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2.7.2 Dynamic Brake Unit Wiring.....................................................................................................2 - 40
2.8 Peripheral Control Wiring................................................................................................................ 2 - 41
2.8.1 Input/Output Circuit Wiring......................................................................................................2 - 41
2.8.2 Specified Speed Output..........................................................................................................2 - 43
2.8.3 Spindle Coil Changeover ........................................................................................................2 - 45
2.8.4 Proximity Switch Orientation................................................................................................... 2 - 49
3 Safety Function ......................................................................................................................................3 - 1
3.1 Safety Function .................................................................................................................................3 - 2
3.1.1 Harmonized Standard...............................................................................................................3 - 2
3.1.2 Outline of Safety Function.........................................................................................................3 - 2
3.2 Emergency Stop Observation ...........................................................................................................3 - 3
3.2.1 SLS (Safely Limited Speed) Function.......................................................................................3 - 8
3.3 STO (Safe Torque Off) Function.....................................................................................................3 - 12
4 Setup .......................................................................................................................................................4 - 1
4.1 Initial Setup .......................................................................................................................................4 - 2
4.1.1 Setting the Rotary Switch.......................................................................................................... 4 - 2
4.1.2 Setting DIP Switch ....................................................................................................................4 - 3
4.1.3 Transition of LED Display After Power Is Turned ON...............................................................4 - 4
4.2 Setting the Initial Parameters for the Servo Drive Unit......................................................................4 - 5
4.2.1 Setting of Servo Specification Parameters ...............................................................................4 - 6
4.2.2 Setting of Machine Side Encoder..............................................................................................4 - 8
4.2.3 Setting of Distance-coded Reference Scale ........................................................................... 4 - 14
4.2.4 Setting of Speed Command Synchronous Control .................................................................4 - 16
4.2.5 List of Standard Parameters for Each Servo Motor ................................................................ 4 - 17
4.2.6 Servo Parameters .................................................................................................................. 4 - 27
4.3 Setting the Initial Parameters for the Spindle Drive Unit................................................................. 4 - 62
4.3.1 Setting of Parameters Related to the Spindle......................................................................... 4 - 62
4.3.2 List of Standard Parameters for Each Spindle Motor.............................................................. 4 - 67
4.3.3 Spindle Specification Parameters.........................................................................................4 - 102
4.3.4 Spindle Parameters .............................................................................................................. 4 - 123
5 Servo Adjustment ..................................................................................................................................5 - 1
5.1 Servo Adjustment Procedure ............................................................................................................5 - 2
5.2 Gain Adjustment................................................................................................................................5 - 3
5.2.1 Current Loop Gain ....................................................................................................................5 - 3
5.2.2 Speed Loop Gain......................................................................................................................5 - 4
5.2.3 Position Loop Gain.................................................................................................................... 5 - 8
5.2.4 OMR-FF Function ................................................................................................................... 5 - 11
5.3 Characteristics Improvement ..........................................................................................................5 - 18
5.3.1 Optimal Adjustment of Cycle Time..........................................................................................5 - 18
5.3.2 Vibration Suppression Measures............................................................................................5 - 21
5.3.3 Improving the Cutting Surface Precision................................................................................. 5 - 28
5.3.4 Improvement of Characteristics during Acceleration/Deceleration .........................................5 - 31
5.3.5 Improvement of Protrusion at Quadrant Changeover............................................................. 5 - 35
5.3.6 Improvement of Overshooting.................................................................................................5 - 39
5.3.7 Improvement of the Interpolation Control Path .......................................................................5 - 42
5.4 Adjustment during Full Closed Loop Control................................................................................... 5 - 44
5.4.1 Outline..................................................................................................................................... 5 - 44
5.4.2 Speed Loop Delay Compensation ..........................................................................................5
- 45
5.4.
3 Dual Feedbac
k Control ...........................................................................................................5 - 46
5.5 Settings for Emergency Stop ..........................................................................................................5 - 48
5.5.1 Deceleration Control ...............................................................................................................5 - 48
5.5.2 Vertical Axis Drop Prevention Control.....................................................................................5 - 51
5.5.3 Vertical Axis Pull-up Control ................................................................................................... 5 - 58
5.6 Protective Functions........................................................................................................................ 5 - 59
5.6.1 Overload Detection ................................................................................................................. 5 - 59
5.6.2 Excessive Error Detection.......................................................................................................5 - 60
5.6.3 Collision Detection Function ...................................................................................................5 - 61
5.7 Servo Control Signal .......................................................................................................................5 - 65
5.7.1 Servo Control Input (NC to Servo)..........................................................................................5 - 65