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3. Setup
3-1 Initial setup........................................................................................................................... 3-2
3-1-1 Setting the rotary switch ................................................................................................3-2
3-1-2 Transition of LED display after power is turned ON...................................................... 3-3
3-1-3 Servo standard specifications and high-gain specifications ......................................... 3-4
3-2 Setting the initial parameters for the servo drive unit (High-gain specifications)................ 3-5
3-2-1 Setting the standard parameters................................................................................... 3-5
3-2-2 List of standard parameters for each servomotor ....................................................... 3-11
3-2-3 Servo parameter list..................................................................................................... 3-23
3-3 Setting the initial parameters for the servo drive unit (Standard specifications)............... 3-39
3-3-1 Setting the standard parameters................................................................................. 3-39
3-3-2 List of standard parameters for each servomotor ....................................................... 3-44
3-3-3 Servo parameter list..................................................................................................... 3-51
3-4 Restrictions on servo control ............................................................................................. 3-63
3-4-1 Restrictions of electronic gear setting value................................................................ 3-63
3-4-2 Restrictions on absolute position control..................................................................... 3-64
3-5 Setting the initial parameters for the spindle drive unit ..................................................... 3-65
3-5-1 Spindle specification parameters ................................................................................ 3-65
3-5-2 List of spindle parameters ........................................................................................... 3-70
3-6 Initial adjustment of the spindle PLG............................................................................... 3-104
3-6-1 Adjusting the PLG installation.................................................................................... 3-104
3-6-2 Z phase automatic adjustment .................................................................................. 3-110
3-6-3 Motor end PLG automatic adjustment....................................................................... 3-111
3-6-4 Spindle end PLG automatic adjustment.................................................................... 3-112
4. Servo Adjustment
4-1 D/A output specifications for servo drive unit ...................................................................... 4-2
4-1-1 D/A output specifications ............................................................................................... 4-2
4-1-2 Output data settings....................................................................................................... 4-3
4-1-3 Setting the output magnification .................................................................................... 4-3
4-2 Gain adjustment................................................................................................................... 4-4
4-2-1 Current loop gain ........................................................................................................... 4-4
4-2-2 Speed loop gain............................................................................................................. 4-4
4-2-3 Position loop gain .......................................................................................................... 4-6
4-3 Characteristics improvement ............................................................................................... 4-9
4-3-1 Optimal adjustment of cycle time .................................................................................. 4-9
4-3-2 Vibration suppression measures................................................................................. 4-11
4-3-3 Improving the cutting surface precision....................................................................... 4-15
4-3-4 Improvement of characteristics during acceleration/deceleration .............................. 4-19
4-3-5 Improvement of protrusion at quadrant changeover................................................... 4-22
4-3-6 Improvement of overshooting...................................................................................... 4-29
4-3-7 Improvement of the interpolation control path............................................................. 4-31
4-4 Adjustment during full closed loop control......................................................................... 4-33
4-4-1 Outline.......................................................................................................................... 4-33
4-4-2 Speed loop delay compensation ................................................................................. 4-34
4-4-3 Dual feedback control (Optional function) ................................................................... 4-35
4-5 Settings for emergency stop.............................................................................................. 4-37
4-5-1 Deceleration control..................................................................................................... 4-37
4-5-2 Vertical axis drop prevention control ........................................................................... 4-39
4-6 Protective functions............................................................................................................ 4-43
4-6-1 Overload detection....................................................................................................... 4-43
4-6-2 Excessive error detection ............................................................................................ 4-43
4-6-3 Collision detection........................................................................................................ 4-44