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5. Spindle Adjustment
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[3] Speed loop delay compensation adjustment
This adjustment selects the delay compensation control used at normal orientation stops for
tool changes, etc. Because the full-closed loop control used by the spindle end detector, etc., is
prone to overshooting at stops, the speed loop gain delay advance term (SP100) value is
adjusted upward.
SP100 value that is too high, however, will result in stop position inconsistency, particularly on
high-friction machines. In cases where stop position accuracy is required on spindles with high
frictional torques, set SP100=0, and select PI control.
<Examples of using PI control>
•
Positioning a workpiece with a lathe
• A machine that indexes a 5-plane machining attachment
No. Abbr. Parameter name Details
Setting
range
Standard
SP100 VGOD* Orientation control
mode speed loop
gain delay advance
term
Set a loop gain delay advance gain in orientation control mode.
When this parameter is set to "0", PI control is applied.
0 to 1000 15
POINT
When forward and reverse run stop positions differ even with PI control, machine's
backlash may be large. In such cases, accuracy can be improved by setting
orientation positioning direction as one direction only (unidirectional). (Refer to
spindle parameter SP097/bit0, 1)
[4] Torque limit adjustment
The torque during post-orientation stops is limited by the parameter shown below. In case of
performing a mechanical lock at orientation stops, be sure to lower the torque limit value to
avoid interference between the spindle motor and the machine.
If a torque limit is commanded by a spindle control input 1 even during an orientation stop,
however, the torque limit will be applied.
No. Abbr. Parameter name Details
Setting
range
Standard
SP104 TLOR* Torque limit value
after orientation
completed l
Set the torque limit value after orientation completed.
If the external torque limit signal is input, the torque limit value
set by this parameter is made invalid.
0 to 120
(%)
100
CAUTION
In case of locking the spindle mechanically at orientation stops, be sure to enter a
torque limit to restrict the motor's output torque. (Recommended torque limit:
10% or less)