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5 Servo Adjustment
MITSUBISHI CNC
(1) Measuring unbalance torque and frictional torque
Machine unbalance torque and frictional torque measurements are required before the LMC compensation can be
set. However, the horizontal axis unbalance torque is necessarily "0".
Carry out the reciprocating operation (approx. F1000) with the measured axis, and the load current % value during
constant-speed feed is measured at the NC servo monitor screen. The unbalance torque and frictional torque at
that time are expressed by the following formulas.
The measurement values are not used for LMC compensation type 3. However, since they are used for other
controls, set them to the following parameters.
【#2232】 SV032 TOF Torque offset
Set the unbalance torque on vertical axis and inclined axis.
When the vertical axis pull up function is enabled, the pull up compensation direction is determined
by this parameter's sign. When set to "0", the vertical axis pull up will not be executed.
This can be used for speed loop delay compensation and collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, friction torque
(SV045) and load inertia display enabling flag(SV035/bitF).
Related parameters: SV007, SV033/bitE, SV059
---Setting range---
-100 to 100 (Stall current %)
【#2245】 SV045 TRUB Friction torque
Set the frictional torque when using the collision detection function.
To use load inertia estimation function (drive monitor display), set this parameter, imbalance torque
(SV032) and load inertia display enabling flag (SV035/bitF).
---Setting range---
0 to 255 (Stall current %)
Unbalance torque (%) =
(+ feed load current %) + (- feed load current %)
2
Frictional torque (%) =
| (+ feed load current %) - (- feed load current %) |
2
Assume that the load current % was -55% in the + direction and -25% in the - direction
when JOG feed was carried out at approx. F1000. The unbalance torque and frictional
torque are as shown below.
Unbalance torque (%)=
(-55) + (-25)
2
= -40%
(Example)
Friction torque (%) =
(-55) - (-25)
2
= 15%