Navigation

  • Page 1

    PARAMETER MANUALB-65270EN/08 FANUC AC SERVO MOTOR @+ seriesFANUC AC SERVO MOTOR #+ series FANUC LINEAR MOTOR L+S series FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR D+S series

  • Page 2

    • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export lice...

  • Page 3

    B-65270EN/08 DEFINITION OF WARNING, CAUTION, AND NOTE s-1 DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also,...

  • Page 4

  • Page 5

    B-65270EN/08 TABLE OF CONTENTS c-1 TABLE OF CONTENTS DEFINITION OF WARNING, CAUTION, AND NOTE ................................. s-1 1 OVERVIEW ............................................................................................. 1 1.1 NC MODELS AND APPLICABLE SERVO SOFTWARE ................

  • Page 6

    TABLE OF CONTENTS B-65270EN/08 c-2 3.2.1.2 Parameter setting procedure 2 (pole position detection) (optional function) ... 109 3.2.1.3 Parameter setting procedure 3 (OVC alarm parameters) ................................. 120 3.2.2 Smoothing Compensation for Synchronous Built-in Servo Motor .......

  • Page 7

    B-65270EN/08 TABLE OF CONTENTS c-3 5.5 CONTOUR ERROR SUPPRESSION FUNCTION .................................... 224 5.5.1 Feed-forward Function ......................................................................................... 224 5.5.2 Cutting/Rapid Feed-forward Switching Function ..........

  • Page 8

    TABLE OF CONTENTS B-65270EN/08 c-4 5.11 TORQUE CONTROL FUNCTION ............................................................. 371 5.12 USING A SERVO MOTOR FOR SPINDLE CONTROL ............................. 373 5.12.1 Speed Arrival Signal and Zero-Speed Detecting Signal ..............................

  • Page 9

    B-65270EN/08 TABLE OF CONTENTS c-5 C.1 MODEL-SPECIFIC INFORMATION .......................................................... 495 C.1.1 Series 30i/31i/32i-A/B .......................................................................................... 495 C.1.2 Series 35i-B, Power Motion i-A .........

  • Page 10

  • Page 11

    B-65270EN/08 1.OVERVIEW - 1 - 1 OVERVIEW This manual describes the servo parameters of the CNC models using FANUC AC SERVO MOTOR αiS, αiF, βiS, βiF, LiS, and DiS series. The descriptions include the servo parameter start-up and adjustment procedures. The meaning of each parameter is also expl...

  • Page 12

    1.OVERVIEW B-65270EN/08 - 2 - 90D 090E0 For 30i-A SeriesH R V 4 supportedServo softw are series map 90E1 90C 890E8 For 0i-D Series90C 590E5 90G 0 For 30i-B Series and To support a new function with priority Ordinary order Ordinary orderFor two-path systems of the T series Power Motion i-A To s...

  • Page 13

    B-65270EN/08 1.OVERVIEW - 3 - 1.3 RELATED MANUALS The following manuals are available for FANUC AC SERVO MOTOR αi or βi series, LINEAR MOTOR LiS series, or SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series. In the table, this manual is marked with an asterisk (*). Table 1.3 Related manuals Document ...

  • Page 14

    1.OVERVIEW B-65270EN/08 - 4 - Supplementary note In this manual, the servo parameters are explained using the following notation: (Example) Parameter No. Servo parameter function name, function bit 2021 Load inertia ratio #7 #6 #5 #4 #3 #2 #1 #0 2000 PGEX DGPR PLC0 The following α...

  • Page 15

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 5 - 2 SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR Chapter 2, " SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR ", consists of the following sections: 2.1 INITIALIZING SERVO PARA...

  • Page 16

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 6 - 2.1.2 Parameter Initialization Flow Use the procedure below to initialize the servo parameters. For details of each setting item, see Subsection 2.1.3. Servo parameter setting Description of setting Reference item...

  • Page 17

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 7 - 0i-D Series Press the function key several times until the PARAMETER SETTING SUPPORT screen appears. Press soft key [(OPRT)], move the cursor to the SERVO SETTING item, and press [SELECT] to display the PARAMET...

  • Page 18

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 8 - 30i Series → [SYSTEM] → [] → [SV-PRM] If no servo screen appears, set the following parameter as shown, and switch the NC off and on again. #7 #6 #5 #4 #3 #2 #1 #0 3111 SVS SVS (#0) 1: Displays ...

  • Page 19

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 9 - NOTE For linear motors and synchronous built-in servo motors, see Chapter 3, "SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR". αiS series servo motor Motor model Motor specifi...

  • Page 20

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 10 - αiS series servo motor (for 400-V driving) Motor model Motor specification Motor ID No. ( HRV2 ) 90G0 90D0 90E0 90E1 90C5 90E5 90C8 90E8 αiS 2/5000HV 0213 263 03.0 A 01.0 A A αiS 2/6000HV 0219 287 03.0 G 01.0...

  • Page 21

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 11 - NOTE A servo amplifier (αiSV or αiPS) corresponding to voltage information is required. For details, see Section 2.2, "SETTING PARAMETERS FOR LARGE SERVO MOTORS". The number followed by (PDM) is used...

  • Page 22

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 12 - Motor model Motor specificationAmplifier driving Motor ID No. ( HRV2 ) 90G0 90D0 90E0 90E1 90C5 90E5 90C8 90E8 βiS 40/2000 0089 80A 474 03.0 29.0 05.0 F A βiS series servo motor (for 400-V driving) Motor model...

  • Page 23

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 13 - NOTE A βiSVSP servo amplifier is assumed to be used for a combination in which an amplifier with higher power is used. βiF series servo motor Motor model Motor specificationAmplifier driving Motor ID No. ( HR...

  • Page 24

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 14 - (a) Semi-closed feedback loop Setting for the αi Pulsecoder ↓ (Note 1) Necessary position feedback pulses F⋅FG numerator (≤ 32767) per motor revolution = (as irreducible fraction) F⋅FG denomin...

  • Page 25

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 15 - Example of setting If a rack and pinion are used in direct coupling, the radius of the pinion is 10 mm, and the detection unit is 1 µm The rack moves by 20π mm when the motor makes one turn. The number of pu...

  • Page 26

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 16 - Clockwise as viewed from the Pulsecoder Set 111. Counterclockwise as viewed from the Pulsecoder Set -111. FANUC (8) Specify the number of velocity pulses and the number of position pulses. Set the number of velo...

  • Page 27

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 17 - NOTE If the calculated number of position pulses is not an integer, set the nearest integer. Let the calculated value be P and its nearest integer be P'. Then, the position gain and feed-forward coefficient are ...

  • Page 28

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 18 - NOTE 1 If the calculation above results in a fraction, a setting can be made with a fraction. See Item (a)-1. 2 If the number of revolutions of the motor is not an integer multiple of the number of revolutions of ...

  • Page 29

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 19 - NOTE Even if a setting is made with a fraction, set the number of position pulses per motor revolution/M for a semi-closed loop rotary axis when the reduction ratio is N/D. Reference counter = Number of positio...

  • Page 30

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 20 - NOTE If the separate detector-table rotation ratio for the rotary axis is not an integer, it is necessary to set the reference counter capacity in such a way that points where reference counter = 0 (grid points) ...

  • Page 31

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 21 - [Setting unit] Detection unit or 1 µm (→ See the explanation of bit 7 of parameter No. 2420.) If the difference between the Pulsecoder and the separate detector is greater than or equal to the value specified...

  • Page 32

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 22 - (11) Servo loop gain setting Set a value other than 0 as a servo loop gain. Usually, set an initial value of 3000 (30 [sec-1]). (This initial value is adjusted later as needed.) Servo loop gain 3000 (guideline)...

  • Page 33

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 23 - NOTE 1 When using a FANUC absolute Pulsecoder as an absolute position detector and making a setting so that the machine coordinate values on a rotary axis are rounded to 0° to 360° [rotary axis (A-type)], set bi...

  • Page 34

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 24 - 2.1.4 Servo Parameter Initialization Procedure for the Series 0i-D 2.1.4.1 PARAMETER SETTING SUPPORT screen (SERVO SETTING) (1) Displaying the SERVO SETTING screen and entering a value for each setting item On the...

  • Page 35

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 25 - (Parameters to be set) Parameter No. Description Parameter No. Description No.2000#1 Initialization bit No.2022 Direction of movement No.2020 Motor ID number No.2023 Number of velocity pulses No.2001 AMR No.20...

  • Page 36

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 26 - Item name Help message Remarks RESOLUTION (µm) PLEASE SET RESOLUTION OR SIGNAL PITCH OF LINEAR SCALE. These items are displayed when a value other than 0 is set for OUTER DETECTOR and the value indicating a sta...

  • Page 37

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 27 - Item name Parameter No. Setting value CUT/RPD VG SW No.2202#1 1 VG MULT FOR CUT No.2107 150 HRV3 VG MULT. No.2335 200 POSITION GAIN No.1825 5000 FF VALID No.2005#1 M series:1, T series :0 RAPID FF VALID No.1800#3 ...

  • Page 38

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 28 - 2.1.5 Setting Servo Parameters when a Separate Detector for the Serial Interface is Used (1) Overview This subsection describes the setting of servo parameters for using a separate detector of serial output type. ...

  • Page 39

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 29 - Number of counts/rev* Model Backup Magnescale 223 pulses RU77-4096GA Not required Renishaw 223 pulses, 227 pulses RESOLUTE Not required (*) The number of counts of a rotary encoder is the number of counts by the ...

  • Page 40

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 30 - No.2024 = A: Position pulses parameter (32767 or less) No.2185 = B: Position pulses conversion coefficient parameter (Example of parameter setting) [System configuration] • A linear encoder with a minimum resol...

  • Page 41

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 31 - (b) Parameter setting for a linear encoder (analog output type) + high-resolution serial conversion circuit (Parameter setting method) In addition to the settings for a separate detector (bit 1 of parameter No. 1...

  • Page 42

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 32 - [Flexible feed gear] Parameters Nos. 2084 and 2085 Flexible feed gear (N/M) = minimum resolution of the detector [µm] /detection unit of controller [µm] [Number of position pulses] Parameter No. 2024 Number of ...

  • Page 43

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 33 - Number of position pulses = 12500×(motor-to-table reduction ratio) * If the result of the above calculation does not fall in the setting range (0 to 32767) for the number of position pulses, use “position feed...

  • Page 44

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 34 - [Function bit] Set the following function bit to 1. #7 #6 #5 #4 #3 #2 #1 #0 2275 RCNCLR 800PLS 800PLS (#0) A rotary encoder with eight million pulses per revolution is: 1: To be used. RCNCLR (#1) The n...

  • Page 45

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 35 - [Reference counter capacity] Parameter No. 1821 Specify the number of feedback pulses per table turn (detection unit). * If bit 0 of parameter No. 2275 is 0, specify the number of pulses per table turn divided by ...

  • Page 46

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 36 - 1. Rotary axis (A-type) Parameter No. 1815#1 1815#6 1815#0 1817#3 1868 2275#1 2394 Semi-closed mode 0 1 0 0 0 *1 *1 Full-closed mode 1 1 0 0 0 *1 *1 2. Rotary axis (B-type) Parameter No. 1815#1 1815#6 1815#0 18...

  • Page 47

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 37 - [Rotary encoders using a high-resolution interface] • HEIDENHAIN: Rotary encodes (such as the ERA4280, ERA4480, ERA4880, and ERA280) using a HEIDENHAIN interpolation circuit such as the EIB192F whose number of c...

  • Page 48

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 38 - (Example of parameter setting) • The non-binary encoder ERA4480 manufactured by HEIDENHAIN is used. • Signal interval (λ/rev) is 60,000. • The interpolation magnification of the high-resolution serial outpu...

  • Page 49

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 39 - 2.1.6 Setting Servo Parameters when an Analog Input Separate Detector Interface Unit is Used (1) Overview An analog input separate detector interface unit (analog SDU) can be connected directly to an encoder havin...

  • Page 50

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 40 - 2185 Position pulse conversion coefficient (PSMPYL) This parameter is used when the calculation result of the number of position pulses is greater than 32767. (Equation for parameter calculation) Set this paramet...

  • Page 51

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 41 - CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 J(10) and subsequent editions 90E1 01.0 and subsequent editions...

  • Page 52

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 42 - 2185 Conversion coefficient for the number of position feedback pulses (PSMPYL) This parameter is used when the calculated number of position pulses is greater than 32767. (Equation for parameter calculation) Se...

  • Page 53

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 43 - 2.1.8 Setting Parameters When an Acceleration Sensor or Temperature Detection Circuit Is Used (1) Overview The flow indicated below is used to make a connection and setting for using an acceleration sensor (αiGS0...

  • Page 54

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 44 - • When an acceleration sensor or temperature detection circuit is to be added to an axis of a semi-closed system Add a separate detector interface unit for an acceleration sensor or temperature detection circui...

  • Page 55

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 45 - #7 #6 #5 #4 #3 #2 #1 #0 2277 ACC1ON ACC2ON ACC3ON (Power-off parameter) ACC1ON(#7) Specify whether acceleration feedback in the first direction is used or not. 0: Not used 1: Used (Power-off paramet...

  • Page 56

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 46 - NOTE The observation of ACC is supported by SERVO GUIDE version 3.20 or later. #7 #6 #5 #4 #3 #2 #1 #0 2277 ACCNEG ACCNEG(#4) The sign of acceleration feedback is: 0 : Not inverted 1 : Inverted Velo...

  • Page 57

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 47 - PM1TMP(#2) With the first or third separate detector interface unit, a temperature detection circuit is: 1 : Connected 0 : Not connected #7 #6 #5 #4 #3 #2 #1 #0 Diagnosis No.351 PM2TMP PM2ACC PM2ACC(#1...

  • Page 58

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 48 - *1 Bit 1 of No. 1815 = 1: Full-closed 0: Semi-closed *2 Bit 4 of No. 2278 = 1: An acceleration sensor is used with the second or fourth separate etector interface unit. 0: An acceleration sensor is used with the...

  • Page 59

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 49 - Series and editions of system software that support the display of alarms For the Series 30i/31i/32i/35i -B and Power Motion i-A, all series and editions support the display of alarms. 2.1.9 Actions for Illegal...

  • Page 60

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 50 - Whether the servo software detects an alarm can also be determined by checking bit 4 of alarm 4 on the servo tuning screen. #7 #6 #5 #4 #3 #2 #1 #0 Diagnosis No.280 AXS DIR PLS PLC MOT MOT(#0) 1: As the mo...

  • Page 61

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 51 - *1 Basically, the low-order three digits of the 4-digit parameter number indicate the location where an alarm was caused. (When an alarm is due to more than one parameter, these digits and parameter numbers do not...

  • Page 62

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 52 - Alarm detail No. Parameter No. Cause Action 544 545 2054 The internal value of a parameter related to dead zone compensation overflowed. Decrease the setting to the extent that the illegal servo parameter setting ...

  • Page 63

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 53 - Alarm detail No. Parameter No. Cause Action 1183 2118 Although an analog SDU is used, the function for monitoring the difference in error between the semi-closed and full-closed modes is disabled. Set the level on...

  • Page 64

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 54 - Alarm detail No. Parameter No. Cause Action 2113 2211#7 For driving a motor with four windings (when bit 7 of parameter No. 2211 is set to 1) <1> Bit 7 of parameter No. 2211 is not set to 1 for all of the fo...

  • Page 65

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 55 - Alarm detail No. Parameter No. Cause Action 2782 1905#6 2277#5,6,7 2278#0,4 Any of the following settings is made: 1 For use with the first SDU unit, both of an acceleration sensor and temperature detection circu...

  • Page 66

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 56 - Alarm detail No. Parameter No. Cause Action 3553 3603 2355 The value 4 or a smaller number is set. Set the value 5 or a greater number. 3603 2113 2360 2363 2366 The value 95 or smaller number is set. Set the value...

  • Page 67

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 57 - Alarm detail No. Parameter No. Cause Action 5730 5731 5732 5733 5734 5735 5736 5737 2573 A setting for a PS control axis is made for a non-PS control axis. (No.2573) For other than a PS control axis, set this para...

  • Page 68

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 58 - Alarm detail No. Parameter No. Cause Action 10033 2004 Illegal control cycle setting This error occurs if automatic modification is carried out for the control cycle. Correct this parameter related to interrupt cy...

  • Page 69

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 59 - Alarm detail No. Parameter No. Cause Action 10133 2013#0 2014#0 This alarm is issued when HRV3 or HRV4 is set, but the amplifier does not support these control types. HRV3 or HRV4 is unusable for the axis on which...

  • Page 70

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 60 - Alarm detail No. Alarm number Message 10092 10093 456 Invalid current control cycle setting 10103 457 Invalid High-speed HRV setting 10113 458 Invalid current control cycle setting 10123 459 High-speed HRV setting...

  • Page 71

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 61 - Parameter No. Method for changing parameters 30i Series,0i-D Series, and so on 2000#0 1 2023 (Setting target)/10/E 2024 (Setting target)/10/E 2043 (Setting target)/E 2044 (Setting target)/E 2047 (Setting target)×...

  • Page 72

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 62 - 2.1.10 Notes on Using the Control Axis Detach Function (1) Overview Servo software automatically identifies the type of detector connected to an axis, when the power to the CNC is turned on. When the control axis ...

  • Page 73

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 63 - #7 #6 #5 #4 #3 #2 #1 #0 2277 SRLLIN SRLLIN(#2) The detector on the full-closed side is: 0: Automatically identified. 1: Linear serial interface at all times. NOTE 1 A separate detector interface unit i...

  • Page 74

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 64 - (3) Notes • For a full-closed configuration, the use of this function is recommended. • With the Series 30i/31i/32i/35i-B and Power Motion i-A, when an analog input separate detector interface unit is used, th...

  • Page 75

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 65 - 2078 Conversion coefficient (numerator) 2079 Conversion coefficient (denominator) [Setting value] Calculate the coefficients using the following formula: Number of position feedback pulses per motor revol...

  • Page 76

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 66 - * The dual position feedback function is supported by Series 90G0/05.0 and subsequent editions, Series 90E0/30.0 and subsequent editions, and Series 90E1/6.0 and subsequent editions. [Series and editions of appli...

  • Page 77

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 67 - NOTE 1 When the dual position feedback function is used together, since the characteristics of dual position feedback are not considered during the estimation of the position, estimation error is generated accordi...

  • Page 78

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 68 - Fig. 2.1.11.2 (b) Relationships between the speed and position error (c) Setting the alarm level Set the alarm level from thee observed value (13 µm) to the value 0.2 times of position error estimated in rapid...

  • Page 79

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 69 - 2.2 SETTING PARAMETERS FOR LARGE SERVO MOTORS 2.2.1 Motor Models and System Configurations To drive a large servo motor, multiple amplifiers may be used. A system configuration is determined according to the motor...

  • Page 80

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 70 - (30i -A,B Series) PLW4 (#7) The motor with four windings is: 0 : Not used. 1 : Used. 2022 Direction of motor rotation (DIRCT) * Set the same direction as the direction of motor rotation for a motor with two or...

  • Page 81

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 71 - (5) Example of parameter setting • Motor with four windings X 000 .000Y 000 .000 Z 000.000 AMP (Z-axis) AMP(Y-a xis) AMP (X1-axis)Main Main FSSB Pulse coder feedback (connected to the main a xis) CNC Servo moto...

  • Page 82

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 72 - • Motor with two windings X 000 .000Y 000 .000 Z 000.000 AMP (Z-axis) AMP(Y-a xis) AMP (X1-axis)Main Main FSSB Pulse coder feedback (connected to the main a xis) CNC Servo motor with two windings (such as αiS1...

  • Page 83

    B-65270EN/08 2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR - 73 - 2.2.3 Setting Parameters in the Torque Tandem Configuration (1) Overview To drive a motor with two windings in a torque tandem configuration, it is necessary to make settings for torque tandem control and for enab...

  • Page 84

    2. SETTING PARAMETERS OF αiS/αiF/βiS/βiF SERIES SERVO MOTOR B-65270EN/08 - 74 - (4) Example of parameter setting X 000 .000Y 000 .000 Z 000.000 AMP (Z-axis) AMP(Y-a xis) AMP (X1-axis)Main Main FSSB Pulse coder feedback (connected to the main a xis) CNC Servo motor with two windings (such as ...

  • Page 85

    B-65270EN/08 - 75 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR3 SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Chapter 3, " SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR ", consists of the following sectio...

  • Page 86

    B-65270EN/08 - 76 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR WARNING 2 It is recommended to take the following actions until normal operation is confirmed: - Lower the excessive error level so that an alarm is issued immediately when an unpredictable movement ...

  • Page 87

    B-65270EN/08 - 77 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR*1 Encoders with resolutions of 0.05 µm and 0.01 µm are available. *2 Resolution for the α interface (communication via the α interface (two-pair communication) is automatically used for a scale that...

  • Page 88

    B-65270EN/08 - 78 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR (b) When the magnet plate is movable: +111: When the positive direction is specified, the magnet plate moves in the positive direction. -111: When the positive direction is specified, the magnet plate...

  • Page 89

    B-65270EN/08 - 79 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR[400-V driving] Motor model Motor specificationMotor ID No. 90G0 90D0 90E0 90E1 90C5 90E5 90C8 90E8 LiS 1500B1/4 0444-B2 0 358 03.0 G 01.0 A A LiS 3000B2/2 0445-B1 0 361 03.0 G 01.0 A A LiS 4500B2/2HV 044...

  • Page 90

    B-65270EN/08 - 80 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR NOTE 1 Setting this parameter(No.2274(FS30i,16i) or No.2687(FS15i)) to "enable" lets you make the basic parameter settings as explained in Procedure (2). 2 Changing this parameter results in ...

  • Page 91

    B-65270EN/08 - 81 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR2023 Number of velocity pulses (PULCO) (Parameter calculation expression) Number of velocity pulses = 3125 / 16 / (resolution [µm]) If the calculation result is greater than 32767, set up PLC0 = 1, and ...

  • Page 92

    B-65270EN/08 - 82 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR 2084 Flexible feed gear numerator 2085 Flexible feed gear denominator Use a unified detection unit for the flexible feed gear (FFG) parameters according to Tables3.1.1 (e) and 3.1.1 (f). (Parameter ...

  • Page 93

    B-65270EN/08 - 83 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR(Cautions) If the encoder signal pitch is larger than 200 µm, various coefficients used in the servo software may overflow to raise an alarm on invalid parameters, because the setting for the number of v...

  • Page 94

    B-65270EN/08 - 84 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Measuring the activating phase (1) Connect SERVO GUIDE to the CNC, and set channel data as shown below. Select the target axis for measurement, and set the data type to "ROTOR". * For a ...

  • Page 95

    B-65270EN/08 - 85 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR Fig. 3.1.1 (c) If the offset is set with a positive number (with absolute addressing reference marks, before adjustment of the AMR offset) Fig. 3.1.1 (d) If the offset is set with a negative number (with...

  • Page 96

    B-65270EN/08 - 86 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Make a fine activating phase adjustment according to the procedure below. CAUTION In this adjustment, the linear motor is driven by current fed from the DC power supply. So, the CNC does not exercis...

  • Page 97

    B-65270EN/08 - 87 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR(7) Based on activating phase data measured with up to step 6) above, set the AMR offset parameter as described below. Measured phase data value AMR offset setting 0 to 32 (42) −1 × (measured phase d...

  • Page 98

    B-65270EN/08 - 88 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Setting procedure (1) Enable the linear scale with a distance-coded reference marks. #7 #6 #5 #4 #3 #2 #1 #0 1815 DCLx DCLx (#2) The linear scale interface with absolute address referenced ...

  • Page 99

    B-65270EN/08 - 89 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR(7) Specify parameter No. 1240 as required. 1240 Coordinate of the first reference position in the machine coordinate system for each axis Set up the coordinate of the first reference position in the ma...

  • Page 100

    B-65270EN/08 - 90 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Model Motor specification Cooling method Continuous force (N) POVC1 POVC2 POVCLMT RTCURR OVCSTPNo.2062 No.2063 No.2065 No.2086 No.2161LiS7500B2/2 0448-B1 0 No cooling 150032707765832 6710Water cooling ...

  • Page 101

    B-65270EN/08 - 91 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORModel Motor specification Cooling method Continuous force (N) POVC1 POVC2 POVCLMT RTCURR OVCSTPNo.2062 No.2063 No.2065 No.2086 No.2161LiS3300C1/2 0451- B1 0 No cooling660327087491184 8010Water cooling1320...

  • Page 102

    B-65270EN/08 - 92 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Model Motor specification Cooling method Continuous force (N) POVC1 POVC2 POVCLMT RTCURR15000C/2 (360-A driving) 0414 No cooling 300032751209 621579Air cooling 360032744301 894695Water cooling700032677...

  • Page 103

    B-65270EN/08 - 93 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR Overflow occurred. Set the follo wing bits: Bit 6 of No. 2200 = 1 Not larger than 32767Overflow not produced Not larger than 32767Larger than 32767 Larger than 32767 B = A × (velocity loop gain overri...

  • Page 104

    B-65270EN/08 - 94 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 ...

  • Page 105

    B-65270EN/08 - 95 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR Channel 2: Torque command Select the target axis for measurement, and set "TCMD" as the data type. As the conversion coefficient, set the maximum current of the amplifier used for the targ...

  • Page 106

    B-65270EN/08 - 96 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR <6> The compensation parameters slightly vary depending on the measurement situation. So, repeat a data measurement and a press of the [Add] button several times in a similar manner while keepi...

  • Page 107

    B-65270EN/08 - 97 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR3.2 SYNCHRONOUS BUILT-IN SERVO MOTOR PARAMETER SETTING 3.2.1 Procedure for Setting the Initial Parameters of Synchronous Built-in Servo Motors (1) Overview The following describes the procedure for settin...

  • Page 108

    B-65270EN/08 - 98 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Rotary encoder Number of pulses for parameter setting (*1) Remarks Analog encoder (non-binary type) and synchronous built-in servo motor position detection circuit(*2) (*4) λ × 512p/rev λ: Number of...

  • Page 109

    B-65270EN/08 - 99 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR(1) Setting the standard parameters #7 #6 #5 #4 #3 #2 #1 #0 2000 DGPR DGPR(#1) This parameter is set to 0. (Upon completion of automatic loading, this parameter is automatically set to 1.) 202...

  • Page 110

    B-65270EN/08 - 100 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR [400-V driving] Motor model Motor specification Motor ID No. 90G0 90D0 90E0 90E1 90C5 90E5 90C8 90E8 DiS 400/250 0485-B20 420 05.030.007.0 F BDiS 22/600 0482-B10 422 03.0 P 01.0 A A DiS 85/400 0483-B2...

  • Page 111

    B-65270EN/08 - 101 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR+X +Y +Z +C The positive direction of the table matches the positive direction of the rotary encoder. Fig. 3.2.1 (a) Relationship between the table and the rotary encoder (3) Setting of parameters rela...

  • Page 112

    B-65270EN/08 - 102 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Number of velocity pulses=2×λ Number of position pulses=3125×λ/1024 (λ: Number of sine waves per detector revolution) (*2) When a set of an analog encoder (non-binary type) and synchronous...

  • Page 113

    B-65270EN/08 - 103 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORRotary encoder AMR6-AMR0 RCN223F, RCN723F, RCN727F Set the number of motor poles/2 in binary. Analog encoder (binary type) and synchronous built-in servo motor position detection circuit Set the number o...

  • Page 114

    B-65270EN/08 - 104 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Rotary encoder AMR conversion coefficient 1 ( AMRDL : No.2112 ) AMR conversion coefficient 2 ( AMR2 : No.2138 ) αiCZ 1024A Set 0. Set 0. RCN223F, RCN723F, RCN727F Set 0. Set -3. (*2) Analog encoder (...

  • Page 115

    B-65270EN/08 - 105 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR (4) Examples of setting parameters for each rotary encoder type Tables 3.2.1 (g), (h), (i), (j), (k), (l), and (m) provide summarized examples of parameter setting according to the type of rotary encode...

  • Page 116

    B-65270EN/08 - 106 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Table 3.2.1 (j) For RCN223F,RCN723F,RCN727F Symbol name Parameter number Parameter setting Detection unit 1/1000deg Detection unit 1/10000deg AMRDL 2112 0 0 AMR2 2138(*1) -3 -3 PLC0 2000#0 1 1 AMR 200...

  • Page 117

    B-65270EN/08 - 107 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORTable 3.2.1 (l) For analog encoder (binary type) and synchronous built-in servo motor position detection circuit (2) Symbol name Parameter number Parameter setting 16384 λ/revolution 32768 λ/revolution...

  • Page 118

    B-65270EN/08 - 108 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Table 3.2.1 (n) Number of poles and number of pole pairs of each motor model Motor model Motor specification Number of poles Number of pole pairs (number of poles/2) DiS 15/1000 0492-B100 16 8 (000010...

  • Page 119

    B-65270EN/08 - 109 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR3.2.1.2 Parameter setting procedure 2 (pole position detection) (optional function) To drive a synchronous built-in servo motor, the pole detection function (option) is required. This subsection describe...

  • Page 120

    B-65270EN/08 - 110 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR CAUTION 1 When each of two axes for which tandem control or feed axis synchronous control is made has a detector (encoder), perform pole detection one by one by setting the axis for which no pole de...

  • Page 121

    B-65270EN/08 - 111 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR(3) Pole detection procedure Flow Enable the pole detection function (bit 7 of parameter No. 2213) for the target axis.Set the pole detection request signal (Gn135) of the target axis to 1 to start pole...

  • Page 122

    B-65270EN/08 - 112 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR • If pole detection is terminated abnormally due to a mechanical cause, detection error alarm SV0454 is issued. • Detection error alarm SV0454 cannot be released by a reset. Turn off the power the...

  • Page 123

    B-65270EN/08 - 113 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORIf a detection error occurs, protection against an abnormal operation is provided. Operation is monitored until a command after detection is issued. If an abnormal operation is detected, detection error ...

  • Page 124

    B-65270EN/08 - 114 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR (5) Signals for pole position detection function Pole detection request signal RPREQ1 to RPREQ8 [Classification] Input signal [Function] Requests pole detection. This signal is available for each co...

  • Page 125

    B-65270EN/08 - 115 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORSignal address #7 #6 #5 #4 #3 #2 #1 #0 Gn135 RPREQ8 RPREQ7 RPREQ6 RPREQ5 RPREQ4 RPREQ3 RPREQ2 RPREQ1 #7 #6 #5 #4 #3 #2 #1 #0 Fn158 RPDET8 RPDET7 RPDET6 RPDET5 RPDET4 RPDET3 RPDET2 RPDET1 ...

  • Page 126

    B-65270EN/08 - 116 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Symptom State Detection request (Gn135) During detection (Fn158) Detection completion (Fn159) Cause Action [After detection completion]Vibration - OFF ON The phase order of the power line does not ma...

  • Page 127

    B-65270EN/08 - 117 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORSymptom State Detection request (Gn135) During detection (Fn158) Detection completion (Fn159) Cause Action Detection result variation The value of the AMR offset varies in each detection operation. - - -...

  • Page 128

    B-65270EN/08 - 118 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR [Series and editions of applicable system software] For the series 30i/31i/32i/35i-B and Power Motion i-A, all series and editions support this function. The alarm number and message are indicated b...

  • Page 129

    B-65270EN/08 - 119 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORNOTE 1 The issue condition of alarm DS0650 varies, depending on whether the axis in question is an absolute detection axis, as described below. - The alarm is issued with an absolute detection axis (bit ...

  • Page 130

    B-65270EN/08 - 120 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR CAUTION 1 When switching is made by using the detach function among those motors that need the pole detection function, the motors and detectors need to be of the same type. 2 The control axis detach...

  • Page 131

    B-65270EN/08 - 121 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR2086 Current rating parameter (RTCURR) 2161 OVC magnification in stop state (OVCSTP) 2162 Second OVC alarm parameter (POVC21) 2163 Second OVC alarm parameter (POVC22) 2164 Second OVC alarm param...

  • Page 132

    B-65270EN/08 - 122 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Motor model DiS 2100/150 DiS 3000/150 DiS 85/1000 DiS 110/1000 DiS 260/1000 Motor specification 0487-B30 0487-B40 0483-B22 0484-B12 0484-B32 Cooling method No cooling Liquid cooling No coolingLiquid c...

  • Page 133

    B-65270EN/08 - 123 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORMotor model DiS 2000/100 DiS 2000/150 DiS 60/2000 DiS 70/1500 DiS 150/1500 Motor specification 0497-B400 0497-B490 0493-B220 0494-B120 0494-B320 Cooling method No cooling Liquid cooling No coolingLiquid ...

  • Page 134

    B-65270EN/08 - 124 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR Motor model DiS 260/600 DiS 370/300 DiS 800/250 DiS 1200/250 DiS 1500/200 Motor specification 0484-B31 0484-B40 0485-B40 0485-B50 0486-B30 Cooling method No cooling Liquid cooling No coolingLiquid coo...

  • Page 135

    B-65270EN/08 - 125 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORMotor model DiS 1500/100 DiS 2000/100 DiS 2000/150 DiS 5000/50 DiS 60/2000 Motor specification 0497-B300 0497-B400 0497-B490 0488-B400 0493-B220 Cooling method No cooling Liquid cooling No coolingLiquid ...

  • Page 136

    B-65270EN/08 - 126 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR NOTE This function is supported only when using the structure including an encoder that uses 8,000,000 pulses/rev. or below for parameter setting (such as the RCN223 or RCN727 manufactured by HEIDENH...

  • Page 137

    B-65270EN/08 - 127 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORThe measuring instruments that can be used to determine these parameters include "SERVO GUIDE" (Ver. 3.20 or later). By using SERVO GUIDE (Ver. 3.20 or later), these parameters can be determine...

  • Page 138

    B-65270EN/08 - 128 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR <4> Pressing the [ADD] button on the displayed dialog box analyzes waveform data and registers compensation parameter candidates. The "1.5/pole pair" item and "3.0/pole pair"...

  • Page 139

    B-65270EN/08 - 129 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTOR3.3 DETECTION OF AN OVERHEAT ALARM BY SERVO SOFTWARE WHEN A LINEAR MOTOR AND A SYNCHRONOUS BUILT-IN SERVO MOTOR ARE USED (1) Overview When a linear motor or synchronous built-in servo motor is used, the...

  • Page 140

    B-65270EN/08 - 130 - 3. SETTING PARAMETERS OF LINEAR MOTOR AND SYNCHRONOUS BUILT-IN SERVO MOTOR CAUTION When using a linear motor or synchronous built-in servo motor, be sure to monitor the overheat signal by using any of the methods mentioned above. Otherwise, the motor cannot be properly pro...

  • Page 141

    B-65270EN/08 - 131 - 3.SETTING PARAMETERS OF LINEAR MOTOR ANDSYNCHRONOUS BUILT-IN SERVO MOTORNOTE If bits 3, 7 of No. 2300 are set to 1, 1 (to enable overheat alarm detection with the built-in temperature detection circuit) when an αiCZ sensor of old type (A860-2142-Txxx) not supporting the te...

  • Page 142

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 132 - 4 αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT This chapter describes parameter tuning for the FANUC AC SERVO MOTOR αiS, αiF, βiS, βiF, LiS, and DiS series. A servo tuning tool, SERVO GUIDE, is available...

  • Page 143

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 133 - <9> <10> <11> <12> <13> <19> <20> Fig. 4.1.1 (b) Diagnosis screen The items on the servo tuning screen correspond to the following parameter numbers: Table 4.1.1 Co...

  • Page 144

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 134 - 4.1.2 Diagnosis Information List The table below provides a list of servo-related data items displayed on the diagnosis screen. Table 4.1.2 (a) Diagnosis number list Diagnosis No. (DGN) Unit of data Data description R...

  • Page 145

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 135 - Note 1: When a linear motor or synchronous built-in servo motor is used and temperature information (thermistor signal) is connected to a temperature detection circuit, αiCZ detection circuit, linear motor position de...

  • Page 146

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 136 - Note 5: To use diagnosis data about voltage information, the following software and hardware are required: CNC software Series 30i-A : Series G00C, G01C. G02C / 27 and subsequent editions : Series G004, G014, G024 /...

  • Page 147

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 137 - Diagnosis No. Description Value displayed for the FS30i-A and 0i-D Value displayed for the FS30i-B Remarks No.752 DC link voltage information Unit of data: Vrms Valid data range: 0 to 452 (200-V amplifier) 0 to 905 (40...

  • Page 148

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 138 - 4.1.4 Acceleration Monitor Function (1) Overview Width the acceleration monitor function, acceleration feedback can be observed on diagnosis screen No. 354. (2) Series and editions of applicable servo software CNC Ser...

  • Page 149

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 139 - Number Message Description SV0011 SV MOTOR OVER CURRENT(SOFT) The digital servo software detected an abnormal specified value. Possible causes include an unconnected power cable, cable disconnection (open phase), and s...

  • Page 150

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 140 - Number Message Description SV0034 PS HARDWARE ERROR A PS hardware error was detected. → See Supplementary 2. SV0035 SV NO FAILURE No failure occurs in the servo amplifier. → See Supplementary 2. SV0036 PHASE OPEN A...

  • Page 151

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 141 - Number Message Description SV0449 SV IPM ALARM The IPM (Intelligent Power Module) detected an alarm. → See Supplementary 2. SV0600 SV DC LINK OVER CURRENT DC link overcurrent. → See Supplementary 2. SV0601 SV EXTER...

  • Page 152

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 142 - Diagnosis No. OVC data (%) No.750 Action 4: Overcurrent alarms This type of alarm is issued when an extremely large current flows through the main circuit. When an overcurrent alarm is always issued after emergency ...

  • Page 153

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 143 - Number Message Description SV0368 SERIAL DATA ERROR(INT) The communications data could not be received from the built–in Pulsecoder. →See Supplementary 3. SV0369 DATA TRANS. ERROR(INT) A CRC error or stop bit error...

  • Page 154

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 144 - Supplementary 1: Alarm that may occur due to a failure in the Pulsecoder or separate serial detector The Pulsecoder or separate serial detector may be defective. Replace the detector. Supplementary 2: Alarms that may...

  • Page 155

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 145 - Supplementary 5: Software disconnection alarm of the α Pulsecoder This alarm occurs when the absolute position data sent from the built-in Pulsecoder cannot be synchronized with the phase data. Remove the Pulsecoder c...

  • Page 156

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 146 - Number Message Description SV0411 EXCESS ERROR (MOVING) The amount of positional deviation during moving exceeded the parameter No. 1828 setting value. Check the following points: • Whether the motor is not locked. ...

  • Page 157

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 147 - Number Message Description SV0465 READ ID DATA FAILED A read of the ID information for the amplifier has failed at power-on. The FB cable may be connected to the JX5 pin incorrectly. Check the connection and turn the p...

  • Page 158

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 148 - 4.3 ADJUSTING PARAMETERS FOR HIGH-SPEED AND HIGH-PRECISION MACHINING 4.3.1 Servo HRV Control Adjustment Procedure (1) Overview For higher positioning precision, higher precision in the machined surface and machining pr...

  • Page 159

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 149 - (i) Servo HRV2 control (ii) Servo HRV3 control (iii) Servo HRV4 control Fig. 4.3.1 (b) Results of a velocity gain adjustment with each servo HRV control type (arc radius: 10 mm, F4000 mm/min, without usi...

  • Page 160

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 150 - Parameter No. Standard setting value Description 2016 #3 1 Enables variable proportional gain in the stop state 2119 2 (detection unit of 1 µm) 20 (detection unit of 0.1µm) For variable proportional gain function in ...

  • Page 161

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 151 - [Time Constant] Set the initial value of the time constant of acc./dec. according to the high-speed and high-precision function of the CNC used. Table 4.3.1 (d) AI contour control I, AI contour control II (30i Series, ...

  • Page 162

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 152 - NOTE 1 Servo HRV4 can be used with Series 90G0(30i-B Series) or Series 90D0 (30i-A Series). 2 Use of servo HRV4 decreases the maximum number of axes per servo card and limits the maximum torque of the servo motor to 7...

  • Page 163

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 153 - adjustment, a higher velocity gain than the initial value is set, so the frequency of machine resonance can be determined clearly (This gain is tentatively determined. The final velocity gain is determined in step <...

  • Page 164

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 154 - A) Adjustment by torque command waveform 1. Perform rapid traverse with a full stroke of the machine, and observe the torque command when the machine is stopped and when the machine moves at high speed. To observe the ...

  • Page 165

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 155 - [Starting the parameter window] Clicking this button displays the parameter window. [Parameter window main screen] [Velocity control + filter] Fig. 4.3.1 (f) Resonance elimination filter setting screen of SERVO GUID...

  • Page 166

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 156 - [Parameter window main screen] [Acc./dec. + normal control] Fig. 4.3.1 (g) Setting screen for the time constant of acc./dec. in rapid traverse of SERVO GUIDE Fig. 4.3.1 (h) below shows the results of adjustments of ...

  • Page 167

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 157 - • No vibration is allowed in the stopped state. (Region <1>) • Neither vibration nor sound must be generated during acceleration and deceleration. If the TCMD level has reached the maximum value, increase rap...

  • Page 168

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 158 - - +Velocity controlPosition feedback Velocity feed-forward + ++ +Feed-forwardPosition controlCurrent command Velocity command Position command Velocity compensation amount Torque compensation Fig. 4.3.1 (k) Feed-forwa...

  • Page 169

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 159 - [Parameter window main screen] [Contour error suppression + feed-forward] Fig. 4.3.1 (m) Feed-forward function setting screen of SERVO GUIDE (c) Adjusting backlash acceleration To reduce quadrant protrusions (erro...

  • Page 170

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 160 - [Parameter window main screen] [Contour error suppression + backlash acceleration] Fig. 4.3.1 (o) Backlash acceleration function setting screen of SERVO GUIDE (9) Adjustment by using a square figure (adjustment of ...

  • Page 171

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 161 - [Parameter window main screen] [Acc./dec. + AI contour control I (when AI contour control I is used)] Fig. 4.3.1 (r) Automatic corner deceleration function of SERVO GUIDE Fig. 4.3.1 (s) shows the effect of the corn...

  • Page 172

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 162 - (i) Before the adjustment of the acceleration, time constant, and feedrate difference (the tangential feedrate sharply changes to about F2000.) (ii) After the adjustment of the acceleration, time constant, and feed...

  • Page 173

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 163 - [Parameter window main screen] [Contour error suppression + feed-forward] Fig. 4.3.1 (v) Velocity feed-forward function setting screen of SERVO GUIDE (3)-8 Adjustment by using a square with rounded corners (adjustm...

  • Page 174

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 164 - Fig. 4.3.1 (y) shows the change in feedrate from time to time when it is not reduced at an arc part and when it is reduced. Setting the permissible acceleration reduces the tangential feedrate. The change in feedrate a...

  • Page 175

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 165 - Positional deviation due to delay on the X-axis Positional deviation due to delay on the Y-axis (i) Velocity feed-forward: Disabled (ii) Velocity feed-forward: Enabled Fig. 4.3.1 (aa) Reduction of the contour e...

  • Page 176

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 166 - 510 ms TCMDERR10µmTCMDERR 10µm 690 ms (i) Velocity loop I-P control (ii) Velocity loop PI control Fig. 4.3.2 (a) Setting times according to velocity loop control functions (cutting feedrate: F10000 mm/min, requir...

  • Page 177

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 167 - <4> Set a highest possible position gain. While viewing the ERR waveform as shown in Fig. 4.3.2 (d), adjust the position gain so that the overshoot value lies within a requested precision. After setting the posit...

  • Page 178

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 168 - (2) Reduction of a shock by bell-shaped acc./dec. and reduction of the positioning time by the feed-forward function (i) Rapid traverse linear acc./dec. (ii) Rapid traverse bell-shaped acc./dec. (T1 ≥ T2) Fig. 4.3.3 ...

  • Page 179

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 169 - VelocityPosition ERRTCMD20 µm80ms Fig. 4.3.3 (b) Measurement of rapid traverse acc./dec. before adjustment (when the feed-forward function is disabled) The measurement data of Fig. 4.3.3(b) has been obtained under ...

  • Page 180

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 170 - <3> Velocity feed-forward adjustment When feed-forward is enabled, the positioning time can be reduced, but a swell may occur due to insufficient velocity loop response immediately before machining stops. A swel...

  • Page 181

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 171 - 20 µm15 ms Fig. 4.3.3 (e) When an adequate feed-forward coefficient is set 4.3.4 Vibration in the Stop State Vibration generated only in the stop state is caused by the decreased load inertia in a backlash. Adjust th...

  • Page 182

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 172 - Function 1: Velocity loop proportional high-speed processing function #7 #6 #5 #4 #3 #2 #1 #0 2017 PK2V25 PK2V25(#7) 1: Enables velocity loop high cycle management function Function 2: Acceleration feedback...

  • Page 183

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 173 - 4.3.5 Vibration during Travel Vibration is generated during travel by various causes. So, a most appropriate method must be selected after observing the vibration status carefully. <1> Is an auxiliary function ...

  • Page 184

    4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT B-65270EN/08 - 174 - 2079 Dual position feedback: conversion coefficient (denominator) 2080 Dual position feedback: primary delay time constant Function 3: Vibration-damping control 2033 Vibration-damping control function: number of p...

  • Page 185

    B-65270EN/08 4.αiS/αiF/βiS/βiF/LiS/DiS SERIES PARAMETER ADJUSTMENT - 175 - 4.3.7 Overshoot When the machine is operated at high speed or with a detection unit of 0.1 µm or less, the problem of overshoots may arises. Select a most appropriate preventive method depending on the cause of the ov...

  • Page 186

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 176 - 5 SERVO FUNCTION DETAILS Chapter 5, "SERVO FUNCTION DETAILS", consists of the following sections: 5.1 SERVO HRV CONTROL ................................................................................................................ 176 5.2...

  • Page 187

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 177 - NOTE 1 When using servo HRV4 control, use Series 90D0/J(10) and subsequent editions. 2 Series 32i-A, Series 32i/35i –B, and Power Motion i-A do not support servo HRV4 control. 3 For 30i-A Series (Series 90D0 and 90E0), apply the same servo HRV contr...

  • Page 188

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 178 - Series 90G0 or Series 90D0 is required to use servo HRV4 control. 5.1.1 Servo HRV2 Control (1) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Powe...

  • Page 189

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 179 - NOTE Available servo axis numbers (parameter No. 1023) vary with the setting of HRV control. For details, see the following table. Table 5.1.2 (a) Available servo axis numbers 30i–B Series 30i–A Series 0i–D Series Series 90G0 No.1023=8n+1 Se...

  • Page 190

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 180 - #7 #6 #5 #4 #3 #2 #1 #0 2283 NOG54 NOG54(#0) The high-speed HRV current control mode (servo HRV3 control) is: 0: Set only when both G5.4Q1 and G01 are specified. 1: Set when G01 is specified (G5.4Q1 is not monitored). NOTE This function c...

  • Page 191

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 181 - NOTE 1 When the high-speed HRV current control mode is set by the G5.4Q1 command, servo HRV3 control or servo HRV4 control, whichever set in a parameter, is enabled. Therefore, both the servo HRV3 control enable bit and the servo HRV4 control enable ...

  • Page 192

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 182 - <7> This completes parameter setting. To actually enter the high-speed HRV current control mode, G codes must be programmed. (See Subsection 5.1.5, “High-Speed HRV Current Control” for details.) NOTE The velocity loop gain is changed as li...

  • Page 193

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 183 - If a setting is made to enable HRV4 when a detector not supporting high-speed communication is connected, "SV0456 INVALID CURRENT CONTROL PERIOD SETTING ALARM" is issued. Table 5.1.3 (a) Sample configuration of a detector usable with HRV4...

  • Page 194

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 184 - * The assumed CNC is 30i-B. The maximum number of amplifier axes is limited to the maximum number of controlled axes for each CNC model. NOTE For the maximum number of controlled axes, refer to Section 6.2, " Interface to the Amplifiers" ...

  • Page 195

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 185 - Servo card Ax This type has one optical connector. Servo card Bx This type has two optical connectors. • Maximum number of amplifier axes and separate detector interface units that can be connected to one FSSB optical connector Amplifier Separ...

  • Page 196

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 186 - (2) Checking the high-speed HRV current control mode Diagnosis No. 700 is used for checking the status of the high-speed HRV current control mode in servo HRV3 control and servo HRV4 control. After setting servo HRV3 or HRV4 control and turning the p...

  • Page 197

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 187 - NOTE 1 The TCMD filter and resonance elimination filter can be used at the same time by parameter setting. 2 The cutting/rapid switching function is not applied to the resonance elimination filter. (2) Setting procedure (a) Switching of the velocity...

  • Page 198

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 188 - (b) Feed-forward, TCMD filter, 1/2 PI current control switching [Series and editions of applicable servo software] CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i...

  • Page 199

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 189 - #7 #6 #5 #4 #3 #2 #1 #0 2202 VGCCR 0: Always enables the current loop 1/2 PI control function. 1: Enables the current loop 1/2 PI control function for cutting only. NOTE Since this function bit is the same as that of the cutting/rapid vel...

  • Page 200

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 190 - NOTE - If mode switching is performed in a state where the in-position check is set to a large value and position error remains, a shock occurs. - In addition, if the difference between the cutting and rapid traverse position loop gain settings is lar...

  • Page 201

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 191 - (3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 2017 PK2V25 PK2V25 (#7) 1: The velocity loop high cycle management function is used. PK1V/S+ − Calculated in each current loop control cycle +++−PK2VCalculated in each velocity loop contro...

  • Page 202

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 192 - 5.3.2 Acceleration Feedback Function (1) Overview The acceleration feedback function is used to control velocity loop oscillation by using motor speed feedback signal multiplied by the acceleration feedback gain to compensate the torque command. This ...

  • Page 203

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 193 - NOTE This function is disabled when the velocity loop high cycle management function (see Subsection 5.3.1) is used. 5.3.3 Variable Proportional Gain Function in the Stop State (1) Overview The velocity gain or load inertia ratio is generally increa...

  • Page 204

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 194 - When an arbitrary magnification is used for a proportional gain in the stop state during cutting feed, set the function bit for stop judgment level of the function for changing the proportional gain in the stop state. In addition, set the following pa...

  • Page 205

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 195 - • If the mode in the stop state is the rapid traverse mode: Actual velocity gain in the stop state = (velocity gain setting for rapid traverse) × 0.5 (c) When the cutting feed/rapid traverse switchable velocity loop gain function (see Section. 4.3...

  • Page 206

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 196 - (4) Setting parameters <1> Enabling the current loop 1/2 PI control function at all times #7 #6 #5 #4 #3 #2 #1 #0 2203 CRPI CRPI (#2) 1: To enable the current loop 1/2 PI control function <2> To enable the function for cutti...

  • Page 207

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 197 - Low frequency Middle frequencyHigh frequency Classification Eliminatio n of resonan ce compo nent fro m command Eliminatio n of resonan ce compo nent from Fb Stabilizati on of full -closed system Stabilization using accelera...

  • Page 208

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 198 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 Series ...

  • Page 209

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 199 - Table 5.4.2 (a) Parameter setting value of torque command filter Cutoff frequency (Hz) Setting value of parameter Cutoff frequency (Hz) Setting value of parameter 90 95 100 110 120 130 140 150 160 2327 2255 2185 2052 1927 1810 1700 1596 1499 170 18...

  • Page 210

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 200 - (3) Control block diagram Torque command RE filter 1 To motorRE filter 2RE filter 3RE filter 4 This filter can be used as a resonance elimination filter designed to the conventional specification. It can follow the resonance frequency. (RE filter 1 o...

  • Page 211

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 201 - 2368 RE filter 4 : Damping #7 #6 #5 #4 #3 #2 #1 #0 2221 QNOTCH LNOTCH LNOTCH(#1) 0: Resonance elimination filter 4 is used. 1: Resonance elimination filter L is used. (90G0/17.0 and subsequent editions) QNOTCH(#6) Resonance elimination...

  • Page 212

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 202 - CAUTION 1 If damping = 0 for resonance elimination filter 1, this filter has the same specification as for conventional resonance elimination filters. So, its attenuation bandwidth can be set only to 20, 30, or 40 Hz (specification compatible with c...

  • Page 213

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 203 - <3> Improved resonance elimination filter (with two stages of damping) 5.4.4 Disturbance Elimination Filter Function (Low-Frequency Resonance Elimination Filter) (1) Overview The disturbance elimination filter function estimates ...

  • Page 214

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 204 - (3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 2223 DISOBS DISOBS (#0) The disturbance elimination filter function is: 0 : Disabled. 1 : Enabled. 2318 Disturbance elimination filter gain (Kd) [Valid data range] 101 to 500 [Typical settin...

  • Page 215

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 205 - Set a filter time constant for determining an estimated disturbance velocity by using the following expression: Tp = 4096 × exp (-t/T) T: Setting time constant [sec], t = 0.00025 [sec] 2322 Acceleration feedback limit (La) [Valid data range] 0 to 7...

  • Page 216

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 206 - (3) Set the disturbance elimination filter gain to 500 and check the frequency characteristics with SERVO GUIDE while increasing the gain for inverse model starting with 100 in steps of 100. Adjust the value so that the gain swell part becomes small. ...

  • Page 217

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 207 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 P(16) and subsequent editions 90E1 01.0 Series ...

  • Page 218

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 208 - NOTE When the value 4 or a smaller number is specified as the attenuation center frequency, an illegal parameter setting alarm (detail number 3663 or 3603) is issued. Set the value 5 or a greater number. 2356 Resonance elimination filter L/feed-for...

  • Page 219

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 209 - (2) Explanation Fig. 5.4.6 (a) shows a block diagram of the velocity loop including an observer. PK1V/s + PK2VTCMD−Velocity feedbackEstimated speed+Kt/(Jm • s)ObserverVCMD Fig. 5.4.6 (a) Configuration of velocity loop including observer Fig. 5.4....

  • Page 220

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 210 - (3) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 Series ...

  • Page 221

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 211 - Cutoff frequency (Hz) HRV1, HRV2, HRV3 HRV4 POK1 POK2 POK1 POK2 60 1677 1788 511 136 70 1874 2332 1874 183 (6) Setting observer parameters when the unexpected disturbance torque detection function is used The unexpected disturbance torque detection f...

  • Page 222

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 212 - This function has the effect of the machine velocity feedback function, but is superior to the machine velocity feedback function in that restrictions as imposed with the machine velocity feedback function are eliminated. (2) Control method The follo...

  • Page 223

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 213 - (Example 2) If a flexible feed gear is used under the conditions described in example 1 above, Set value = 10,000 × 1/2 × 1/8 = 625 When a flexible feed gear (F⋅FG) is used (In the case of using the analog SDU) Set value = (Travel distance pe...

  • Page 224

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 214 - As shown in Fig. 5.4.8, error counter ER1 in the semi-closed loop system and error counter ER2 in the closed loop system are used. The primary delay transfer function is represented by the following equation: Primary delay time constant = (1 + τs)−...

  • Page 225

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 215 - (Example) When the αi Pulsecoder is used with a tool travel of 10 mm/motor revolution (1 µm/pulse) 10 × 1000=DenominatorNumeratorConversioncoefficient1,000,000)(1=100 2080 Dual position feedback primary delay time constant [Setting value] Set t...

  • Page 226

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 216 - NOTE The function for monitoring the difference in error between the semi-closed and full-closed modes is useful also for monitoring for a problem such as the feedback pulse missing of a separate detector. When only the monitoring of the difference i...

  • Page 227

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 217 - NOTE If a setting is made to perform the function for monitoring the difference in error between the semi-closed and full-closed modes for an axis placed in a simple full-closed loop, the specification for addition of a backlash compensation and pitc...

  • Page 228

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 218 - (6) Zero-width setting for a machine with a large backlash or twist Dual position feedback function (or hybrid function) is used for an axis where a machine backlash of about 1/10 revolution in terms of the motor shaft exists, the machine may stop wit...

  • Page 229

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 219 - (3) Control block diagram Fig. 5.4.9 (a) is a control block diagram PK1V/s + PK2V1/(Jm • s)1/(JL • s)+−Spring couplingPK1V: velocity loop integral gainPK2V: velocity loop proportional gainα : machine speed feedback gainVCMD +−MCMD +...

  • Page 230

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 220 - 2088 Machine speed feedback gain (MCNFB) • When a serial output type separate detector is used or when the flexible feed gear (parameters Nos. 2084 and 2085, parameter Nos. 1977 and 1978) is set to 1/1 (Setting range: 1 to 100 or −1 to −100) ...

  • Page 231

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 221 - (3) Setting parameters (a) Setting machining point control (Function bit setting) To use machining point control, enable the following function bit: #7 #6 #5 #4 #3 #2 #1 #0 2288 MPCEF MPCEF(#7) Machining point control is: 0: Disabled 1...

  • Page 232

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 222 - (Tuning of the timing adjustment parameter) Tune the machining point control timing adjustment parameter so that the acceleration rates (enclosed by the dashed lines in the Fig. 5.4.10 (a)) after acceleration/deceleration based on specified accelerati...

  • Page 233

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 223 - 5.4.11 Torque Command Filter (Secondary) (High-frequency Resonance Elimination Filter) (1) Overview The torque command filter in Subsection 5.4.2 applies a primary low-pass filter to a torque command. On the other hand, the torque command filter (seco...

  • Page 234

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 224 - 5.5 CONTOUR ERROR SUPPRESSION FUNCTION 5.5.1 Feed-forward Function (1) Principle sPosition gainVelocity loop++−Positioncommandα:Feed-forward coefficient (0 to 1)VFF: Velocity loop feed-forward coefficientServo motorSmoothingVFF • s+++α Fig. 5.5...

  • Page 235

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 225 - ∆R2 (Error as a result of acceleration anddeceleration after interpolation.)∆R1 (Error as a result of servo series delay.)Program pathCommand pathActual pathStart point Fig. 5.5.1 (b) Path error during circular cutting (2) Series and editions of ...

  • Page 236

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 226 - Example) When α = 98.5%, ADFF1 = 9850 <3> Specify the velocity feed-forward coefficient. 2069 Velocity feed-forward coefficient (VFFLT) VFFLT = 50 (50 to 200) <4> Run a program to move the axis for cutting feed at maximum feedrate....

  • Page 237

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 227 - 5.5.2 Cutting/Rapid Feed-forward Switching Function (1) Overview This function enables the use of separate feed-forward coefficients between cutting feed and rapid traverse. (2) Series and editions of applicable servo software CNC Servo software Rema...

  • Page 238

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 228 - 5.5.3 Feed-forward Timing Adjustment Function (1) Overview If the feed-forward function is applied with the aim of decreasing contour errors, the same feed-forward coefficient must be used for all axes. Even if a unified feed-forward coefficient is us...

  • Page 239

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 229 - Table 5.5.3 (a) Default feed-forward timing value Default feed-forward timing value No.2415#1=0 No.2415#1=1 30i-A,0i-D Series 30i-B Series 30i-A,0i-D Series 30i-B Series HRV2 control 0 3900 3900 3900 HRV3 control 0 3900 3900 3900 HRV4 control 0 3792 ...

  • Page 240

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 230 - 5.5.4 Backlash Acceleration Function (1) Overview If the influence of backlash and friction is large in the machine, a delay may be produced on reversal of motor, thus resulting in quadrant protrusion on circular cutting. This is a backlash accelerati...

  • Page 241

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 231 - Offset for the velocity command that is to be added immediately after a reverse. 2071 Period during which backlash acceleration remains effective (in units of 2 msec) [Typical setting] 20 to 100 The period during which the acceleration amount is ad...

  • Page 242

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 232 - <5> If a reverse cut occurs, use the backlash acceleration stop function. #7 #6 #5 #4 #3 #2 #1 #0 2009 BLST BLST (#7) 1: To enable the backlash acceleration stop function NOTE When the backlash acceleration stop function is enable...

  • Page 243

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 233 - Backlash acceleration amount = Backlash acceleration amount (setting) × (1+Acceleration amount override × Acceleration )2048 Acceleration = (Feedrate [mm/min])2 ×128 Radius [mm] Detection unit [µm] × 1000 Find a solution of the simultaneous equ...

  • Page 244

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 234 - 5.5.5 Two-stage Backlash Acceleration Function (1) Overview When the machine reverses the direction of feed, two types of delay are likely to occur; one type due to friction in the motor and the other due to friction in the machine. The two-stage back...

  • Page 245

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 235 - 1851 Backlash compensation value For semi-closed mode, specify the machine backlash (minimum of 1). For full-closed mode, specify 1. When the backlash compensation value is not to be reflected in the position, enable the function below additionally...

  • Page 246

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 236 - <7> Adjust observer parameter POA1. The two-stage backlash acceleration function takes the friction torque as an estimated disturbance value by using the observer circuit and determines the first stage acceleration amount. Therefore, observer p...

  • Page 247

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 237 - 2094 First stage acceleration amount from negative direction to positive direction (%) [Unit of data] % Normally, this parameter is set to 0. If the quadrant protrusion varies with the reverse direction of the position command in the machine conditi...

  • Page 248

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 238 - First, set the value of [Typical setting]. Then, while viewing the arc figure, adjust the first stage acceleration amount parameter.(Make an adjustment at a low feedrate of about F500.) First stage acceleration amount (adequate) (Protrusions caused b...

  • Page 249

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 239 - By setting the second stage end scale factor, the second stage acceleration distance may be set to any value. NOTE When the following conditions are satisfied and the adjusted values in 30i-A Series are applied to 30i-B Series, the adjusted values o...

  • Page 250

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 240 - Set the following: Start/end parameter = Value of [Typical setting] Second stage acceleration amount = 500 Then, adjust the start/end parameter while viewing the timing of second stage acceleration from the arc figure. Start/end parameter (insuffici...

  • Page 251

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 241 - 2039 Second stage acceleration amount for two-stage backlash acceleration [Typical setting] 100 (Too large a value could cause a cut at low feedrate.) NOTE When second stage acceleration is not used, set second stage acceleration amount = 0. The s...

  • Page 252

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 242 - Here, let α be a circular acceleration, R be a radius (mm), F be a circular feedrate (mm/min), and P be a detection unit (mm). Then, α can be expressed as: ()PFR/2008.060/2⎭⎬⎫⎩⎨⎧×=α So, the second stage override setting and acceleratio...

  • Page 253

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 243 - 2338 Limit value for the two-stage backlash second stage acceleration amount [Valid data range] 0 to 32767 (if this parameter is 0, no limit is placed to the second stage acceleration amount.) Second stage acceleration amount AccelerationSecond stage...

  • Page 254

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 244 - (4) Neglecting backlash acceleration during feeding by the handle By enabling the bit below, the backlash acceleration function can be enabled only during cutting feed. #7 #6 #5 #4 #3 #2 #1 #0 2009 BLCU BLCU (#6) 1: To enable backlash acce...

  • Page 255

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 245 - First stage acceleration Start of reverse operationSecond stage accelerationSecond stage start position (set in the detection unit) Second stage end position (set with a scale factor of start distance)First stage acceleration The initial value is ou...

  • Page 256

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 246 - 5.5.6 Static Friction Compensation Function (1) Overview When a machine, originally in the stop state, is activated, the increase in speed may be delayed by there being a large amount of static friction. The backlash acceleration function (see Subsect...

  • Page 257

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 247 - Offset for the velocity command that is to be added at the start of travel from a stopped state 2073 Stop state judgement parameter [Valid data range] 1 to 32767 [Method of setting]Stop determination time = (parameter setting) × Ts Ts = 4ms (Series...

  • Page 258

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 248 - 5.5.7 Torsion Preview Control Function (1) Overview For relatively large machines having torsion, torsion occurs between the motor and the machine end during acceleration and deceleration. In machines of this type, positional deviation is caused by to...

  • Page 259

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 249 - When enabling torsion preview control also in rapid traverse, set FFR to 1 #7 #6 #5 #4 #3 #2 #1 #0 1800 FFR FFR(#3) Feed-forward control during rapid traverse is: 0: Disabled. 1: Enabled. 2092 Advanced preview feed-forward coefficient (A...

  • Page 260

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 250 - <3> Setting the acceleration In torsion preview control, three acceleration areas can be specified, and compensation coefficients can be set separately for these areas. In a machine having the spring characteristic assumed by torsion preview co...

  • Page 261

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 251 - LSTAC1=2000 LSTAC2=2667 K1K2Maximum compensation value Compensation valueAcceleration Fig. 5.5.7 (d) Example of compensation curve <4> Setting the acceleration torsion compensation value The acceleration torsion compensation value is used to...

  • Page 262

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 252 - (Acceleration torsion compensation value) 2386 Torsion preview control: Acceleration torsion compensation value K1 (LSTK1) [Unit of data] Detection unit [Valid data range] 0 to 32767 Set the torsion amount generated at acceleration 1 in the detectio...

  • Page 263

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 253 - 2392 Torsion preview control: Acceleration torsion compensation value K2N (LSTK2N) [Unit of data] Detection unit [Valid data range] 0 to 32767 Set the amount of torsion generated at acceleration 2 (when the acceleration is a negative value) in the d...

  • Page 264

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 254 - 2389 Torsion preview control: Torsion delay compensation value KD (LSTKD) 2396 Torsion preview control: Torsion delay compensation value KDN (LSTKDN) LSTKDN is used when there is a difference in delay between the start of acceleration and the sta...

  • Page 265

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 255 - Actual speedPosition errorKD=3000 KD=2500 500 pulses =50µm minm/min Err Fig. 5.5.7 (m) Effect of compensation for torsion delay - 2 <7> Setting the torsion torque compensation coefficient Torsion torque compensation is set when an adequate ...

  • Page 266

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 256 - NOTE When the overshoot compensation function is not used (OVSC = 0), basically set PK3V to 0. If incomplete integration is used when OVSC = 1, the positional deviation does not become 0 in the stop state or the cutting precision degrades. 2077 Ove...

  • Page 267

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 257 - (b) When incomplete integration and overshoot compensation are not used. First, 1–pulse motion command is issued from NC. Initially, because the Position Feedback and Velocity Feedback are “0”, the 1–pulse multiplied position gain Kp value is...

  • Page 268

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 258 - (ii) Torque commands for standard settings (during overshoot) PK1V × 1pulse PK2V × 1pulse TCMD1 TCMD2 Torque command (TCMD) Static friction TimeDynamic friction Fig. 5.5.8 (e) Torque commands (during overshoot) Conditions to prevent further ove...

  • Page 269

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 259 - (iv) Torque command when the improved type overshoot compensation is used Function bit OVSC = 1 (Overshoot compensation is valid) Parameter PK3V: around 32000 (Incomplete integral coefficient) OSCTP: around 20 (Number of incomplete integral) When o...

  • Page 270

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 260 - (5) Overshoot compensation type 2 (a) Overview For a machine using, for example, 0.1-µm detection units, the use of the conventional overshoot compensation function may generate minute vibrations when the machine stops, even if the parameter for the...

  • Page 271

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 261 - • When a constant-speed rotation is made on a rotary axis Rotary axis Linear axis Eccentric load Centrifugal force Interactive force in linear axis • When acceleration is performed on a rotary axis Interactive force in rotary axis direction Ecc...

  • Page 272

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 262 - To use the interactive force compensation function, the system software below is needed. CNC System software Series Edition Series 30i-A G00C,G01C,G02C 27 and subsequent editions G004,G014,G024 01 and subsequent editions Series 31i-A5 G12C,G13C 27 an...

  • Page 273

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 263 - In configuration 1, for example, suppose that an interactive force acts on the rotary axis due to acceleration operation on the linear axis. In such a case, the linear axis is referred to as the moving axis, and the rotary axis is referred to as the c...

  • Page 274

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 264 - #7 #6 #5 #4 #3 #2 #1 #0 2292(FS30i) MOVAXS MV1IFC MV1ID2 MV1ID1 MV1ID0 IFC1ON C1TYP1 C1TYP0 Set with moving axis MOVAXS(#7) Specifies whether the axis is a moving axis used with the interactive force compensation function. (Power-off parameter)...

  • Page 275

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 265 - NOTE When the interactive force compensation function is used, a restriction is imposed on selection of a moving axis and compensated axis. When a servo axis number (No. 1023) is represented in the format below, select a moving axis and compensated a...

  • Page 276

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 266 - • Configuration 2: Rotary axis (C-axis) on a rotary axis (A-axis) A-axis C-axis Eccentric load When the C-axis is a compensated axis → Type L (Bits 1, 0 of No. 2292=0,0) When the A-axis is a compensated axis → Type R (Bits 1, 0 of No. 2292=0...

  • Page 277

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 267 - 2606(FS30i-B) Axis number of second moving axis Axis number of first moving axis [Unit of data] - [Valid data range] 1 to 9999 [Setting value] Set the axis number (1 to 99) of the second moving axis 2 × 100 + the axis number (1 to 99) of the firs...

  • Page 278

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 268 - Set with compensated axis 2481(FS30i) Interactive force compensation: Angle data offset (for the second moving axis) For a rotary axis, the number of pulses per revolution output from a detector needs to be set. Set with rotary axis 2455(FS30...

  • Page 279

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 269 - • Assume a configuration where the X-axis (linear axis) is placed on the Y-axis (linear axis), the C-axis (rotary axis) is placed on the X-axis, and an eccentric load is mounted on the C-axis. • Suppose that a synchronous built-in servo motor is ...

  • Page 280

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 270 - (Parameter setting) No. Description Setting X-axis Y-axis C-axis No.2292#7 Moving axis specification 1 *1 1 *1 1 *1 No.2455 Integer part of the number of pulses 0 0 16384 *2No.2456 Exponent part of the number of pulses 0 0 7 No.2292#6 Calculation o...

  • Page 281

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 271 - *4) The linear axes (X-axis and Y-axis) are affected by an interactive force from the rotary axis (C-axis). So, set type R for the X-axis and Y-axis. The rotary axis (C-axis) is affected by an interactive force from the linear axes (X-axis and Y-axis)...

  • Page 282

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 272 - (b) Setting angle data (No. 2479 and No. 2481) Move the eccentric load on a rotary axis to the reference position shown below and observe the value of phase data. Set the observed value in the angle data parameter (No. 2479 or No. 2481). Reference p...

  • Page 283

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 273 - <1> Checking the influence of interactive force While making no movement on the compensated axis to which the interactive force compensation function is applied, make a movement on the moving axis. At this time, observe the waveform of the tor...

  • Page 284

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 274 - The timing of a maximum interactive force due to centrifugal force matches, so the angle data offset is considered to be adjusted correctly. Compensated axis TCMD Compensation data (IFCMPx) NOTE 1 Be sure to enable feed-forward. 2 When the motor ro...

  • Page 285

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 275 - Make a fine adjustment of the compensation gain parameter so that the change in position feedback is minimized. • Without compensation (Bit 2 of No. 2292=0) Moving axis POSFCompensated axis TCMD Compensated axis POSF • With compensation (Bit...

  • Page 286

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 276 - 5.6 FUNCTION FOR REDUCING EFFECTS OF VARIATIONS IN MACHINE CHARACTERISTICS 5.6.1 Inertia Estimation Function (1) Overview This function estimates the inertia of the machine. Since various workpieces are attached to the rotary axis and linear axis that...

  • Page 287

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 277 - CNC System software Series Edition Series 0i-TD D6F1 01 and subsequent editions Series 0i Mate-MD D5F1 01 and subsequent editions Series 0i Mate-TD D7F1 01 and subsequent editions For the series 30i/31i/32i/35i-B and Power Motion i-A, all series and ...

  • Page 288

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 278 - If error "-2" is indicated on the diagnosis screen (No. 764) upon completion of estimation, enable this bit and perform estimation again. If the error persists, set the vibration frequency to the high frequency (bit 5 of parameter No. 2419 i...

  • Page 289

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 279 - Set the vibration frequency for the velocity application method. This parameter is not affected by the settings of bits 4 and 5 of parameter No. 2419. This parameter requires the corresponding servo software. See "(2) Series and editions of appli...

  • Page 290

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 280 - Inertia estimation start DO signal Fn371.0 to Fn371.7 (axis type) [Classification] Output signal [Function] Reports the completion of inertia estimation. [Operation] When inertia estimation is completed, this signal turns on. Timing chart ...

  • Page 291

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 281 - Example) In αiS8/4000, if Kt = 0.72 [Nm/Arms], Imax = 80 [Ap], P = 220 [pulse], and the estimation result DGN764 = 176, then inertia Jm = 0.00116 [kgm2]. Linear motor 6764 (/ 2) Im8.2196 10DGNKfaxMA××=×× Weight of object to be moved M[kg], thr...

  • Page 292

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 282 - • If the acceleration is too large to calculate a correct inertia, error "-1" is displayed on diagnosis screen No. 764. In this case, halve the vibration gain (bit 6 of parameter No. 2419 = 1 or parameter No. 2026 = set value/2) and perfor...

  • Page 293

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 283 - The follow-up mode is applied when the resonance frequency gradually changes according to the machine position. The search mode is applied when the resonance frequency greatly changes such as when the workpiece is attached or detached. 2)...

  • Page 294

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 284 - For the series 30i/31i/32i/35i-B and Power Motion i-A, all series and editions support this function. (3) Note • This function is valid only for resonance elimination filter 1 (parameters Nos. 2113, 2177, and 2359). • This function is enabled aft...

  • Page 295

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 285 - * For an extended frequency, the maximum of the detection time in the search mode is changed from 2 seconds to 3 seconds. * This setting can be used by the servo software 90G0/15 and subsequent editions 2113 Resonance elimination filter 1: Center f...

  • Page 296

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 286 - 2353 Adaptive resonance elimination filter: Setting waiting time [Unit of data] TCMD unit [Valid data range] 0 to 32767 [Typical setting] 0 (A value of 0 means an internal value of 25.) Set the setting time in the follow-up mode. If the acc./dec. ...

  • Page 297

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 287 - NOTE The timing at which Gn322 or Gn324 is turned off depends on the mechanical and machining conditions. However, Gn322 or Gn324 needs to be turned off basically when detection completion signal Fn370 is turned on or before actual machining is perfo...

  • Page 298

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 288 - 5.7 HIGH-SPEED POSITIONING FUNCTION High-speed positioning is used in the following cases: <1> To perform point-to-point movement quickly, where the composite track of two or more simultaneous axes can be ignored such as, for example, in a punch...

  • Page 299

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 289 - <2> This parameter specifies whether to set the velocity at which position gain switching is to occur, as follows: 2028 Limit speed for enabling position gain switching The position gain is doubled with a speed lower than or equal to the spee...

  • Page 300

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 290 - #7 #6 #5 #4 #3 #2 #1 #0 2204 HSTP10 HSTP10 (#1) Specifies the effective velocity increment system for the high-speed positioning functions (position gain switch and low-speed integral functions) as follows: 0: 0.01 min-1 (rotary motor), 0.0...

  • Page 301

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 291 - (3) Setting parameters <1> Specify whether to enable the low-speed integral function. #7 #6 #5 #4 #3 #2 #1 #0 2015 SSG1 SSG1 The low-speed integral function is used. 0: Invalid 1: Valid <2> Specify whether to enable inte...

  • Page 302

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 292 - 5.8 CONTROL STOP FUNCTIONS 5.8.1 Brake Control Function (1) Overview This function prevents the tool from dropping vertically when a servo alarm or emergency stop occurs. The function prevents the motor from being immediately deactivated, instead keep...

  • Page 303

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 293 - NOTE 1 If you want to use the brake control function with a 2-axis or 3-axis amplifier other than that for the 30i-B, specify the brake control parameters for all axes on the multiaxis amplifier including the target axis. In this case, however, if an ...

  • Page 304

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 294 - (Example) To specify an activation delay of 200 ms, set the brake control timer usually with 200 (appropriately). Also set the timer connected to the emergency stop contact with the same value as set in the parameter. <3> Setting the emergenc...

  • Page 305

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 295 - Alarm or emergency stop signal Mechanical brakeServo amplifier MCC off *ESP signal to αiPS (+24V) The control current sustains the tool. *ESP signal in αiSV The control current and mechanical brakesustain the tool. The mechanical brake sustains the ...

  • Page 306

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 296 - (3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 2273 DBTLIM DBTLIM (#7) The torque limit setting function during brake control is: 0: Disabled. 1: Enabled. 2375 Torque limit magnification during brake control [Unit of data] % (The maximum...

  • Page 307

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 297 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 and subs...

  • Page 308

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 298 - (4) Timing diagram Emergency stop signalQuick stop functionDynamic brakeMotor speedDecelerationby quick stopfunctionDeceleration bydynamic brake Fig. 5.8.3 (a) Timing diagram of quick stop function (5) Connection of amplifier Coil∼PSMSPMSVMCX4ESP+2...

  • Page 309

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 299 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 and subs...

  • Page 310

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 300 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 and subs...

  • Page 311

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 301 - [Typical setting] Approximately 16 or 24 ms NOTE 1 To use the lifting function against gravity at emergency stop, specify 4 ms or longer (Series 30i) or 8 ms or longer (Series 0i-D) as the lifting time. 2 If the distortion easing function is not use...

  • Page 312

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 302 - NOTE If the vertical axis (Z-axis) is connected to a multiaxis amplifier other than a servo amplifier for the 30i-B, it is necessary to enable the brake control function for all the axes connected to the amplifier. Set the time from the instant when...

  • Page 313

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 303 - As seen from the graph, the motor is lifted through a large distance after an emergency stop signal is input. The graph also shows that the distortion easing function decreased the machine elastic strain and kept the motor from falling when the amplif...

  • Page 314

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 304 - • The distance to lift depends on the state of this signal (SWDBSx) present when the emergency stop command is input. (If this signal is changed during lift operation after the emergency stop command is input, the change does not become effective un...

  • Page 315

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 305 - (2) Series and editions of applicable servo software [Applicable servo software] CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 P(16) and subsequent e...

  • Page 316

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 306 - 5.8.6 Quick Stop Function for Hardware Disconnection of Separate Detector (1) Overview This function reduces the stop distance by resetting the velocity command for a servo motor to 0 when the separate detector for the servo motor encounters a hardwar...

  • Page 317

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 307 - NOTE 1 When applying this function to axes under feed axis synchronization control, follow the steps below: 1) Change the servo axis setting (No. 1023) of the two axes under feed axis synchronization to set an odd-numbered axis as the master axis and ...

  • Page 318

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 308 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 L(12) and subsequent editions 90E1 01.0 and subs...

  • Page 319

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 309 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 and subs...

  • Page 320

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 310 - 5.9 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION (OPTIONAL FUNCTION) 5.9.1 Unexpected Disturbance Torque Detection Function (1) Overview When a tool collides with the machine or workpiece, or when a tool is faulty or damaged, a load torque greater...

  • Page 321

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 311 - (See Chapter 7, " SERVO TUNING TOOL SERVO GUIDE " for detailed descriptions about how to use the SERVO GUIDE.) <2> Switch on the CNC. <3> Enable the unexpected disturbance torque detection function #7 #6 #5 #4 #3 #2 #1 #0...

  • Page 322

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 312 - 2051 Observer gain • When HRV1, HRV2, or HRV3 control is used: [Standard setting value] 510 → To be changed to 3329. • When HRV4 control is used: [Standard setting value] 35 → To be changed to 332 NOTE When using this function together wit...

  • Page 323

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 313 - Proper POA1Motor velocityEstimated disturbance valu NOTE The POA1 parameter is related to the load inertia ratio parameter ("velocity gain" on the servo screen) through the inside of the software. When the load inertia ratio parameter is ...

  • Page 324

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 314 - Torque offset = A [Ap] + B [Ap] × 3641 Maximum amplifier current value [Ap] Estimated disturbance value level 0 Estimated disturbance value center line Influence by gravity Maximum value B Minimum value A 6.6A If you read the minimum value A and...

  • Page 325

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 315 - Measure an estimated disturbance value at a measurement velocity, then set the results of calculations made according to the table below. Dynamic friction compensation coefficient =Estimated disturbance value [Ap] × 440Maximum amplifier current value...

  • Page 326

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 316 - No.2345 Compensation value in the stop time No.2346 Compensation limit valueNo.2116Dynamic friction compensation coefficient Velocity Dynamic friction compensation value1000min-1Set a compensation value in the stop time and a compensation limit value...

  • Page 327

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 317 - <8> Set an unexpected disturbance torque detection alarm level. Perform several different operations (sample machining program, simultaneous all-axis rapid traverse acc./dec., etc.), and observe estimated disturbance values, and measure the ab...

  • Page 328

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 318 - NOTE When the tool is moving faster or slower than the velocity listed below, the tool will not go back even if this parameter is set. It stops at the location where an unexpected disturbance torque was detected. Let the value set in the retrace dis...

  • Page 329

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 319 - 5.9.2 Cutting/Rapid Unexpected Disturbance Torque Detection Switching Function (1) Overview An alarm threshold for unexpected disturbance torque detection is set separately for cutting and rapid traverse. (2) Series and editions of applicable servo s...

  • Page 330

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 320 - NOTE 2 When the alarm level for rapid traverse is 0 or 32767, unexpected disturbance torque detection is not performed during rapid traverse. When both parameters are 32767, unexpected disturbance torque detection is not performed at any time. 5.9.3 ...

  • Page 331

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 321 - When the absolute value of a specified acceleration rate is equal to or greater than the setting of No. 2342, the setting of No. 2343 is applied as an unexpected disturbance torque detection alarm level. When 0 is set in this parameter, acceleration-b...

  • Page 332

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 322 - 5.10 MULTIPLE-MOTOR DRIVING (TANDEM DRIVING) (1) Overview If a single motor is not capable of producing sufficient torque to drive a large table or if you want to reduce the backlash between gears, multiple motors can be used to produce movement along...

  • Page 333

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 323 - Torque CommandAmp.Amp.MotorVelocityVelocityMotorTableCurrentCurrentPositionPositionPosition CommandWithin same DSPMaster axisSlave axis Fig. 5.10 (b) Block diagram of torque tandem control • Velocity tandem control The tandem control option is nec...

  • Page 334

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 324 - (3) Servo software functions and their corresponding tandem control methods Function name Position tandem Torque tandem Velocity tandem Remarks Feed Axis Synchronization Control (Simple synchronous control) - - Option Velocity loop integrator copy fu...

  • Page 335

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 325 - G e a r B o x G e a r B o x Master motor Slave motor Master motor Slave motor TableBall screw Fig. 5.10 (d) Example of driving multiple axes (1) Fig. 5.10 (e) Example of driving multiple axes (1) Magnet Slider SliderServo amplifier Servo ...

  • Page 336

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 326 - Example of parameter setting (motor with four windings): FSSB method Axis No. Arrange- ment No.1023 Motor with four windings No.2211#7 Separate detector No.1815#1 FSSB method No.2429#2 EGB No.2011#0 Remarks 1 1 (L) 1 x *1 0 1 1st axis of the motor wi...

  • Page 337

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 327 - (6) Function selection flow for multiple motor driving The following figure shows a function selection flow for multiple motor driving. Tandem function flow2 windings motor bit(No.2211#6)2 windings motor ?4 w indings m otor ?NoNoYesYes4 windings mot...

  • Page 338

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 328 - 5.10.1 Position Tandem 5.10.1.1 Velocity Loop Integrator Copy Function (1) Overview If the velocity loop integrator gets unbalanced between the master and slave during feed axis synchronization control or velocity tandem control, the axes may get twis...

  • Page 339

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 329 - (3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 2273 WSVCP (Set this parameter for the master and slave axes.) WSVCP(#1) 1: The velocity loop integrator of the master axis is copied to the slave axis. CAUTION 1 When using this function, e...

  • Page 340

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 330 - If a torque is required during acc./dec., a torque of the same direction is produced with the two motors. (Load sharing mode) If no torque is required, for example, during stop state, preload torques produce tension between the two axes. (Anti-backlas...

  • Page 341

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 331 - 2087 Preload value (PRLOAD) [Unit of data] TCMD unit (The value 7282 represents the maximum amplifier current.) Set this parameter for the master and slave axes. CAUTION Set a value that is as small as possible but greater than the static fricti...

  • Page 342

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 332 - ITDPLL ENBL No.2087 Time constant Fig. 5.10.1.2 (c) Preload value with a time constant (2-1) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Po...

  • Page 343

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 333 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 A(01) and subsequent editions 90E1 01.0 and subs...

  • Page 344

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 334 - NOTE It is necessary to release the VRDY OFF alarm invalidation signal 2 seconds after the PS ESP signal is turned off. 5.10.1.4 Tandem Disturbance Elimination Control (Optional Function) (1) Overview This function suppresses vibration caused...

  • Page 345

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 335 - (3) Cautions 1 This function is optional. (To enable the position tandem function, feed axis synchronization control is additionally needed.) 2 This function can be used only for two-axis feed axis synchronization control. It cannot be used for more t...

  • Page 346

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 336 - 2036 Phase compensation coefficient α (Set this parameter for the slave axis only.) [Valid data range] 51 to 512 (0.1< α <1) [Typical setting] 0 (512 internally) This parameter has the same function as damping compensation of the tandem cont...

  • Page 347

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 337 - #7 #6 #5 #4 #3 #2 #1 #0 Gn321 SVDI18 SVDI17 SVDI16 SVDI15 SVDI14 SVDI13 SVDI12 SVDI11 (Input this signal for the master and slave axes.) SVDI1x 1: Uncoupled state 0: Coupled state The bit position represents the relevant NC axis number. For exampl...

  • Page 348

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 338 - (7) Method for checking the resonance frequency With this check, use the disturbance input function for the slave axis, measure the velocity feedback for the master axis, check for interference between the axes, and check and adjust the effect of tand...

  • Page 349

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 339 - (b) Channel setting with SERVO GUIDE With SERVO GUIDE, make settings for data acquisition. Two types of data including disturbance frequency data (the slave axis) and velocity feedback data (the master axis) are acquired at the same time. From the g...

  • Page 350

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 340 - (c) Setting for sampling Set the sampling cycle to 250 µs. (d) Usage When the rising edge of the disturbance input bit (DSTIN) is detected, application of vibration is started. Vibration is automatically stopped after a sine sweep is performed fro...

  • Page 351

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 341 - 5.10.1.5 Synchronous axes automatic compensation (1) Overview With synchronized axes having a long stroke, a machine twist may occur due to the absolute precision of the scale and thermal expansion of the machine. In such a case, the master motor and...

  • Page 352

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 342 - Series 90E1/01.0 and subsequent editions * Series 0i-D does not support them. NOTE This function cannot be used together with servo HRV4 control. (3) Setting parameters • The following parameters are all set for the slave axis (the axis for which...

  • Page 353

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 343 - From the relationship between the current value generated in the stopped state when this function is disabled and the position error between the synchronized axes, determine the coefficient (K) according to the following expression: K = position error...

  • Page 354

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 344 - (4) Signal • SVDI1n : Coupling signal #7 #6 #5 #4 #3 #2 #1 #0 Gn321 SVDI18 SVDI17 SVDI16 SVDI15 SVDI14 SVDI13 SVDI12 SVDI11 [Classification] Input signal [Function] This signal is used to disable the functions acting between synchronous axes wh...

  • Page 355

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 345 - Actual federate Master axis TCMD Slave axis TCMD Position A Position B Position AMaster axis TCMD Slave axis TCMD Actual federateSlave axis compensation Position APosition B Position AMaster axis Scale position A Slave axis Scale position A Master axi...

  • Page 356

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 346 - 5.10.1.6 Functions for sharing a separate detector If a feedback cable cannot be divided into two as in the case of a serial cable, the following methods are available for sharing one separate position feedback by the main axis and sub-axis. 30i-A Se...

  • Page 357

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 347 - 24099 (FS30i-B) Connector number for the fourth separate detector interface unit (1 to 8) 24104 (FS30i-B) to 24111 (FS30i-B) ATR value corresponding to connector number i on the first separate detector interface unit (No.1023 + 1000) 24112 (FS30...

  • Page 358

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 348 - Set the value set for parameter No. 1023 for the second axis referencing the separate detector + 1000 for parameter No. 24105. Parameters Nos. 24106 and after =1000 5.10.1.7 Examples of position tandem setting This subsection gives examples of parame...

  • Page 359

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 349 - (2) Full-closed loop system using a 1-µm increment system, a scale detection unit of 0.5 µm/P, a linear scale detection unit of 0.1 µm/P, a distance to move per motor revolution of the ball screw of 10 mm, 100000 P per motor revolution for scale fe...

  • Page 360

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 350 - Fig. 5.10.2 (a) Example of four-axis control (feed axis synchronization control for four axes) Fig. 5.10.2 (b) Example of eight-axis control (tandem control for four axes and synchronization control for four axes) Feed axis synchronization control...

  • Page 361

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 351 - The multiaxis tandem function can also be used together with feed axis synchronization control with large motors driven by two amplifiers (two-winding motors: αiS300/2000, αiS500/2000, and αiS1000/2000HV) and those driven by four amplifiers (four-...

  • Page 362

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 352 - When two motors are driven in synchronization, if the rigidity between synchronous axes is high, interference occurs due to a slight difference in the stop position, which may generate torque offset. (An OVC alarm may occur at worst.) To avoid this pr...

  • Page 363

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 353 - (3) Setting parameters * In this manual, servo axes are called the axis names respectively according to the setting of parameter No. 1023 for convenience. 30i-A 30i-B No.1023 =4n+1 : 1 axis =8n+1 : 1 axis =4n+2 : 2 axes =8n+2 : 2 axes =4n+3 : 3 axes ...

  • Page 364

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 354 - * To use this parameter, the tandem control option is necessary. With the Series 30i-B or later, this parameter can be used without the feed axis synchronization control option (tandem control option). (Set this parameter for the main and sub axes.) ...

  • Page 365

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 355 - Feed axis synch ronization control : Ma ste r Fe ed axi s synch roni zation co ntrol: Slave 1 Feed axis synch ronization co ntrol: Slave 2 Feed axis synchron izatio n control : Sla ve 3 Gear Box GearBox GearBox GearBox Axis No. Arrange- ment No.102...

  • Page 366

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 356 - (4-2) Driving four axes with feed axis synchronization control and copying the integrator between axes 1 and 2 and that between axes 3 and 4 (Form <1>) CNCVelocityControlPositionCommandDSP1Master axisSlave axisSlave axisSlave axisFeedbackFeedbac...

  • Page 367

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 357 - (4-4) Driving four motors with two windings, setting four-axis feed axis synchronization control, and using the integrator copy function for the axes under feed axis synchronization control (Form <3>) DSP1Master axisFeedback1-1 axis1-2 axisCNCM1...

  • Page 368

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 358 - *1) Set feed axis synchronization control for axes 1 to 4. *2) The integrator of axis 1 is copied to axes 2 to 4. *3) Each motor with two windings corresponds to axes 1 and 5, axes 2 and 6, axes 3 and 7, or axes 4 and 8. (4-5) Driving two motor with ...

  • Page 369

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 359 - 5.10.3 Turning Functions On and Off Using a PMC Signal (1) Overview PMC signal G321 (coupling flag) can be used to turn the following functions on and off dynamically: • Integrator copy function ⇒ See the Item (4) of Subsection 5.10.1.1. • Tande...

  • Page 370

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 360 - (Anti-backlash mode) Tandem control can also be used together with the motor feedback sharing function to drive linear motors connected in series and motors with plural windings (αiS300/2000, αiS500/2000, αiS1000/2000HV, αiS1000/3000HV, αiS2000...

  • Page 371

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 361 - (3) Start-up procedure To start tandem control, follow the procedure below. Linear motor link? Set tandem axis (See <1> in Sec. 5.10.3(1)) Set direction of motor rotation (See <2> in Sec. 5.10.3(2)) Enable the motor feedbacksharing funct...

  • Page 372

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 362 - Axis No. Axis name Servo axis arrangement No.1023 Tandem No.1817#6 Position display No.3115#0 Remarks ★ 1 X 1 1 0 CNC axis (main axis) ★ 2 Y 3 1 0 CNC axis (main axis) 3 Z 5 0 0 CNC axis ★ 4 A 2 1 1 Tandem control sub-axis (sub-X-axis) ★ 5 B...

  • Page 373

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 363 - When typical tandem control is used: (Load inertia ratio) = (2/2) × 256 = 256 The result obtained from the above formula may cause oscillation due to the mechanical structure. In such a case, set a smaller value. • Notes on stable tandem contro...

  • Page 374

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 364 - 2036 Damping compensation gain Kc (ABPGL) (Set this parameter for the main axis only.) [Valid data range] 0 to 16384 [Setting method] Kc × 32768 (0 ≤ Kc < 0.5) A function bit is not supported for the damping compensation function; the dampin...

  • Page 375

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 365 - If 512 is set, the value may have to be reduced when the vibration phase difference between the motors is other than 180°. 3 Set a damping gain of 3277. [Main axis No. 2036] To reduce the vibration, this value must be increased or decreased. Be car...

  • Page 376

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 366 - #7 #6 #5 #4 #3 #2 #1 #0 2018 PFBCPY (Set this parameter for the sub-axis only.) PFBCPY (#7) 1: The motor feedback signal for the main axis is shared with the sub-axis motor. NCMain axis feedbackSub-axis feedbackLinear motorLinear motorFee...

  • Page 377

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 367 - CNC System software Series Edition Series 30i-A G00C,G01C,G02C 27 and subsequent editions G004,G014,G024 01 and subsequent editions Series 31i-A5 G12C,G13C 27 and subsequent editions G124,G134 01 and subsequent editions Series 31i-A G103,G113 04 and s...

  • Page 378

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 368 - MainSub • Tandem axis No.1817#6 1 1 • Semi-closed loop No.1815#1 0 0 • CMR No.1820 2 2 • Reference counter capacity No.1821 15000 15000 • Reference counter capacity (denominator) No.2179 41 41 ...

  • Page 379

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 369 - <2> Making a check using NC commands After checking (b) and (c) below, remove the sub-motor power line. Then, enter a plus (+) command or minus (-) command to rotate the main motor. Check that the main motor can be turned with one-third or les...

  • Page 380

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 370 - 5.10.4.6 Block Diagrams (1) Tandem control MainmotorCurrentcontrolPositioncontrolVelocitycontrol1/2DampingcompensationSub-motor+++01Currentcontrol+++++++++ServoamplifierServoamplifierVelocity commandMachinePreload (main)Velocity feedbackVelocity feedb...

  • Page 381

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 371 - 5.10.5 Velocity Tandem Control The tandem control option is necessary. With torque tandem control, the position and velocity of the slave side tend to be unstable because they are not controlled. In this case, the velocity tandem control + velocity lo...

  • Page 382

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 372 - +− Used for the torque limiter. Actual speedServo PMC Current controlSpeed controlTorque data Maximum feed rate Fig. 5.11 (b) Torque control type 2 * Basically, torque control type 2 performs speed control to cause the limiter to operate on a com...

  • Page 383

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 373 - 2105 Torque constant This parameter is used to specify a motor-specific torque constant. The units are as follows: 0.00001 N⋅m/(torque command) for a rotary motor 0.001 N⋅m/(torque command) for a linear motor NOTE 1 When the initial parameter...

  • Page 384

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 374 - • Supporting the speed arrival signal in low speed mode CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 20.0 and subsequent editions Series 30i/31i/32i-A 90E0 33.0 and subsequent editions 90E1 08.0 and subsequent editions ...

  • Page 385

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 375 - • Support of the speed arrival signal in low speed mode An offset speed can be set so that the detection level of speed arrival becomes too low in low speed mode. This allows the stable detection of the speed arrival signal. A hysteresis speed can ...

  • Page 386

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 376 - [Unit of data] min-1 [Standard setting] 0 (Set value 0 means 45 min-1 internally.) The detection level of speed zero means the speed (min-1) at which the motor is determined to stop. When the actual speed becomes lower than the detection level of ...

  • Page 387

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 377 - CAUTION These two signals cannot be used as a function (safety function) for protecting operators from danger due to machine operation. 5.12.2 Control Stop Judgment in the Quick Stop Function at Emergency Stop (1) Overview When a large servo motor ...

  • Page 388

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 378 - CNC System software Series Edition Power Motion i-A 88H0 - Series 30i-A G00C,G01C,G02C 30 and subsequent editions G004,G014,G024 01 and subsequent editions Series 31i-A5 G12C,G13C 30 and subsequent editions G124,G134 01 and subsequent editions Series ...

  • Page 389

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 379 - Emergency stop timer built into the amplifier ESPTM1 ESPTM0 Delay time 0 0 50ms (Default value) 0 1 100ms 1 0 200ms 1 1 400ms 5.12.3 Load Meter Display (1) Overview In the same way as when a spindle motor is used, the motor output can be displayed in...

  • Page 390

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 380 -

  • Page 391

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 381 - (2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 09.0 and subsequent editions Series 30i/31i/32i-A 90E0 - 90E1 04.0 and subsequent editions Series 30i/31i-A 90D0 - HRV4 Se...

  • Page 392

    5.SERVO FUNCTION DETAILS B-65270EN/08 - 382 - (5) Standard compensation amount Observe the TCMD (torque command) waveform during reverse operation (at the hole bottom) and use the difference between TCMD immediately before reverse operation and TCMD immediately after reverse operation as the sta...

  • Page 393

    B-65270EN/08 5.SERVO FUNCTION DETAILS - 383 - 5.14 FUNCTION FOR OBTAINING CURRENT OFFSETS AT EMERGENCY STOP (1) Overview The current offset is a current feedback offset value arising from the analog offset voltage of the current detector. If the current offset is measured incorrectly, motor curre...

  • Page 394

    6.LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) B-65270EN/08 - 384 - 6 LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) (1) Overview Learning control is used to minimize the effect of follow-up delay and disturbance for cyclic commands and disturbance. This control allows control deviation to be ...

  • Page 395

    B-65270EN/08 6.LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) - 385 - Main application CNC Option Servo card General Cam grinding Crank-pin grinding Piston lathing Lens cutting 30i-B / 31i-B High precision learning control A Standard servo card (A11,A12,A13,A24,A26) High precision learning contr...

  • Page 396

    6.LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) B-65270EN/08 - 386 - (3) Number of controlled axes The maximum number of controlled axes in a CNC system depends on the used servo card type and HRV control type. In addition, when learning control is used, the number of available controlled axes ...

  • Page 397

    B-65270EN/08 6.LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) - 387 - Option CNC CPU card Servo card Preview repetitive control (A02B-030x-J706) 30i-A / 31i-A D3 (A02B-0303-H010) Servo card specifically for learning control (L24) Learning control (A02B-032x-J705) Compact learning control (A02B-03...

  • Page 398

    6.LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) B-65270EN/08 - 388 - (5) Axis allocation Learning control is applied only to the first axis of each DSP. Reference the table below and set parameter No. 1023. CNC Series of servo software No.1023 30i-B / 31i-B / 32i-B 90G3 1, 9, 17, 25, 33, 41 49...

  • Page 399

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 389 - 7 SERVO TUNING TOOL SERVO GUIDE (1) Overview Servo tuning tool "SERVO GUIDE" is an integrated tuning tool for servo and spindle axes that runs on a PC. This tool can be connected to the CNC to observe operation of servo and spindle ax...

  • Page 400

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 390 - Item Description Display resolution SVGA (800*600) or higher (Note 4)(XGA (1024*768) or higher is recommended) (Note 5)Others Port of Ethernet (LAN) (in case of Ethernet connection) A pointing device such as a mouse is required. For browsing on...

  • Page 401

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 391 - (The cross type cable and coupler are commercially available from ordinary stores dealing in personal computers.) [Ethernet connection (if using a hub)] When the PC and the CNC are connected via a hub, they are connected as shown in the figur...

  • Page 402

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 392 - CNC System software Series Edition Series 30i-A G004,G014,G024 01 or later G003,G013,G023 01 or later G002,G012,G022 01 or later G00C,G01C,G02C 01 or later G00A,G01A,G02A 01 or later G001,G011,G021 23 or later Series 31i-A5 G124,G134 01 or late...

  • Page 403

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 393 - (c) Servo software CNC models and series / edition of servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 C(03) and subsequent editio...

  • Page 404

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 394 - Group Description High-speed positioning function Setting of position gain switching function, etc. Stop Setting of brake control, quick stop., and lifting function against gravity, etc. Unexpected disturbance torque detection Adjustment of est...

  • Page 405

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 395 - Tangent speed display mode (XTVT mode) Synchronous error measurement mode (Synchro mode) - XY mode (Polar coordinates conversion and angular axis conversion also available) - Arc path error zoom mode (Circle mode) - Contour path error zoom mo...

  • Page 406

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 396 - Example of velocity loop frequency response • Smoothness compensation setting support functions With this function, parameters of the smoothing compensation function, which improves the smoothness of linear motor or synchronous built-in se...

  • Page 407

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 397 - (Adjustment example) Before smoothing compensation adjustment After smoothing compensation adjustment • Spindle Tuning functions These functions support the automatic acquisition of data during the accele...

  • Page 408

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 398 - Frequency response measurement • Cursor function Cursor display panel Display of waveform information Display of the vertical cursor Display of the horizontal cursor Cursor Area expansion mode selection Waveform information By using ...

  • Page 409

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 399 - (c) Program Window • Test program creation support function - Linear acceleration/deceleration for one axis - Circle - Square - Square with rounded corners - Rigid tapping - Cs contour • Display of test program path • Sending a test pro...

  • Page 410

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 400 - [Automatic tuning of velocity loop gain and filters] By measuring the frequency response of velocity control loop with moving axis, and the parameters of the velocity loop gain and resonance elimination filters are determined automatically. It...

  • Page 411

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 401 - [Support of high-speed and high-precision function setting] In a program of a square with rounded corners, the high-speed and high-precision function parameters are tuned while overshoots are checked. There are tuning parameters for the high-s...

  • Page 412

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 402 - Example of tuning Linear time constant: 300ms Bell-shaped time constant: 96ms ← 15%VelocityTo rque com m and←85%Linear time constant: 32ms Bell-shaped time constant: 32ms [Tuning for Automatic Backlash Acceleration function] (Version 4....

  • Page 413

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 403 - <2> Let the function calculate the compensation based on the result of learning. <3> Perform steps <1> and <2> at three different feedrates. <4> Make a circular motion based on the finally determined parame...

  • Page 414

    7.SERVO TUNING TOOL SERVO GUIDE B-65270EN/08 - 404 - [Tuning support of interactive force compensation function] (Version 6.20 or later) The interactive force compensation function suppresses the effect of the interactive force generated when the rotary axis with eccentric load is moved. Tunin...

  • Page 415

    B-65270EN/08 7.SERVO TUNING TOOL SERVO GUIDE - 405 - [Automatic tuning of spindle filters] (Version 6.00 or later) This function calculates an ideal frequency response with no resonance based on the frequency characteristics of the velocity loop violated in the velocity control mode, find the re...

  • Page 416

    8.DETAILS OF PARAMETERS B-65270EN/08 - 406 - 8 DETAILS OF PARAMETERS This chapter gives details of servo parameters. For parameters for which no specification method is described, do not change the values automatically set up during servo parameter initialization. : Do not change. #7 #6 #5...

  • Page 417

    B-65270EN/08 8.DETAILS OF PARAMETERS - 407 - AMR 6 5 4 3 2 1 0 0 0 0 1 0 0 0 16-pole servo motors αiS2000/2000HV, αiS3000/2000HV 0 0 0 0 0 0 0 Other than 16-pole servo motor (8-pole servo motors) Reference item Subsections 2.2.4, 3.1.1, and 3.2.1.1 #7 #6 #5 #4 #3 #2 #1 #0 2002 PFSE ...

  • Page 418

    8.DETAILS OF PARAMETERS B-65270EN/08 - 408 - #7 #6 #5 #4 #3 #2 #1 #0 2005 SFCM BRKC FEED FEED (#1) The feed-forward function is: 0 : Not used. 1 : Used. Reference item Subsections 5.5.1 and 5.5.2 BRKC (#6) The brake control function is: 0 : Not used. 1 : Used. Reference item Subsectio...

  • Page 419

    B-65270EN/08 8.DETAILS OF PARAMETERS - 409 - FRCAXS (#7) The torque control function is: 0 : Not used. 1 : Used. Reference item Section 5.11 #7 #6 #5 #4 #3 #2 #1 #0 2008 LAXDMP PFBSWC VCMDTM SPPCHG SPPRLD VFBAVE TNDM TNDM (#1) This bit is automatically set to 1 when bit 6 (tandem axis) of ...

  • Page 420

    8.DETAILS OF PARAMETERS B-65270EN/08 - 410 - #7 #6 #5 #4 #3 #2 #1 #0 2010 POLE HBBL HBPE BLTE LINEAR LINEAR (#2) Linear motor control is: 0 : Not exercised. 1 : Exercised. This bit is set automatically when the parameters of the linear motor are initialized. Check that this bit is set befo...

  • Page 421

    B-65270EN/08 8.DETAILS OF PARAMETERS - 411 - #7 #6 #5 #4 #3 #2 #1 #0 2012 STNG VCM2 VCM1 MSFE MSFE (#1) The machine speed feedback function is: 0 : Not used. 1 : Used. Reference item Subsections 4.3.5 and 5.4.9 VCM1 (#4) The VCMD waveform signal conversion on the check board is switched...

  • Page 422

    8.DETAILS OF PARAMETERS B-65270EN/08 - 412 - #7 #6 #5 #4 #3 #2 #1 #0 2015 BZNG BLAT TDOUT SSG1 PGTW PGTW (#0) The position gain switching function is: 0 : Not used. 1 : Used. Reference item Subsection 5.7.1 SSG1 (#1) The low-speed integral function is: 0 : Not used. 1 : Used. Reference i...

  • Page 423

    B-65270EN/08 8.DETAILS OF PARAMETERS - 413 - RISCFF (#5) 0 : When RISC is used, the feed-forward response characteristics remain as is. 1 : When RISC is used, the feed-forward response characteristics are improved. Reference item Appendix G.2 PK2V25 (#7) Velocity loop high cycle management fun...

  • Page 424

    8.DETAILS OF PARAMETERS B-65270EN/08 - 414 - Reference item Subsection 5.9.1 ABG0 (#3) 1 : When an unexpected disturbance torque is detected, a threshold is set separately for cutting and rapid traverse. Reference item Subsection 5.9.2 RISCMC (#5) When a RISC processor is used: 0 : The respon...

  • Page 425

    B-65270EN/08 8.DETAILS OF PARAMETERS - 415 - #7 #6 #5 #4 #3 #2 #1 #0 2203 TCMD4X FRCAX2 VFFINE CRPI CRPI (#2) The current loop 1/2 PI control function is: 0 : Not used. 1 : Used. Reference item Subsection 5.3.4 VFFINE (#3) The precision of the velocity feed-forward coefficient is: 0 : A...

  • Page 426

    8.DETAILS OF PARAMETERS B-65270EN/08 - 416 - 1 : Enabled. * For the 30i-B Series and Power Motion i-A, when bit 4 of parameter No. 2205 or bit 5 of parameter No. 2282 is set, the quick stop function for separate detector alarms is enabled. Setting Alarms for which to apply the quick stop function...

  • Page 427

    B-65270EN/08 8.DETAILS OF PARAMETERS - 417 - For details of fine torque sensing data, refer to the description of the window function in a PMC programming manual (including B-64513EN). #7 #6 #5 #4 #3 #2 #1 #0 2209 HCNGL HCNGL (#4) 0 : The overcurrent alarm avoidance function based on ...

  • Page 428

    8.DETAILS OF PARAMETERS B-65270EN/08 - 418 - #7 #6 #5 #4 #3 #2 #1 #0 2213 OCM PK1VDN PK1VDN (#3) The variable integral gain function in the stop state is: 0 : Disabled. 1 : Enabled. The variable integral gain function in the stop state is used when decreasing not only the proportional g...

  • Page 429

    B-65270EN/08 8.DETAILS OF PARAMETERS - 419 - 0 : Uses resonance elimination filter 4. 1 : Uses resonance elimination filter L. Reference item Subsections 5.4.3 and 5.4.5 VFFNCH (#2) Resonance elimination filter L is applied to: 0 : Feed-forward part only of the velocity command 1 : Entire veloc...

  • Page 430

    8.DETAILS OF PARAMETERS B-65270EN/08 - 420 - Reference item Subsections 5.5.4 and 5.5.5 #7 #6 #5 #4 #3 #2 #1 #0 2225 TSA05 TCMD05 TCMD05 (#1) The check board output voltage of the TCMD signal is: 0 : As usual (default). 1 : Halved. Reference item Appendix F TSA05 (#2) The check board...

  • Page 431

    B-65270EN/08 8.DETAILS OF PARAMETERS - 421 - Reference item Subsection 5.10.1.4 DSTTAN(#6) Disturbance is: 0 : Input for one axis only. 1 : Input for both the L and M axes (To be set only for the L axis side of synchronous axes or tandem axes). Reference item Subsection 5.10.1.4 DSTIN (#7) Th...

  • Page 432

    8.DETAILS OF PARAMETERS B-65270EN/08 - 422 - DD2048(#0) For a DiS motor, the HP2048 bit is: 0 : Disabled. 1 : Enabled. (Interpolation magnification to be assumed for setting parameters) No.2274#6 (DD2048) No.2274#0 (HP2048) Interpolation magnification when a position detection circuit is used D...

  • Page 433

    B-65270EN/08 8.DETAILS OF PARAMETERS - 423 - Reference item Subsection 2.1.8 #7 #6 #5 #4 #3 #2 #1 #0 2278 PM2ACC PM2SCB PM1SCB PM2TP PM1TP PM1TP (#0) With the first or third separate detector interface unit, a temperature detection circuit is: 0 : Not used. 1 : Used. Reference item Subsec...

  • Page 434

    8.DETAILS OF PARAMETERS B-65270EN/08 - 424 - #7 #6 #5 #4 #3 #2 #1 #0 2282 FSAQS FSAQS (#0) The quick stop function for separate serial detector alarms is: 0 : Disabled. 1 : Enabled. * For the 30i-B Series and Power Motion i-A, when bit 4 of parameter No. 2205 or bit 5 of parameter No. ...

  • Page 435

    B-65270EN/08 8.DETAILS OF PARAMETERS - 425 - Reference item Subsection 5.4.10 #7 #6 #5 #4 #3 #2 #1 #0 2289 SYNDI SYNDI(#0) The function for holding the compensation amount in synchronous axes automatic compensation is: 0 : Not used. 1 : Used. Reference item Subsection 5.10.1.5 #7 #...

  • Page 436

    8.DETAILS OF PARAMETERS B-65270EN/08 - 426 - #7 #6 #5 #4 #3 #2 #1 #0 2292 MOVAXS MV1IFC MV1ID2 MV1ID1 MV1ID0 IFC1ON C1TYP1 C1TYP0 C1TYP0,1(#0,1) Sets a compensation type (for the first moving axis). Reference item Subsection 5.5.9 IFC1ON(#2) Turns on/off the compensation function for intera...

  • Page 437

    B-65270EN/08 8.DETAILS OF PARAMETERS - 427 - 0 : Disables calculation of interactive force from the second moving axis. 1 : Enables calculation of interactive force from the second moving axis. Reference item Subsection 5.5.9 #7 #6 #5 #4 #3 #2 #1 #0 2294 PK2VDR PK2VDR(#4) The arbitrar...

  • Page 438

    8.DETAILS OF PARAMETERS B-65270EN/08 - 428 - NOTE Set this function when using servo HRV4 control. Reference item Subsection 5.1.3 DD (#2) Synchronous built-in servo motor control is: 0 : Disabled. 1 : Enabled. This bit is automatically set when the synchronous built-in servo motor parameters...

  • Page 439

    B-65270EN/08 8.DETAILS OF PARAMETERS - 429 - #7 #6 #5 #4 #3 #2 #1 #0 2415 * * LBLACC * * * IAHDON IAHDON(#1) The default value of the feed-forward timing adjustment parameter is: 0 : 0. 1 : Compatible with that of the 16i Series. * By setting IAHDON to 1 and parameter No. 2095 to 0, the feed...

  • Page 440

    8.DETAILS OF PARAMETERS B-65270EN/08 - 430 - Reference item Subsection 2.1.11.2 INESFC(#2) The inertia estimation function is: 0 : Disabled. 1 : Enabled. INESMG(#3) The weight of the diagnosis screen display (No. 764) of the estimated inertia value is: 0 : Standard. 1 : 1/32 of standard. INESF...

  • Page 441

    B-65270EN/08 8.DETAILS OF PARAMETERS - 431 - Reference item Subsection 5.12.1 SSTMCC(#4) When the quick stop function at emergency stop is enabled and the zero-speed detecting signal (SVSSTn) is set to 1, the excitation of the amplifier is: 0 : Not cut off. 1 : Cut off. Reference item Subsection...

  • Page 442

    8.DETAILS OF PARAMETERS B-65270EN/08 - 432 - NOTE 1 To use the EGB (FSSB method), set 1. 2 For an axis (EGB dummy axis) for which bit 2 (FSBSYN) of parameter No. 2429 is set to 1, the following functions cannot be used together: - FSSB high-speed rigid tapping (bit 1 of No.2429) - Servo-spindle s...

  • Page 443

    B-65270EN/08 8.DETAILS OF PARAMETERS - 433 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2021 Load inertia ratio (LDINT) Load inertia × 256Rotor inertia Increase velocity loop gain parameters ...

  • Page 444

    8.DETAILS OF PARAMETERS B-65270EN/08 - 434 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2061 2062 2063 Back electromotive force compensation (EMFCMP) First OVC alarm parameter (POVC1) First OVC alarm par...

  • Page 445

    B-65270EN/08 8.DETAILS OF PARAMETERS - 435 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2114 Backlash acceleration function : acceleration amount override Two-stage backlash acceleration function : stage...

  • Page 446

    8.DETAILS OF PARAMETERS B-65270EN/08 - 436 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2198 2199 Current B for pole detection (DTCCRT_B) Current C for pole detection (DTCCRT_C) 2263 Detection unit sett...

  • Page 447

    B-65270EN/08 8.DETAILS OF PARAMETERS - 437 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2359 Resonance elimination filter 1 : damping →.4.3, 5.4.11, 5.6.2 2360 2361 2362 Resonance elimination filter 2 ...

  • Page 448

    8.DETAILS OF PARAMETERS B-65270EN/08 - 438 - : Parameters set up automatically at initialization: Parameters that can be kept at the automatically set valuesParameter number Details 2446 to 2453 Parameters for tuning for quadrant protrusion compensation for Tuning Navigator → Appendix M 2455 24...

  • Page 449

    B-65270EN/08 9.PARAMETER LIST - 439 - 9 PARAMETER LIST Chapter 9, "PARAMETER LIST", consists of the following sections: 9.1 STANDARD PARAMETERS FOR THE αi SERIES SERVO MOTORS ...................................... 442 9.1.1 αiS Series.....................................................

  • Page 450

    9.PARAMETER LIST B-65270EN/08 - 440 - When *1 to *6 is added in "Remarks" for a motor, a servo amplifier and power supply having specification numbers listed below, and/or servo software of the listed series and edition or later are required. (*1) Servo amplifier, Power supply Series ...

  • Page 451

    B-65270EN/08 9.PARAMETER LIST - 441 - (*3) Series and editions of servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 10.0 Power Motion i-A Series 30i/31i/32i-A 90E0 28.0 90E1 04.0 Series 30i/31i-A 90D0 - HRV4 Series 0i-D 90C5 - Series 0i Mate-D 90C...

  • Page 452

    9.PARAMETER LIST B-65270EN/08 - 442 - 9.1 STANDARD PARAMETERS FOR THE αi SERIES SERVO MOTORS Series 90G0 (for Series 30i/31i/32i/35i-B, Power Motion i-A) Series 90E0 and 90E1 (for Series 30i/31i/32i-A) Series 90D0 (for Series 30i/31i-A) Series 90C5 and 90C8 (for Series 0i-D) Series 90E5 and 90E8...

  • Page 453

    B-65270EN/08 9.PARAMETER LIST - 443 - 9.1.1 αiS Series αiS series (1/3) Motor model αiS2 5000 αiS2 6000 αiS4 5000 αiS46000 αiS84000 αiS86000 αiS124000 αiS126000 αiS22 4000 αiS226000 αiS304000 Motor specification 0212 0218 0215 021002350232023802300265 0262 0268 Motor ID No. 262 2...

  • Page 454

    9.PARAMETER LIST B-65270EN/08 - 444 - αiS series (2/3) Motor model αiS40 4000 αiS50 2000 αiS50 3000 αiS503000 Fan αiS602000 αiS603000 Fan αiS1002500 αiS1002500 Fan αiS200 2500 αiS2002500 Fan αiS3002000 Motor specification 0272 0042 0275 027500440278028502850288 0288 0292 Motor ID ...

  • Page 455

    B-65270EN/08 9.PARAMETER LIST - 445 - αiS series (3/3) Motor model αiS500 2000 Motor specification 0295 Motor ID No. 345 PRM NO SERVO PRM. Amp*2 2003 00001000 2004 00000011 2005 00000000 2006 00000000 2007 00000000 2008 00000000 2009 00000000 ...

  • Page 456

    9.PARAMETER LIST B-65270EN/08 - 446 - 9.1.2 αiS Series HV αiS series HV (1/4) Motor model αiS2 5000HV αiS2 6000HV αiS4 5000HV αiS46000HV αiS84000HV αiS86000HV αiS124000HV αiS126000HV αiS22 4000HV αiS226000HV αiS304000HV Motor specification 0213 0219 0216 021402360233023902370266 ...

  • Page 457

    B-65270EN/08 9.PARAMETER LIST - 447 - αiS series HV (2/4) Motor model αiS40 4000HV αiS50 2000HV αiS50 3000HV αiS503000HV Fan αiS602000HV αiS603000HV Fan αiS1002500HV αiS1002500HV Fan αiS200 2500HV αiS2002500HV Fan αiS3002000HV Motor specification 0273 0043 0276 0276004502790286028...

  • Page 458

    9.PARAMETER LIST B-65270EN/08 - 448 - αiS series HV (3/4) Motor model αiS300 3000HV αiS500 2000HV αiS500 3000HV αiS10002000HV αiS10002000HV αiS10003000HV αiS10003000HV αiS2000 2000HV αiS2000 2000HV αiS20002000HV spindle αiS30002000HV Motor specification 0290 0296 0297 029800980099...

  • Page 459

    B-65270EN/08 9.PARAMETER LIST - 449 - αiS series HV (4/4) Motor model αiS3000 2000HV Motor specification 0092 Motor ID No. 460 PRM NO SERVO PRM. Amp*4 2003 00001000 2004 01000011 2005 00000000 2006 00000000 2007 00100000 2008 00000000 2009 000...

  • Page 460

    9.PARAMETER LIST B-65270EN/08 - 450 - 9.1.3 αiF Series αiF series Motor model αiF1 5000 αiF2 5000 αiF4 5000 αiF83000 αiF84000 αiF124000 αiF223000 αiF224000 αiF30 4000 αiF403000 αiF403000 Fan Motor specification 0202 0205 0223 022702280243024702480253 0257 0257 Motor ID No. 252 25...

  • Page 461

    B-65270EN/08 9.PARAMETER LIST - 451 - 9.1.4 αiF Series HV αiF series HV Motor model αiF4 5000HV αiF8 3000HV αiF8 4000HV αiF124000HV αiF223000HV αiF224000HV αiF304000HV αiF403000HV αiF40 3000HV Fan Motor specification 0225 0229 0220 024502490240025502590259 Motor ID No. 275 279 4...

  • Page 462

    9.PARAMETER LIST B-65270EN/08 - 452 - 9.1.5 αCi Series αCi series Motor model αC4 3000i αC8 2000i αC12 2000i αC222000i αC301500i Motor specification 0221 0226 0241 02460251 Motor ID No. 271 276 291 296301 PRM NO SERVO PRM. 2003 00001000 00001000 00001000 00001000000010002004...

  • Page 463

    B-65270EN/08 9.PARAMETER LIST - 453 - 9.2 STANDARD PARAMETERS FOR THE βi SERIES SERVO MOTORS Series 90G0 (for Series 30i/31i/32i/35i-B, Power Motion i-A) Series 90E0 and 90E1 (for Series 30i/31i/32i-A) Series 90D0 (for Series 30i/31i-A) Series 90C5 and 90C8 (for Series 0i-D) Series 90E5 and 90E8...

  • Page 464

    9.PARAMETER LIST B-65270EN/08 - 454 - 9.2.1 βiS Series βiS series (1/3) Motor model βiS0.2 5000 βiS0.3 5000 βiS0.4 5000 βiS0.56000 βiS16000 βiS24000 βiS24000 40A βiS24000 FS0i βiS2 4000 FS0i,40A βiS4 4000 βiS44000 40A Motor specification 0111 0112 0114 011501160061-Bxx30061-Bxx3...

  • Page 465

    B-65270EN/08 9.PARAMETER LIST - 455 - βiS series (2/3) Motor model βiS4 4000 FS0i βiS4 4000 FS0i,40A βiS8 3000 βiS83000 40A βiS83000 FS0i βiS83000 FS0i,40A βiS122000 βiS122000 40A βiS12 2000 FS0i βiS122000 FS0i,40A βiS123000 Motor specification 0063-Bxx6 0063-Bxx6 0075-Bxx3 0075-B...

  • Page 466

    9.PARAMETER LIST B-65270EN/08 - 456 - βiS series (3/3) Motor model βiS12 3000 80A βiS22 1500 FS0i βiS22 1500 FS0i,40A βiS222000 βiS222000 80A βiS223000 βiS302000 βiS402000 Motor specification 0078 0084-Bxx6 0084-Bxx6 00850085008200870089 Motor ID No. 477 302 305 274478313472474 ...

  • Page 467

    B-65270EN/08 9.PARAMETER LIST - 457 - 9.2.2 βiS Series HV βiS series HV Motor model βiS2 4000HV βiS4 4000HV βiS8 3000HV βiS12 3000HV βiS22 2000HV βiS223000HV βiS302000HV βiS402000HV Motor specification 0062 0064 0076 00790086008300880090 Motor ID No. 251 264 267 270278314473475 ...

  • Page 468

    9.PARAMETER LIST B-65270EN/08 - 458 - 9.2.3 βiSc Series βiSc series Motor model βiSc2 4000 βiSc2 4000 40A βiSc4 4000 βiSc44000 40A βiSc83000 βiSc83000 40A βiSc122000 βiSc122000 40A Motor specification 0061-Bxx7 0061-Bxx7 0063-Bxx7 0063-Bxx70075-Bxx70075-Bxx70077-Bxx70077-Bxx7 M...

  • Page 469

    B-65270EN/08 9.PARAMETER LIST - 459 - 9.2.4 βiF Series βiF series Motor model βiF4 3000 βiF4 /3000 40A βiF8 /2000 βiF8/2000 40A βiF12/2000 βiF12/2000 40A βiF22/2000 βiF22/2000 80A βiF30 /1500 Motor specification 0051 0051 0052 005200530053005400540055 Motor ID No. 483 484 485 48...

  • Page 470

    9.PARAMETER LIST B-65270EN/08 - 460 - 9.3 STANDARD PARAMETERS FOR THE LINEAR MOTORS Series 90G0 (for Series 30i/31i/32i/35i-B, Power Motion i-A) Series 90E0 and 90E1 (for Series 30i/31i/32i-A) Series 90D0 (for Series 30i/31i-A) Series 90C5 and 90C8 (for Series 0i-D) Series 90E5 and 90E8 (for Seri...

  • Page 471

    B-65270EN/08 9.PARAMETER LIST - 461 - 9.3.1 Linear Motor LiS Series [200V] Linear motor LiS series [200V] (1/2) Motor model LiS300 A1/4 (200V) LiS600 A1/4 (200V) LiS900 A1/4 (200V) LiS1500B1/4 (200V) LiS3000B2/2 (200V) LiS3000B2/4 (200V) LiS4500B2/2 (200V) LiS4500B2/4 (200V) LiS6000 B2/2 (200...

  • Page 472

    9.PARAMETER LIST B-65270EN/08 - 462 - Linear motor LiS series [200V] (2/2) Motor model LiS7500 B2/4 (200V) LiS9000 B2/2 (200V) LiS9000 B2/4 (200V) LiS3300C1/2 (200V) LiS9000C2/2 (200V) LiS11000C2/2 (200V) LiS11000C2/4 (200V) LiS15000 C2/2 (200V) LiS15000 C2/3 (200V) LiS10000C3/2 (200V) LiS170...

  • Page 473

    B-65270EN/08 9.PARAMETER LIST - 463 - 9.3.2 Linear Motor LiS Series [400V] Linear motor LiS series [400V] (1/2) Motor model LiS1500 B1/4 (400V) LiS3000 B2/2 (400V) LiS4500 B2/2HV (400V) LiS4500B2/2 (400V) LiS6000B2/2HV (400V) LiS6000B2/2 (400V) LiS7500B2/2HV (400V) LiS7500B2/2 (400V) LiS9000 ...

  • Page 474

    9.PARAMETER LIST B-65270EN/08 - 464 - Linear motor LiS series [400V] (2/2) Motor model LiS9000 C2/2 (400V) LiS11000 C2/2HV (400V) LiS11000 C2/2 (400V) LiS15000C2/3HV (400V) LiS15000C2/2 (400V) LiS10000C3/2HV (400V) LiS10000C3/2 (400V) LiS17000 C3/2HV (400V) LiS17000 C3/2 (400V) Motor specif...

  • Page 475

    B-65270EN/08 9.PARAMETER LIST - 465 - 9.4 STANDARD PARAMETERS FOR THE SYNCHRONOUS BUILT-IN SERVO MOTORS Series 90G0 (for Series 30i/31i/32i/35i-B, Power Motion i-A) Series 90E0 and 90E1 (for Series 30i/31i/32i-A) Series 90D0 (for Series 30i/31i-A) Series 90C5 and 90C8 (for Series 0i-D) Series 90E...

  • Page 476

    9.PARAMETER LIST B-65270EN/08 - 466 - 9.4.1 Synchronous Built-in Servo Motor DiS Series [200V] Synchronous built-in servo motor DiS series [200V] (1/4) Motor model DiS400 250 (200V) DiS22 600 (200V) DiS85 400 (200V) DiS110300 (200V) DiS260300 (200V) DiS260600 (200V) DiS370300 (200V) DiS80025...

  • Page 477

    B-65270EN/08 9.PARAMETER LIST - 467 - Synchronous built-in servo motor DiS series [200V] (2/4) Motor model DiS3000 150 (200V) DiS85 1000 (200V) DiS110 1000 (200V) DiS2601000 (200V) DiS221500 (200V) Motor specification 0487-B40x 0483-B22x 0484-B12x 0484-B32x0482-B12x Motor ID No. 441 443 ...

  • Page 478

    9.PARAMETER LIST B-65270EN/08 - 468 - Synchronous built-in servo motor DiS series [200V] (3/4) Motor model DiS15 1000 (200V) DiS60 400 (200V) DiS70 300 (200V) DiS150300 (200V) DiS200300 (200V) DiS250250 (200V) DiS500250 (200V) DiS1000200 (200V) DiS1500 100 (200V) DiS2000100 (200V) DiS2000150 ...

  • Page 479

    B-65270EN/08 9.PARAMETER LIST - 469 - Synchronous built-in servo motor DiS series [200V] (4/4) Motor model DiS60 2000 (200V) DiS70 1500 (200V) DiS150 1500 (200V) DiS5001000 (200V) Motor specification 0493-B220 0494-B120 0494-B320 0495-B420 Motor ID No. 577 579 581 583 PRM NO SERVO PRM. ...

  • Page 480

    9.PARAMETER LIST B-65270EN/08 - 470 - 9.4.2 Synchronous Built-in Servo Motor DiS Series [400V] Synchronous built-in servo motor DiS series [400V] (1/4) Motor model DiS400 250 (400V) DiS22 600 (400V) DiS85 400 (400V) DiS110300 (400V) DiS260300 (400V) DiS260600 (400V) DiS370300(400V)DiS800250 (...

  • Page 481

    B-65270EN/08 9.PARAMETER LIST - 471 - Synchronous built-in servo motor DiS series [400V] (2/4) Motor model DiS3000 150 (400V) Motor specification 0487-B40x Motor ID No. 442 PRM NO SERVO PRM. 2003 00001000 2004 00000011 2005 00000000 2006 00000000 2007 ...

  • Page 482

    9.PARAMETER LIST B-65270EN/08 - 472 - Synchronous built-in servo motor DiS series [400V] (3/4) Motor model DiS15 1000 (400V) DiS60 400 (400V) DiS70 300 (400V) DiS150300 (400V) DiS200300 (400V) DiS250250 (400V) DiS500250 (400V) DiS1000200 (400V) DiS1500 100 (400V) DiS2000100 (400V) DiS2000150 ...

  • Page 483

    B-65270EN/08 9.PARAMETER LIST - 473 - Synchronous built-in servo motor DiS series [400V] (4/4) Motor model DiS5000 50 (400V) DiS60 2000 (400V) DiS70 1500 (400V) DiS1501500 (400V) DiS5001000 (400V) Motor specification 0488-B400 0493-B220 0494-B120 0494-B3200495-B420 Motor ID No. 573 578 5...

  • Page 484

  • Page 485

    APPENDIX

  • Page 486

  • Page 487

    B-65270EN/08 APPENDIX - 477 - A.ANALOG SERVO ADAPTER SETTING PROCEDUREA ANALOG SERVO ADAPTER SETTING PROCEDURE (1) Overview Appendix A describes the method of setting parameters required when using the analog servo function with an analog servo adapter. CAUTION 1 For the CNCs that support th...

  • Page 488

    APPENDIX B-65270EN/08 - 478 - A. ANALOG SERVO ADAPTER SETTING PROCEDURE Parameter number Meaning 30i-B Series 30i-A Series 0i-D Series 1023 1023 1023 Servo axis number for each axis - 1905#6,7,1,2 1905#6,7 Selection of interface unit used 24000 to 24031 24032 to 24063 14340 to 14357 14358 to 143...

  • Page 489

    B-65270EN/08 APPENDIX - 479 - A.ANALOG SERVO ADAPTER SETTING PROCEDURE (Reference) FSSB setting example where an analog servo adapter is used [Setting example 1: Two analog servo axes] Let the analog servo adapter be slave 1. Assume that analog amplifiers are connected behind the analog servo ...

  • Page 490

    APPENDIX B-65270EN/08 - 480 - A. ANALOG SERVO ADAPTER SETTING PROCEDURE CNC FSSB Analog amplifier 1FSSB Y-axis Anal og servo adapter1 (Basic unit)JV11LDigital servo amplifierX-axis Slave 1Slave 2Slave 3 For 30i-B Series Parameter No. 24000 24001 24002 24003 to 24095 Set value 1001 3001 1002 10...

  • Page 491

    B-65270EN/08 APPENDIX - 481 - A.ANALOG SERVO ADAPTER SETTING PROCEDUREJV12LJV11LCNC FSSB Analog amplifier 1Analog amplifier 2Analog amplifier 3Analog amplifier 4FSSBX-axis Y-axis Z-axisA-axisB-axisユト1(Expansion unit)Analog servo adapter (Basic unit)Slave 5JV14LDigital servo amplifiers (t...

  • Page 492

    APPENDIX B-65270EN/08 - 482 - A. ANALOG SERVO ADAPTER SETTING PROCEDURE Parameter No. 14376 14377 14378 14379 14380 to 14383 14384 14385 to 14407 Set value 0 1 2 3 32 6 32 (5) Servo parameter initialization For axes connected to an analog servo circuit, initialize the servo parameters as liste...

  • Page 493

    B-65270EN/08 APPENDIX - 483 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSB PARAMETERS SET WITH VALUES IN DETECTION UNITS If the detection unit is changed with a CMR or flexible feed gear, it is also necessary to change the parameters that are set with values in detection units. This appendix...

  • Page 494

    APPENDIX B-65270EN/08 - 484 - B. PARAMETERS SET WITH VALUES IN DETECTION UNITS B.1 PARAMETERS FOR 30i-A Series, 30i-B Series No. Description 30i –ASeries30i-BSeries1821 Reference counter capacity for individual axis 1826 Effective area (in-position check) for individual axis 1827 Effective are...

  • Page 495

    B-65270EN/08 APPENDIX - 485 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSNo. Description 30i –ASeries30i-BSeries3720 Number of pulses from position coder 5019 Distance to prevent chattering for direct input of tool offset value measured B 5184 In-position width for other than hole bottom (...

  • Page 496

    APPENDIX B-65270EN/08 - 486 - B. PARAMETERS SET WITH VALUES IN DETECTION UNITS No. Description 30i –ASeries30i-BSeries8326 Difference in reference counter value between master axis and slave axis 8331 Maximum permissible synchronous error in synchronous error excess alarm 1 8332 Maximum permis...

  • Page 497

    B-65270EN/08 APPENDIX - 487 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSNo. Description 1851 Backlash compensation for individual axis 1852 Backlash compensation for individual axis at rapid traverse 1872 Servo position error check value 1882 Mark 2 intervals on linear scale interface with ...

  • Page 498

    APPENDIX B-65270EN/08 - 488 - B. PARAMETERS SET WITH VALUES IN DETECTION UNITS No. Description 1836 Servo error amount within which reference position return is assumed to be possible 1844 Distance from the point at which deceleration dog is turned off to first grid point when reference position...

  • Page 499

    B-65270EN/08 APPENDIX - 489 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSNo. Description 5764 Compensation at compensation point number d for movement axis 1 5871 Compensation α at compensation point number a for individual axis (gradient compensation) 5872 Compensation β at compensation p...

  • Page 500

    APPENDIX B-65270EN/08 - 490 - B. PARAMETERS SET WITH VALUES IN DETECTION UNITS No. Description 2382 Torsion preview control: maximum compensation value (LSTCM) 2386 Torsion preview control: Acceleration torsion compensation value K1 (LSTK1) 2387 Torsion preview control: Acceleration torsion comp...

  • Page 501

    B-65270EN/08 APPENDIX - 491 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSNo. Description 1827 Effective area (in-position check) for individual axis at cutting feed 1828 Position error limit for individual axis during movement 1829 Position error limit for individual axis at stop 1830 Positi...

  • Page 502

    APPENDIX B-65270EN/08 - 492 - B. PARAMETERS SET WITH VALUES IN DETECTION UNITS The parameter No. indicated with an asterisk (*) is related to a function unique to the Power Mate. The parameter No. suffixed with "(D)" are related to the functions dedicated to the Power Mate i-D. The par...

  • Page 503

    B-65270EN/08 APPENDIX - 493 - B.PARAMETERS SET WITH VALUES IN DETECTION UNITSNo. Description 5451 Three-dimensional error compensation magnification 5471 Compensation α at compensation point number a for individual axis 5472 Compensation β at compensation point number b for individual axis 547...

  • Page 504

    APPENDIX B-65270EN/08 - 494 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS C PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS The i series CNCs are provided with some functions for high-speed and high precision operations. This appendix lists parameters categor...

  • Page 505

    B-65270EN/08 APPENDIX - 495 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSC.1 MODEL-SPECIFIC INFORMATION C.1.1 Series 30i/31i/32i-A/B [Functions related to high-speed and high precision operations] High-speed high precision functions AI contour control I AI contour control II...

  • Page 506

    APPENDIX B-65270EN/08 - 496 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS • Cutting time-priority setting To reduce machining time, make settings for speed priority I then for speed priority II in stages. The settings for speed priority II can reduce much more machining ...

  • Page 507

    B-65270EN/08 APPENDIX - 497 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSParameter No. Standard setting value Description 19516 80 Region 1 override (%) for the cutting load-based deceleration function (needn’t be specified if bit 4 of parameter No. 8451 or bit 1 of parame...

  • Page 508

    APPENDIX B-65270EN/08 - 498 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS To reduce machining time, make settings for speed priority I then for speed priority II in stages. The settings for speed priority II can reduce much more machining time than the settings for speed p...

  • Page 509

    B-65270EN/08 APPENDIX - 499 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSC.1.3 Series 0i/0i Mate-D [Functions related to high-speed and high precision operations] High-speed high precision functions Advanced preview control AI advanced preview control AI contour control I AI...

  • Page 510

    APPENDIX B-65270EN/08 - 500 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS (1) Advanced preview control • Parameters that need tuning based on the machine type Parameter No. Standard setting value Description Standard setting Speed priority I Speed priority II 1420 - - - R...

  • Page 511

    B-65270EN/08 APPENDIX - 501 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSParameter No. Standard setting value Description Standard setting Speed priority I Speed priority II 1620 - - - Time constant (msec) for linear-shaped acc./dec. in rapid-traverse for individual axes / T...

  • Page 512

    APPENDIX B-65270EN/08 - 502 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. Standard setting value Description Standard setting Speed priority I Speed priority II 1769 24 16 16 Time constant (msec) for acc./dec. after cutting feed interpolation for individual ax...

  • Page 513

    B-65270EN/08 APPENDIX - 503 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSC.1.4 Series 16i/18i/21i/0i/0iMate-MB, 0i/0i Mate-MC/20i-FB [Functions related to high-speed and high precision operations] High-speed high precision functions Advanced preview control (APC) AI advanced...

  • Page 514

    APPENDIX B-65270EN/08 - 504 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS [Parameters] Described below are the parameters that must be specified for individual high-speed and high precision cutting machines separately. Use the standard setting values included in the parame...

  • Page 515

    B-65270EN/08 APPENDIX - 505 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSParameter No. Standard setting value Description 1602#4 1 Automatic deceleration at corners is under speed difference-dependent control 1602#6,#3 #6,#3 1,0 Acc./dec. after interpolation is of a linear ...

  • Page 516

    APPENDIX B-65270EN/08 - 506 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. Standard setting value Description 1802#7 0/1 To be set to 1 if the CMR setting is 2 or greater (parameter No. 1820 setting is 4 or greater). (3) AI contour control • Parameters that ...

  • Page 517

    B-65270EN/08 APPENDIX - 507 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSParameter No. Standard setting value Description 7058 0 To be set to the standard setting value. 7066 mm / inch 10000/3937 Reference speed (mm/min / inch/min) for a function of changing the time constan...

  • Page 518

    APPENDIX B-65270EN/08 - 508 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. Standard setting value Description 7058 0 To be set to the standard setting value. 7066 mm / inch 10000/3937 Reference speed (mm/min / inch/min) for a function of changing the time const...

  • Page 519

    B-65270EN/08 APPENDIX - 509 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSParameter No. Standard setting value Description 8456 80 Region 2 override (%) for the cutting load-based deceleration function (needn't be specified if bit 4 of parameter No. 8451 = 0) 8457 70 Region 3...

  • Page 520

    APPENDIX B-65270EN/08 - 510 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. Standard setting value Description Standard setting Speed priority I Speed priority II 8470 320 112 56 Parameter (msec) for determining an allowable acceleration in determining accelerat...

  • Page 521

    B-65270EN/08 APPENDIX - 511 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSC.1.5 Series 15i-MB [Functions related to high-speed and high precision operations] High-speed high precision functions Look-ahead acc./dec. before interpolation Fine HPCC Series 15i-MB Acc./dec. befo...

  • Page 522

    APPENDIX B-65270EN/08 - 512 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. Standard setting value Description Standard setting Speed priority I Speed priority II 1665 525.0 1500.0 3000.0 Permissible acceleration in deceleration by acceleration in circular inter...

  • Page 523

    B-65270EN/08 APPENDIX - 513 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSC.2 SERVO PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Described below are the servo parameters that need setting and tuning for high-speed and high precision operations. To specify pa...

  • Page 524

    APPENDIX B-65270EN/08 - 514 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS - Parameters whose settings must be changed according to the size of the machine but needn’t tuning once set up Parameter No. Standard setting value Description Standard setting Speed priority I Sp...

  • Page 525

    B-65270EN/08 APPENDIX - 515 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSNOTE 1 Keep the bit indicated with X (bit 6) at the standard setting. 2 For motors not supporting the HRV2 standard parameters, change the parameter settings to the settings for HRV2 according to the in...

  • Page 526

    APPENDIX B-65270EN/08 - 516 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS (4) Parameters common to all CNC models (requiring tuning) - Parameters requiring tuning for finding optimum values Parameter No. FS30i ,16i, etc. FS15i Setting at tuning start Description Items to b...

  • Page 527

    B-65270EN/08 APPENDIX - 517 - C.PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONSNOTE 2 The phrase "using nano interpolation" means using AI contour control I, AI contour control II, Fine HPCC, look-ahead acc./dec. before interpolation, AI nano high precision contour contr...

  • Page 528

    APPENDIX B-65270EN/08 - 518 - C. PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS Parameter No. FS30i Standard setting value Description 2300#0 1 Extended HRV function 2202#1 1 Cutting/rapid velocity loop gain switching function 2040 Standard parameter for HRV2 Current integral gai...

  • Page 529

    B-65270EN/08 APPENDIX - 519 - D.VELOCITY LIMIT VALUES IN SERVO SOFTWARED VELOCITY LIMIT VALUES IN SERVO SOFTWARE (1) Overview The feed axis velocity is subject to the feedrate limits that depend on the internal processing of the system itself and that of the servo software. These velocity limit ...

  • Page 530

    APPENDIX B-65270EN/08 - 520 - D. VELOCITY LIMIT VALUES IN SERVO SOFTWARE (3) Position feedback (axis feedrate) limits The following feedrate limits may be applied according to each of the functions because of a weight on data that is handled in detection units within the servo software. - When...

  • Page 531

    B-65270EN/08 APPENDIX - 521 - D.VELOCITY LIMIT VALUES IN SERVO SOFTWARE• Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 30i/31i/32i/35i-B 90G0 03.0 and subsequent editions Power Motion i-A Series 30i/31i/32i-A 90E0 J(10) and subsequent edi...

  • Page 532

    APPENDIX B-65270EN/08 - 522 - D. VELOCITY LIMIT VALUES IN SERVO SOFTWARE With an axis for which this parameter is set, a value range wider than the conventionally allowed one can be set for parameters to be set in speed and acceleration units when the increment system IS-C, IS-D, or IS-E is sele...

  • Page 533

    B-65270EN/08 APPENDIX - 523 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENTE DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT (1) Overview Appendix E explains in detail the adjustment procedure described in Section 4.3, "ADJUSTING PARAMETERS FOR HIGH-SPEED AND HIGH-PRECISION MACH...

  • Page 534

    APPENDIX B-65270EN/08 - 524 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENTG91; G05Q1; G17G02I-10.F4000.; I-10.; I-10.; G05Q0; G04X3.; M99; Table E (a) Codes for starting and ending each mode Start End FS0i-D + Advanced preview control G08P1 G08P0 FS30i + AI contour control I FS30i + ...

  • Page 535

    B-65270EN/08 APPENDIX - 525 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT Fig. E (c) Effect of velocity loop gain Velocity loop gain: 200% Advanced preview feed-forward coefficient: 98% Fig. E (d) Effect of velocity loop gain Velocity loop gain: 300% Advanced preview feed-forward coeff...

  • Page 536

    APPENDIX B-65270EN/08 - 526 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT G91; G08P1; G01X10.F4000; G02X5.Y-5.R5.; G01Y-20.; G02X-5.Y-5.R5.; G01X-20.; G02X-5.Y5.R5.; G01Y20.; G02X5.Y5.R5.; G01X10.; G08P0; G04X3.; M99; 5 mm5 mmStart, End Fig. E (e) Programmed figure When the actual p...

  • Page 537

    B-65270EN/08 APPENDIX - 527 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT In Fig. E (g), the velocity feed-forward coefficient is not specified, so that the movement along each axis delays where acceleration changes to a large extent. As the result, a protrusion occurs at the joint of ...

  • Page 538

    APPENDIX B-65270EN/08 - 528 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT Figure errors in this area cannot be fully eliminated by increasing the velocity loop gain. S wells can be reduced by increasing the velocity loop gain. Fig. E (l) Velocity feed-forward adjustment Velocity loo...

  • Page 539

    B-65270EN/08 APPENDIX - 529 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENTWhen the feedrate at an arc is reduced using the arc radius based feedrate clamp function, figure precision improves. However, a longer machining time is required as a side effect. Fig. E (m) shows a tangent feedr...

  • Page 540

    APPENDIX B-65270EN/08 - 530 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT(5) Adjustment of an allowable feedrate difference of the feedrate difference based corner deceleration function [Purpose of adjustment] In the program shown in Fig. E (p), the feedrate along each axis changes ...

  • Page 541

    B-65270EN/08 APPENDIX - 531 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT0.01 m mO vershoot Fig. E (q) Reduced corner feedrate F1000 Fig. E (r) Reduced corner feedrate F300 Feedrate along the X-axisFeedrate along the Y-axisAcceleration/decelerationat the acceleration ofacceleration/de...

  • Page 542

    APPENDIX B-65270EN/08 - 532 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT[Basic parameters for backlash acceleration] Parameter No. Recommended value Description 1851 1 以上 Backlash compensation 2003 #5 1 Enables backlash acceleration function 2006 #0 0/1 0: Semi-closed loop, 1: Fu...

  • Page 543

    B-65270EN/08 APPENDIX - 533 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT (c)-1 Determining the end of adjustment First, it is necessary to understand when the backlash acceleration adjustment is ended. The figure below shows the result of an adjustment made by setting parameter No....

  • Page 544

    APPENDIX B-65270EN/08 - 534 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENTUndercut Undercut (c)-2 Effect of gain adjustment According to the description in item (c)-3 - (1), the final value of parameter No. 2048 must be determined to be 100. However, small protrusions are still lef...

  • Page 545

    B-65270EN/08 APPENDIX - 535 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT After a thorough gain adjustment, backlash acceleration can be adjusted easily. The figure shown below is the result obtained after the initial parameters of backlash acceleration listed in item (c)-3 - (2) are ...

  • Page 546

    APPENDIX B-65270EN/08 - 536 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENTF500mm/min F5000mm/min For F500 mm/min, 100 set in parameter No. 2048 is too large. For F5000 mm/min, 100 set in parameter No. 2048 is too small. * In this chapter, PG is assumed to be 50, and VG is assumed to be...

  • Page 547

    B-65270EN/08 APPENDIX - 537 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT (2) Determining parameter No. 2114 Parameter No. 2114 must be set after the adjustment of parameter No. 2048. About a half of the maximum cutting feedrate is used to determine the value to be set in parameter N...

  • Page 548

    APPENDIX B-65270EN/08 - 538 - E. DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT(3) Determining parameter No. 2338 Finally, set parameter No.2338. With an override coefficient determined using a middle feedrate, a large acceleration amount is output when the feedrate is set to a high feedra...

  • Page 549

    B-65270EN/08 APPENDIX - 539 - E.DETAILS OF HIGH-SPEED AND HIGH-PRECISION ADJUSTMENT No.2048 No.2114 No.2338No.2094 No.2340 No.2341 (e) Disabling backlash acceleration after stop The optimum acceleration amount after a long stop may slightly be different from that at the time of adjustment usi...

  • Page 550

    APPENDIX B-65270EN/08 - 540 - F. USING THE SERVO CHECK INTERFACE UNIT F USING THE SERVO CHECK INTERFACE UNIT (1) Overview With CNCs of the FS30i Series or later, SERVO GUIDE is basically used for servo adjustment and the servo check board connectable to conventional CNCs is not supported. Instea...

  • Page 551

    B-65270EN/08 APPENDIX - 541 - F.USING THE SERVO CHECK INTERFACE UNITA servo check interface unit has two types of connectors, one for analog signal output and the other for detector data input, for one CNC axis. Each of a basic unit and an additional unit has four connectors and two channels of ...

  • Page 552

    APPENDIX B-65270EN/08 - 542 - F. USING THE SERVO CHECK INTERFACE UNIT NOTE 1 When these parameters are set, the power must be turned off before operation is continued. 2 When two servo check interface units are used with one axis on the CNC, neither a pair of the first and third units nor a pair...

  • Page 553

    B-65270EN/08 APPENDIX - 543 - F.USING THE SERVO CHECK INTERFACE UNIT(5) Examples of setting [Connection example 1] Configuration where the X-axis is a semi-closed axis and the Y-axis and Z-axis are full-closed axes Velocity command data is output from the X-axis. Position data is output from ...

  • Page 554

    APPENDIX B-65270EN/08 - 544 - F. USING THE SERVO CHECK INTERFACE UNIT No. Signal Value 2278#2 PM1SCB X: 1, Y: 1, Z: 0 2315 X: 10, Y: 24, Z: 0 [Connection example 2] Configuration where the X-axis is a semi-closed axis and the Y-axis and Z-axis are full-closed axes Velocity data is output fro...

  • Page 555

    B-65270EN/08 APPENDIX - 545 - F.USING THE SERVO CHECK INTERFACE UNITNo. Signal Value 14384 to 14391 ATRC 1,2,32,32,32,32,32,32 14392 to 14399 ATRC All 32 14400 to 14407 ATRC All 32 14444 to 14451 ATRC All 32 14452 to 14459 ATRC All 32 2278#3 PM2SCB X: 0, Y: 0, Z: 0 2278#2 PM1SCB X: 1, Y: 1, Z: 0...

  • Page 556

    APPENDIX B-65270EN/08 - 546 - F. USING THE SERVO CHECK INTERFACE UNIT #7 #6 #5 #4 #3 #2 #1 #0 2225 TSA05 TCMD05 TCMD05(#1) The TCMD signal check board output voltage is: 0: Ordinary (default). 1: Halved. * The actual output voltage is affected by the function bit (TCMD4X) indicated bel...

  • Page 557

    B-65270EN/08 APPENDIX - 547 - G.SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D SeriesG SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series Appendix G, "SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series", consists of the following sections: G.1 FINE ACC...

  • Page 558

    APPENDIX B-65270EN/08 - 548 - G. SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series NOTE When this parameter is set, the power must be turned off before operation is continued. #7 #6 #5 #4 #3 #2 #1 #0 1749(FS15i) FADL 2209(FS16i) FADL (#2) 0: FAD bell-shaped 1: ...

  • Page 559

    B-65270EN/08 APPENDIX - 549 - G.SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series #7 #6 #5 #4 #3 #2 #1 #0 1742(FS15i) FADCH 2202(FS16i) FADCH (#0) 1: Enables the fine acc./dec. function, used separately for cutting and rapid traverse. NOTE When this parameter is...

  • Page 560

    APPENDIX B-65270EN/08 - 550 - G. SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series Table G.1 (a) Feed-forward coefficient and fine acc./dec. time constant parameters classified by use Series 16i, 18i, 21i, 0i Parameter setting Parameters for cutting Parameters for rapid traverse No....

  • Page 561

    B-65270EN/08 APPENDIX - 551 - G.SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D SeriesFunction Use of FAD for servo axisCautions for combined use When FAD is disabled for spindle axis When FAD is enabled for spindle axisRigid tapping Allowed Allowed When FAD is disabled for spindle axis ...

  • Page 562

    APPENDIX B-65270EN/08 - 552 - G. SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series (7) Rigid tapping synchronization when spindle axis FAD is disabled (a) Overview Because using fine acc./dec. causes the servo axis delay (error) to increase by 1 ms, rigid tapping with fine acc./dec...

  • Page 563

    B-65270EN/08 APPENDIX - 553 - G.SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D SeriesExample of parameter setting) Position gain (1/s) Usually set value Newly set value 15 1500 1523 16.66 1666 1694 20 2000 2041 25 2500 2564 30 3000 3093 33.33 3333 3448 35 2500 3627 40 4000 4167 45 4500 ...

  • Page 564

    APPENDIX B-65270EN/08 - 554 - G. SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series (9) Examples of applying the fine acc./dec. function Motor velocity Torque command Motor velocity Torque command Conventional control in which the When the feed-forward fun...

  • Page 565

    B-65270EN/08 APPENDIX - 555 - G.SERVO FUNCTIONS THAT ARE NOT USED WITH THE 30i AND 0i-D Series(3) Setting parameters <1> Set the following parameters in the same way as for the advanced preview feed-forward function. <2> Set the parameters (RISCFF and RISCMC) below. #7 #6 #5 #4...

  • Page 566

    APPENDIX B-65270EN/08 - 556 - H.METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDBACK CABLESH METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDBACK CABLES Appendix H, " METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDB...

  • Page 567

    B-65270EN/08 APPENDIX - 557 - H.METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDBACK CABLES (4) Caution for setting the FSSB In an i series CNC, the number of amplifiers must match that of axes for reasons of the FSSB setting. If an axis to be set as a dummy axis has not...

  • Page 568

    APPENDIX B-65270EN/08 - 558 - H.METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDBACK CABLESNOTE 1 The relationships of this function with the built-in Pulsecoder feedback dummy function are as follows: When only the built-in Pulsecoder feedback dummy function is enabled:...

  • Page 569

    B-65270EN/08 APPENDIX - 559 - H.METHODS OF STARTING UP THE MACHINE WITHOUT CONNECTING AMPLIFIERS AND FEEDBACK CABLESCNC Servo software Remarks Series Edition Series 30i/31i/32i-A 90E0 L(12) and subsequent editions 90E1 01.0 Series 30i/31i-A 90D0 L(12) and subsequent editions HRV4 Series 0i-D ...

  • Page 570

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 560 - I HRV1 CONTROL PARAMETERS Series 9096 (for Series 21i/ 0i-B, Power Mate i) Series 90B0 (for Series 15i/16i/ 0i-B, Power Mate i) Series 90B1 and 90B8 (for Series 15i/16i/20i-B/0i-C/0i Mate-C, Power Mate i) Series 90B5 and 90B6 (for Series 15i...

  • Page 571

    B-65270EN/08 APPENDIX I.HRV1 CONTROL PARAMETERS - 561 - Motor modelL1500 B1/4is L3000 B2/2is L6000B2/2is L9000B2/2is L15000C2/2is αis 3002000 L3000B2/4is L6000 B2/4is L9000 B2/4is L15000C2/3is L300A1/4is Motor specification444-B210 445-B110 447-B110449-B110456-B110456-B110445-B210447-B210 4...

  • Page 572

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 562 - Motor modelL600 A1/4is L900 A1/4is L6000B2/4is L9000B2/2is L9000B2/4is L15000C2/2is Motor specification442-B200 443-B200 (160A)(160A)(360A)(360A) FS15i FS16i,etc. Motor ID No.125 126 127128129130 PRM. NO. PRM. NO. SYMBOL 1...

  • Page 573

    B-65270EN/08 APPENDIX I.HRV1 CONTROL PARAMETERS - 563 - Motor modelβiS2 4000HV αiF1 5000 βiS24000 βiS2/4000 40A αiF25000 βiS44000 βiS4/400040A βiS8 3000 βiS8/3000 40A αiS25000 αiS25000HV Motor specification0062 0202 0061-Bxx3 0061-Bxx302050063-Bxx3 0063-Bxx3 0075-Bxx3 0075-Bxx3 02...

  • Page 574

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 564 - Motor modelβiS4 4000HV αiS4 5000 αiS45000HV βiS8 3000HV βiS12/200040A βiS122000 βiS12 3000HV αC4 3000i βiS12 3000 αiF44000 βiS222000 Motor specification0064 0215 021600760077-Bxx3 0077-Bxx300790221 0078 02230085FS15i FS16i,et...

  • Page 575

    B-65270EN/08 APPENDIX I.HRV1 CONTROL PARAMETERS - 565 - Motor modelαiF4 4000HV αC8 2000i αiF83000 βiS22 2000HV αiF83000HV βiS0.56000 βiS16000 βiSc8 3000 αiS8 4000 αiS84000HV αiS124000 Motor specification0225 0226 022700860229011501160075-Bxx7 0235 02360238FS15i FS16i,etc. Motor ID...

  • Page 576

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 566 - Motor modelαiS12 4000HV αC12 2000i αiF12 3000 βiSc8/300040A αiF12 3000HV αC22 2000i αiF22 3000 βiSc12 2000 αiF22 3000HV βiSc12/2000 40A αC30 1500i Motor specification0239 0241 02430075-Bxx70245024602470077-Bxx7 0249 0077-Bxx...

  • Page 577

    B-65270EN/08 APPENDIX I.HRV1 CONTROL PARAMETERS - 567 - Motor model βiS22/1500 FS0i αiF30 3000 βiS22/1500FS0i 40A βiSc24000 αiF403000 αiF403000Fan βiSc2/400040A βiSc4 4000 βiSc4/4000 40A βiS223000 βiS223000HV Motor specification0084-Bxx6 0253 0084-Bxx6 0061-Bxx7025702570061-Bxx7 0...

  • Page 578

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 568 - Motor modelαiS22 4000 αiS22 4000HV αiS304000 αiS304000HV αiS404000 αiS404000HV αiS503000 αiS50 3000Fan αiS50 3000HVFan αiS503000HV αiS1002500Fan Motor specification0265 0266 026802690272027302750275 0276 02760285FS15i FS16i,e...

  • Page 579

    B-65270EN/08 APPENDIX I.HRV1 CONTROL PARAMETERS - 569 - Motor modelαiS100 2500HVFan αiS200 2500Fan αiS1002500 αiS1002500HV αiS2002500HVFanαiS2002500 αiS2002500HV αiS300 2000 αiS300 2000HV αiS5002000 αiS5002000HV Motor specification0286 0288 028502860289028802890292 0293 02950296FS...

  • Page 580

    I.HRV1 CONTROL PARAMETERS APPENDIX B-65270EN/08 - 570 - Motor modelαiS1000 2000HV Motor specification0298 FS15i FS16i,etc. Motor ID No.248 PRM. NO. PRM. NO. SYMBOL 1808 2003 00001000 1809 2004 01000110 1883 2005 00000000 1884 2006 00000000 1951 200...

  • Page 581

    B-65270EN/08 APPENDIX - 571 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONJ SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION Appendix J, " SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION ", consists of the following sections: J.1 INTERNAL UNIT SETTINGS AND COIL RESIST...

  • Page 582

    APPENDIX B-65270EN/08 - 572 - J. SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION Series Motor model Specification Unit setting (No.2281) Coil resistance Remarks#1 #0 No.2468 αiS(400V) αiS50/2000HV A06B-0043-B 0 ,-B 2 0 1 1270 αiS60/2000HV A06B-0043-B 0 ,-B 2 0 1 1229 αiS50/3000HVFAN A0...

  • Page 583

    B-65270EN/08 APPENDIX - 573 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONSeries Motor model Specification Unit setting (No.2281) Coil resistance Remarks#1 #0 No.2468 βiSc βiSc2/4000 A06B-0061-B 07 1 1 6554 βiSc4/4000 A06B-0063-B 07 1 0 3850 βiSc8/3000 A06B-0075-B 07 1 0 4096 βi...

  • Page 584

    APPENDIX B-65270EN/08 - 574 - J. SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION Series Motor model Specification Unit setting (No.2281) Coil resistance Remarks#1 #0 No.2468 LiS(200V) LiS300A1/4(200V) A06B-0441-B200 1 1 12288 LiS600A1/4(200V) A06B-0442-B200 1 1 6144 LiS900A1/4(200V) A06B-0...

  • Page 585

    B-65270EN/08 APPENDIX - 575 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONJ.2 SETTINGS FOR SERVO AMPLIFIER LOSS COEFFICIENTS A AND B Table J.2(a) Settings for servo amplifier loss coefficients A and B Series Motor model Specification Axis Loss coefficient A Loss coefficient B No.2490 No...

  • Page 586

    APPENDIX B-65270EN/08 - 576 - J. SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION Series Motor model Specification Axis Loss coefficient A Loss coefficient B No.2490 No.2469 HRV2 HRV3 HRV4 αiSV(200V) αiSV4/4 A06B-6117-H201 L 544 320 416 - M 544 320 416 - αiSV4/20 A06B-6117-H203 L 544 320...

  • Page 587

    B-65270EN/08 APPENDIX - 577 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONSeries Motor model Specification Axis Loss coefficient A Loss coefficient B No.2490 No.2469 HRV2 HRV3 HRV4 αiSV(400V) αiSV20/20HV A06B-6290-H205 L 672 538 883 1530 M 672 538 883 1530 αiSV20/40HV A06B-6290-H20...

  • Page 588

    APPENDIX B-65270EN/08 - 578 - J. SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION Series Motor model Specification Axis Loss coefficient A Loss coefficient B No.2490 No.2469 HRV2 HRV3 HRV4 βiSV βiSV4 A-06B-6160-H001 L 960 320 416 - βiSV20 A-06B-6160-H002 L 960 320 416 - βiSV40 A-06B-616...

  • Page 589

    B-65270EN/08 APPENDIX - 579 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONSeries Motor model Specification Axis Loss coefficient A Loss coefficient B No.2490 No.2469 HRV2 HRV3 HRV4 βiSVSP βiSVSP 20/20-7.5 A06B-6134-H201#D L 0 320 416 - M 0 320 416 - βiSVSP 20/20-11 A06B-6134-H202#A...

  • Page 590

    APPENDIX B-65270EN/08 - 580 - J. SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTION J.3 SETTINGS FOR POWER SUPPLY MODULE LOSS COEFFICIENTS C AND D Table J.3(a) Settings for power supply module loss coefficients C and D for the αiPS (200 V) Series Motor model Specification Loss coefficient C Lo...

  • Page 591

    B-65270EN/08 APPENDIX - 581 - J.SETTINGS FOR THE POWER CONSUMPTION MONITOR FUNCTIONSeries Motor model Specification Loss coefficient C Loss coefficient DNo.2491 Resistance regenerationNo.2463 Three-phase input Single-phase input No.2281#2βiSV(400V) βiSV10HV A06B-6161-H001 0 320 - 1 βiSV20HV ...

  • Page 592

    APPENDIX B-65270EN/08 - 582 - K. CORRESPONDENCE OF SERVO PARAMETER NUMBERS BETWEEN Series 15i, AND Series 30i, 0i, AND OTHERS K CORRESPONDENCE OF SERVO PARAMETER NUMBERS BETWEEN Series 15i, AND Series 30i, 0i, AND OTHERS The following table lists the correspondence of servo parameter numbers bet...

  • Page 593

    B-65270EN/08 APPENDIX - 583 - K.CORRESPONDENCE OF SERVO PARAMETER NUMBERS BETWEEN Series 15i, AND Series 30i, 0i, AND OTHERSSeries 30i, 0i, and others Series15i Series 30i,0i, and others Series15i Series 30i,0i, and others Series15i 2037 1722 2082 1975 2127 1735 2038 1723 2083 1976 2128 1736 203...

  • Page 594

    APPENDIX B-65270EN/08 - 584 - K. CORRESPONDENCE OF SERVO PARAMETER NUMBERS BETWEEN Series 15i, AND Series 30i, 0i, AND OTHERS Series 30i, 0i, and others Series15i Series 30i,0i, and others Series15i Series 30i,0i, and others Series15i 2281 2694 2331 2744 2381 2794 2282 2695 2332 2745 2382 2795 2...

  • Page 595

    B-65270EN/08 APPENDIX - 585 - K.CORRESPONDENCE OF SERVO PARAMETER NUMBERS BETWEEN Series 15i, AND Series 30i, 0i, AND OTHERSSeries 30i, 0i, and others Series15i Series 30i,0i, and others Series15i Series 30i,0i, and others Series15i 2435 2848 2485 2898 2535 2950 2436 2849 2486 2899 2536 2951 243...

  • Page 596

    APPENDIX B-65270EN/08 - 586 - L. CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE L CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE L.1 SETTING PARAMETERS FOR A PWM DISTRIBUTION MODULE (PDM) (1) Overview The PWM distribution module (PDM) has a function for copying a ...

  • Page 597

    B-65270EN/08 APPENDIX - 587 - L.CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE(2) Series and editions of applicable servo software CNC Servo software Remarks Series Edition Series 0i-D 90C5 D(04) and subsequent editions 90C8 A(01) and subsequent editions 90E5 D(04) and subseq...

  • Page 598

    APPENDIX B-65270EN/08 - 588 - L. CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE 2165 Set 0. If this parameter is not set, "Invalid motor/amplifier combination" may be issued. Note that because this parameter needs to be set to 0 when a PDM is used, the servo tuning scr...

  • Page 599

    B-65270EN/08 APPENDIX - 589 - L.CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULECNC System software Series Edition Series 0i-MD D4F1 06 and subsequent editions Series 0i-TD D6F1 06 and subsequent editions Series 0i Mate-MD D5F1 06 and subsequent editions Series 0i Mate-TD D7F1 06 a...

  • Page 600

    APPENDIX B-65270EN/08 - 590 - L. CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE NOTE The update interval of this data is 1 msec. [Example of waveform measurement] R phase (b) PDM's slave ready output With an axis that uses a PDM, the VRDY-OFF alarm is issued if there is o...

  • Page 601

    B-65270EN/08 APPENDIX - 591 - L.CONNECTING A LARGE SERVO MOTOR USING A PWM DISTRIBUTION MODULE- Diagnosis screen display when alarm 401 is issued Diagnosis 353 Amplifier ready state when the VRDY-OFF alarm is issued (in decimal) By checking the decimal value displayed in diagnosis No. 353, th...

  • Page 602

    APPENDIX B-65270EN/08 - 592 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE M QUADRANT PROTRUSION TUNING USING SERVO GUIDE (1) Overview Quadrant protrusion compensation using Tuning Navigator of SERVO GUIDE enables you to determine optimum parameters for the quadrant protrusion compensation fu...

  • Page 603

    B-65270EN/08 APPENDIX - 593 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDEServo software Applicable series and editions CNC software * Series 30i-A Series 31i-A5 Series 31i-A Series 0i-MD Series 0i-TD Series 0i Mate-MD Series 0i Mate-TD G004/01 and subsequent editions, G014/01 and s...

  • Page 604

    APPENDIX B-65270EN/08 - 594 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE #7 #6 #5 #4 #3 #2 #1 #0 2003 BLEN BLEN (#5) The backlash acceleration function is: 0 : Not used. 1 : Used. #7 #6 #5 #4 #3 #2 #1 #0 2018 OVR11 OVR8 OVR11,OVR8(#3,#2) Setting of the acceleration ove...

  • Page 605

    B-65270EN/08 APPENDIX - 595 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDEItem Basic setting Override gradient Override limit Positive direction Negative direction Positive direction Negative direction Positive direction Negative direction Acceleration amount No.2446 No.2450 No.2494 No.2500 No...

  • Page 606

    APPENDIX B-65270EN/08 - 596 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE CAUTION 1 Since the procedure involves a program operation, move the axis to a safe position in advance. 2 Be prepared to readily press the emergency stop button in case of an abnormal operation. <3> Select ...

  • Page 607

    B-65270EN/08 APPENDIX - 597 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDE NOTE 1 When you have selected rotary axes, perform tuning by specifying a sine wave shaped position command for one axis and a sine wave whose phase is 90 degrees different for the other axis. (As the tuning program, a ...

  • Page 608

    APPENDIX B-65270EN/08 - 598 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE NOTE If you select rotary axes, a minute line segment program is automatically generated as the tuning program. Note the following points: - An environment is necessary in which the minute line segment program can be...

  • Page 609

    B-65270EN/08 APPENDIX - 599 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDE<6> Set the parameters for learning control. Normally, you do not need to change the default values. Click [Next]. Change values only when optimum compensation calculation performed in the next step fails (the q...

  • Page 610

    APPENDIX B-65270EN/08 - 600 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE (4) Check that [Initial trial] is not checked and click the [Learn&Measure] button again. (Additional learning and check) (5) Press the "Cycle Start" button on the machine operator's panel. (A circular mo...

  • Page 611

    B-65270EN/08 APPENDIX - 601 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDE<8> Calculate the compensation at all feedrates. When all required compensation factors are added to the list, click [Next]. <9> The override is calculated based on the optimum compensation factors obtain...

  • Page 612

    APPENDIX B-65270EN/08 - 602 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE <Changing the override formats> If you press the <Change> button in the parameter confirmation window, the Override format setting dialog box is displayed. You can change the acceleration override format ...

  • Page 613

    B-65270EN/08 APPENDIX - 603 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDE<10>When [Use directional comp.] is checked in the previous step, different compensation factors can be used for "reverse operation from the positive direction to the negative direction" and "reverse...

  • Page 614

    APPENDIX B-65270EN/08 - 604 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE <12>The changed parameters are listed. Click [Finish] and exit the wizard.

  • Page 615

    B-65270EN/08 APPENDIX - 605 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDE(5) Manually fine-tuning compensation factors You can move back and force among the following three screens: "Learn optimum compensation & calculate compensation factor", "Acceleration setting optimize...

  • Page 616

    APPENDIX B-65270EN/08 - 606 - M. QUADRANT PROTRUSION TUNING USING SERVO GUIDE After the acceleration factors are calculated according to the result of learning, on the "Learn optimum compensation & calculate compensation factor" screen, click the [Modify] button. A screen appears, ...

  • Page 617

    B-65270EN/08 APPENDIX - 607 - M.QUADRANT PROTRUSION TUNING USING SERVO GUIDEOn the "Learn optimum compensation & calculate compensation factor" screen, check the [Manual tuning] check box and click the [Next] button. The "Measurement of circle (verify)" screen appears. On...

  • Page 618

  • Page 619

    B-65270EN/08 INDEX i-1 INDEX <A> ABBREVIATIONS OF THE NC MODELS COVERED BY THIS MANUAL ................................. 2 Acceleration Feedback Function .................................. 192 Acceleration Monitor Function .................................... 138 ACTIONS FOR ALARMS ..........

  • Page 620

    INDEX B-65270EN/08 i-2 <L> LEARNING CONTROL FUNCTIONS (OPTIONAL FUNCTION) ............................................................ 384 Lifting function against gravity at emergency stop ...... 299 Lifting Function Against Gravity at Emergency Stop .. 299 Linear Motor LiS Series [200V] ...

  • Page 621

    B-65270EN/08 INDEX i-3 SERVO PARAMETERS RELATED TO HIGH-SPEED AND HIGH PRECISION OPERATIONS ......................................................... 513 SERVO SETTING screen: Setting items ....................... 25 Servo Tuning Screen .................................................... 132 SE...

  • Page 622

  • Page 623

    B-65270EN/08 REVISION RECORD r-1 REVISION RECORD Edition Date Contents 08 Jun., 2013 • Applied to 30i-B series and 0i-D series • Addition of functions added after issue of Edition 07 • Correction of errors 07 Feb., 2008 • Addition of functions added after issue of Edition 06 • Cor...

  • Page 624

  • Page 625

    ADDITIONAL INFORMATION

  • Page 626

  • Page 627

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 1/14 Pole Position Detection Function 1. Type of applied documents Name FANUC AC SERVO MOTOR αi series FANUC AC SERVO MOTOR βi series FANUC LINEAR MOTOR LiS series FANUC S...

  • Page 628

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 2/14 3.2.1.2 Procedure for Setting the Initial Parameters (Pole position detection) (Option function) To drive a synchronous built-in servo motor, the pole detection function ...

  • Page 629

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 3/14 CAUTION 1. When two axes are controlled by Tandem control or Feed axis synchronous control, and each axis has rotary encoder, detecting operation is performed at either ax...

  • Page 630

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 4/14 (3) Procedure for pole position detection function Flowchart Enable the parameter (No.2213#7=1) for target axisSet request signal (Gn135) to start detectionIn-progress sig...

  • Page 631

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 5/14 position detection in-progress signal (Fn158) is set to 1. • Once detecting operation starts, it continues even if the request signal is turned off. • Motor operation du...

  • Page 632

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 6/14 by the variation in pole position detection every power on. WATRA (#3) 0: unexpected motion is watched after detection 1: unexpected motion isn’t watched after detection ...

  • Page 633

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 7/14 static friction, this parameter is set to more than the rated current. This parameter is limited by torque limit parameter (No.2060). No. 2198 Repetitive number ...

  • Page 634

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 8/14 (5) Signals Pole position detection request signal : Gn135.0 – Gn135.7 (RPREQ1 – RPREQ8) Classification Input signal Function Request to execute the pole position dete...

  • Page 635

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 9/14 (6) Detection alarm When “ILLEGAL ROTOR POS DETECT SV0454“ occurs, it is possible to confirm the detail No. of alarm by diagnosis display N352. (90G0/19.0, 90G3/5.0, 9...

  • Page 636

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 10/14 (7) Countermeasure to trouble PhenomenonDetailRequestG135DetectingF158FinishF159CauseMeasuresB efore detectionD etection doesn'tstartM otor doesn't m ove at all.000R eque...

  • Page 637

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 11/14 (8) Detection of the pole position detection request alarm The pole position detection function specifies that no torque occurs on an axis where pole position detection is...

  • Page 638

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 12/14 With the parameters below, operation to be performed when pole position detection is not completed can be changed. No. #7 #6 #5 #4 #3 #2 #1 #0 1809 PAO SAN ...

  • Page 639

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 13/14 (9) Using the pole position detection function and control axis detach function together When the pole position detection function is used with an axis of a synchronous bui...

  • Page 640

    DescriptionDate Ed. SHEETDRAW. No.CUST.TITLE B-65270EN/08-001FANUC CORPORATION Pole Position Detection Function 14/14 When detaching an axis to which pole position detection is applied, use the procedure below. • Start detach operation with Gn124 or bit 7 of parameter No. 12. (Pole posit...

  • Page 641

    Description Design Date Ed. Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i/ 35i-B/Power Motioni -A (90G0)A-81017-066 EN 01 13.04.17 Newly designed Tang DRAW. No.CUST.TITLESHEET1/2 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i/ 35i-B/Po...

  • Page 642

    Description Design Date Ed. Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i/ 35i-B/Power Motioni -A (90G0)A-81017-066 EN 01 13.04.17 Newly designed Tang DRAW. No.CUST.TITLESHEET2/2 About Dual Position Feedback Function with Smooth Backlash Compensation (1) Outl...

  • Page 643

    Description Design Date Ed. Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i/ 35i-B/Power Motioni -A (90G0)A-81017-069 EN 01 13.05.27 Newly designed Tang DRAW. No.CUST.TITLESHEET1/1 Notice of the Update of Digital Servo Software for Series 30i...

  • Page 644

x