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5. Spindle Adjustment
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(3) Adjustments during orientation stop
[1] Position loop gain adjustment
Stop position accuracy can be improved by increasing the post-orientation servo rigidity. To
increase the post-orientation position loop gain, enable a gain change by the SP097/bitC
parameter setting, then set the desired position loop gain magnification. A separate position
loop gain (other than that used during deceleration) can be set for operation that begins from
the orientation completed ON status that follows orientation deceleration control.
The effective position loop gain values for each coil are calculated using the formulas shown
below. If a magnification setting of "0" is set, a "256" setting is adopted.
SP119 SP225
Effective position loop gain (H coil) = SP001 (SP002) ×
256
×
256
SP120 SP226
Effective position loop gain (L coil) = SP001 (SP002) ×
256
×
256
<<Only for MDS-C1-SPM>>
SP126 SP128
Effective position loop gain (M coil) = SP001 (SP002) ×
256
×
256
No. Abbr. Parameter name Details
Setting
range
Standard
SP001 PGM Magnetic sensor,
motor PLG
orientation position
loop gain
The orientation time will be shorter when the value is increased,
and the servo rigidity will increase. On the other hand, the
vibration will increase, and the machine will sway easily.
0 to1000
(0.1rad/s)
100
<For MDS-C1-SP/SPH/SPM>
The orientation time will be shorter when the value is increased,
and the servo rigidity will increase. On the other hand, the
vibration will increase, and the machine will sway easily.
SP002 PGE Encoder orientation
position loop gain
<For MDS-C1-SPX/SPHX>
Set the position loop gain for spindle end PLG orientation.
0 to 1000
(0.1rad/s)
100
F EDCBA98765 4 3 2 10
ostp orze ksft gchg ips2 zdir vg8x mdir fdir oscl pyfx dmin odi2 odi1
bit Meaning when set to 0 Meaning when set to 1 Standard
C gchg
Gain changeover during orientation
invalid
Gain changeover during
orientation valid
0
SP097 SPECO* Orientation
specification
SP225 OXKPH Position loop gain
magnification after
orientation
completed
(H coil)
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation, set the position loop gain magnification (H coil)
changed to after orientation completed.
0 to 2560
(1/256-fold)
0
SP226 OXKPL Position loop gain
magnification after
orientation
completed (L coil)
If gain changeover is valid (SP097: SPEC0/bitC=1) during
orientation, set the position loop gain magnification (L coil)
changed to after orientation complete.
0 to 2560
(1/256-fold)
0
SP128 OXKPM After orientation
completion,
Position loop gain
magnification
(M coil)
<For MDS-C1-SPM>
Set the switched M coil position loop gain magnification after
orientation when gain switching is enabled (SP097: SPEC0/
bitC=1).
0 to 2560
(1/256-fold)
0