 to 100

Screen of M64S when current FB peak of X axis is set to be displayed

3-23

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-3-2 Cutting feed (G1)

For cutting feed, exponent acceleration/deceleration function is normally used. S-pattern acceleration / deceleration cannot be used as it disables synchronous interpolation.

(1) Reciprocating operation without dwell

During cutting feed, no confirmation of in-position is made before going on to the next step. Adjust acceleration/deceleration time constant during acceleration/deceleration by performing reciprocating operation without dwell. Set the feedrate at the maximum (with “clamp”: axis specification parameter) and confirm the maximum current command during the turn without dwell.

(Cutting feed reciprocating operation Sample program)

G28 X0; X axis zero return N01 G90 G1 X-200. F8000

G1 X0; Turn without dwell and move to X=0 with F5000 cutting feed. G4 X1.0; Dwell for a second. (Pause for a second). Use “X” even for Y axis and Z axis. GOTO 01 Go back to the line N01

; Move X axis to X=-200 with F5000 cutting feed by absolute position command.

Max. cutting feedrate

(2) Adjust acceleration/deceleration time constant by max. current command value

Confirm the maximum current command value in the servo monitor and adjust acceleration/deceleration time constant so that the maximum current command value becomes less than the range of the table shown in the chapter “3-3-1 Rapid traverse feed (G0 feed) ”.

(3) Set all the interpolation axes to the same value as the axis with the longest time constant

For example, set the same value for the cutting feed time constant of X axis, Y axis and Z axis in machining center because interpolation control is required.

(4) Confirm the cutting feed

Confirm: 1) if the machine does not vibrate or make strange noise.

2) if the waveforms during acceleration/deceleration are not disturbed when observing current FB waveform and position droop waveform.

3) 1) and 2) with the override changing.

POINT

Perform reciprocating operation without dwell when adjusting cutting feed (G1) time constant.

CAUTION

1. Set the same value for both the cutting feed time constant and the position loop gain (PGN) between the interpolation axes.

2. With the vertical axis, start with an upward direction from a stop in a downward position without using dwell, and check the current command.

3-24

3-4 Initial Adjustment for the Servo Functions

3-4-1 Standard settings for the lost motion compensation

(1) Unbalance torque and frictional torque

Unbalance torque =

Frictional torque =

(+ Feed load current%) + (– Feed load current%)

(+ Feed load current%) – (– Feed load current%)

Unbalance torque and frictional torque

Horizontal axis Unbalance axis

Lathe: Z axis

In machine tools

Unbalance torque 0

Frictional torque

Vertical machining center: X axis, Y axis Horizontal machining center: X axis, Z axis etc.

The load torque when feeding by about F1000. The difference between load torque and unbalance

Lathe: X axis Vertical machining center: Z axis Horizontal machining center: Y axis etc. The average of the load torque when feeding to both + and – direction by about F1000.

torque when feeding by about F1000.

(2) Setting the standard compensation amount

How to set the standard lost motion compensation amount

Setting item Parameter setting

(1) Start lost motion compensation type 2 SV027.bit9=1 (SV027.bit8=0) (2) Unbalance torque setting SV032 = unbalance torque [%] (3) Lost motion compensation standard amount SV016 = 2 x frictional torque [%] (SV041=0)

CAUTION

When using the disturbance observer, further adjustment by round ness measurement is required because the lost motion compensation amount (SV016) calculated as mentioned above will become over compensation.

3-25

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

(Example)

In case that the load current% is -25% in + direction and -65% in – direction when performing JOG feed by about F1000,

Unbalance torque =

Therefore, set SV032 = -45, SV016 = 40.

No. Abbrev Parameter name Explanation

SV027 SSF1 Servo function Normally type2 is used for the lost motion compensation.

selection1 F EDCBA98765 4 3 2 10 aflt zrn2 ovs lmc vfct zup

bit Explanation 8 00: lost motion compensation stop 10: lost motion compensation type2 9

No. Abbrev. Parameter name Unit Explanation

SV032 TOF Torque offset Stall%

SV016 LMC1 Lost motion

compensation 1

SV041 LMC2 Lost motion

compensation 2

-25+(-65) 2

current %)

(rated

Stall%

(rated

Stall%

(rated

= -45%

lmc

01: lost motion compensation type1 11: Setting prohibited

Set the unbalance torque amount. -60 to 60

Set “2 x (frictional torque)” as an initial value. When using disturbance observer, further adjustment by roundness measurement is required. Set “0” as a standard (initial adjustment value). When “0” is set, compensate the value set in SV016 in both + and – direction.

Frictional torque =

-25 - (-65) 2

= 20%

setting range

Normal

0 to 60

3-26

3-4-2 Excessive error width detection

In most cases, no problem will occur with the standard setting values.

No. Abbrev. Parameter name Unit Explanation

SV023 OD1 Excessive error

detection width during servo ON

SV026 OD2 Excessive error

detection width during servo OFF

mm Calculate as follows by using rapid traverse rate and position

loop gain (PGN1). When “0” is set, the excessive error alarm will not be detected.

OD1=OD2=

Rapid traverse rate (mm/min)

60 × PGN1

(Round fractions off.)

÷2 (mm)

3-4-3 Setting deceleration control time constant

Set the same value as the rapid traverse acceleration/deceleration time constant of each axis. For MDS-B-SVJ2, use the deceleration control as a standard stopping method when emergency stop is inputted.

No. Abbrev. Parameter name Unit Explanation

SV056 EMGt Deceleration time

constant at emergency stop

ms Set the same value as the rapid traverse acceleration

/deceleration time constant.

Normal

setting range

3 to 15

Normal

setting range

0 to 300

CAUTION

If the deceleration control time constant (EMGt) is set longer than the acceleration/deceleration time constant, the over-travel point (stroke end point) could be exceeded. Note that the axis could collide with the machine end.

3-27

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-4-4 Adjustment procedures for vertical axis drop prevention control

Execute the following procedures to the unbalance axis which has a motor brake. Set the shortest required time by confirming the drop amount when the emergency stop is inputted.

START adjustment for vertical axis drop control.

Set “SV048 = 100”.

Cancel the emergency stop.

Input the emergency stop by checking

the coordinate position in NC screen.

Confirm the drop amount.

Has drop amount decreased?

Add “100” to SV048.

YES

Decrease SV048 by “100”

Adjustment for vertical axis drop prevention

control is com

leted.

No. Abbrev. Parameter name Unit Explanation

SV048 EMGrt Vertical axis drop

prevention type

ms Increase the setting by 100ms at a time and set the value where

the axis does not drop.

Normal

setting range

0 to 300

1. This control will not function if the dynamic brake stop is selected with the servo specifications (SV017: SPEC).

POINT

2. This control will not function if an alarm for which the dynamic brakes are set as the stopping method occurs in an axis where vertical axis drop prevention control is being carried out.

3. To compensate the drop amount by another several µm to several 10µm, use section "3-5-5 V ertical axis pull up control during emergency stop".

3-28

3-5 Procedures for Adjusting Each Functions

3-5-1 Voltage non-sensitive zone (Td) compensation

(1) When to use

1) When improving the cutting precision Voltage non-sensitive zone compensation is effectual when the cutting accuracy is

Cutting direction

Motor torque

= 0

worsened before passing the quadrants during circle cutting or when the cutting accuracy while unbalance axis is lowering is worse than while it is rising. In short, voltage non-sensitive zone compensation improves the control precision when the

Deceleration Frictional

torque = torque

control speed is slow and the output torque is controlled with nearly “0”.

(2) Precautions

1) Vibration (resonance) easily occurs Vibration can be inducted as voltage non-sensitive zone compensation can make the same effect as when the current loop gain is raised.

(3) Adjustment procedures

Lowering

For unbalance torque For circle cutting

Frictional torque

Balanced

Unbalance torque

Set the value from 0 to 100% observing the vibration or noise occurrence.

No. Abbrev. Parameter name Unit Explanation

SV030 IVC1 Voltage non-

sensitive band compensation

When 100% is set, the voltage equivalent to the logical

non-energized time will be compensated. Adjust in increments of 10% from the default value 100%. If increased too much, vibration or vibration noise may be generated.

Normal

setting range

0 to 100

3-29

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-5-2 Disturbance observer function

(1) When to use

1) When improving cutting precision Disturbance observer function is efficient to improve the cutting accuracy. For roundness measurement, cutting accuracy can be improved especially at around 45 degrees.

(2) Other precautions

1) Vibration (resonance) is easily caused Disturbance observer is hardly used for some machine characteri st ics.

2) Lost motion compensation has to be adjusted again When changing observer filter pole (SV043) and gain (SV044), the optimal lost motion amount (SV016, SV041) is also changed.

CAUTION

When starting disturbance observer, lost motion compensation has to be adjusted again.

3-30

(3) Procedures for disturbance observer adjustment

START disturbance observer adjustment.

Set the load inertia in SV037.

Lower SV005 (VGN) by 10 to 20%

Set to “level = 0”. SV043 (filter) = 100 SV044 (gain) = 100

Move the axis (by JOG or manual pulse generator) and confirm there is any vibration.

Does vibration occur?

Raise the setting level by 1 grade.

Does vibration occur?

Is the level set to “10”?

Increase SV005 by 1.3 times.

YES

Lower the setting level by 1 grade.

YES

Check the vibration limit of VGN again.

If the vibration still occurs even though “level=0” is set, impossible to use.

YES

Does vibration occur?

YES

Lower SV005 by 10%.

Lower SV005 by 30%.

Disturbance observer cannot be used.

Disturbance observer adjustment

is completed.

No. Item

SV043 Filter frequency 100 200 200 300 300 200 200 300 200 300 300 SV044 Observer gain 100 100 150 100 150 200 250 200 300 250 300

0 1 2 3 4 5 6 7 8 9 10

Setting level

No. Abbrev. Parameter name Unit Explanation

SV037 JL

SV043 OBS1 Disturbance

SV044 OBS2 Disturbance

Load inertia scale

observer filter frequency

observer gain

rad/s/2π

Set the value calculated in the way explained in “3-2-2 Measuring the inertia rate”.

Set the disturbance observer filter band. Set “300” as a standard. If any vibration occurs, lower by 100 at a time. If the setting value is lowered, the compensation will be less effective. Set the disturbance observer gain. Set “100” to “300” as a standard, and lower the setting if vibration occurs.

Normal

setting range

150 to 600

200 to 300

100 to 300

3-31

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-5-3 Overshooting compensation

(1) When to use

1) When compensating overshooting Both overshooting during rapid traverse positioning and during pulse feed can be improved.

Single

Speed FB

[1000 r/min/div]

SV061 = 1

Position droop

[20 µm/div]

SV062 = 13

Memory

shot

Scroll

Position

command

[20 µm/div]

SV061 = 30

Position FB [20 µm/div]

SV062 = 10

Memory

Single

shot

Scroll

Overshooting during rapid traverse positioning Overshooting during pulse feed

(2) Precautions

2) If the compensation amount is too much, the roundness precision will be deteriorated When the overshooting compensation amount is too much, the roundness precision is occasionally deteriorated. Be careful when setting the value which is more than 5% in SV031 (compensation amount).

3) The overshooting which is more than 1µm has to be suppressed Normally the overshooting which is more than 1µm is considered as a problem. If it is less than 1µm is hardly suppressed due to the control resolution.

3-32

MITSUBISHI BNP-B2334B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 PROLOGUE

1-1 Servo Adjustment

1-1-1 Basic knowledge on machines

1-1-2 How to use a high-coder

1-1-3 D/A Output specifications for MDS-C1/CH-Vx

1-1-4 D/A Output specifications for MDS-B-SVJ2

2 MDS-C1/CH-Vx ADJUSTMENT PROCEDURES

2-1 Setting Initial Parameters

2-1-1 Setting the gear ratio

2-1-2 Setting detector specifications

2-1-3 Confirming the machine specifications value

2-2 Gain Adjustment

2-2-1 Preparation before operation

2-2-2 Measuring the inertia rate

2-2-3 Determining the standard speed loop gain

2-2-4 Explanation of notch filter

2-2-5 Adjusting the speed loop gain

2-2-6 Adjusting the position droop waveform

2-3 Adjusting Acceleration/Deceleration Time Constant

2-3-1 Rapid traverse feed (G0 feed)

2-3-2 Cutting feed (G1)

2-4 Initial Adjustment for the Servo Functions

2-4-1 Standard settings for the lost motion compensation

2-4-2 Excessive error width detection

2-4-3 Vertical axis drop prevention control

2-5 Procedures for Adjusting Each Functions

2-5-1 Disturbance observer function

2-5-2 Overshooting compensation

2-5-3 Collision detection function

2-5-4 Voltage non-sensitive zone (Td) compensation

2-6 Full Closed System

2-6-1 Basic knowledge

2-6-2 Speed loop delay compensation

2-6-3 Dual feedback control

2-7 MDS-C1/CH-Vx Parameter List

3 MDS-B-SVJ2 ADJUSTMENT PROCEDURES

3-1 Setting Initial Parameters

3-1-1 Setting the gear ratio

3-1-2 Initial settings of speed loop gain

3-1-3 Confirming the machine specifications value

3-2 Gain Adjustment

3-2-1 Preparation Before Operation

3-2-2 Measuring the inertia rate

3-2-3 Determining the standard speed loop gain

3-2-4 Explanation of resonance suppression filter

3-2-5 Adjusting the adaptive filter

3-2-6 Explanation of notch filter

3-2-7 Adjusting the speed loop gain

3-2-8 Adjusting the position droop waveform

3-3 Adjusting Acceleration/Deceleration Time Constant

3-3-1 Rapid traverse feed (G0 feed)

3-3-2 Cutting feed (G1)

3-4 Initial Adjustment for the Servo Functions

3-4-1 Standard settings for the lost motion compensation

3-4-2 Excessive error width detection

3-4-3 Setting deceleration control time constant

3-5 Procedures for Adjusting Each Functions

3-5-1 Voltage non-sensitive zone (Td) compensation

3-5-2 Disturbance observer function

3-5-3 Overshooting compensation