19/22
Design.
DateEd.
2002.05.06
SHEET
DRAW. No.
CUST.
TITLE
M.Niwa
Newly preparation
Spindle Learning Control Description
A-53866E-0425
01
9. Tuning of Learning Controller
Normally, only tuning of maximum and minimum order of dynamic characteristic compensation Gx
(No.4427, 4428) is required.
9.1. Procedure of Leaning Controller tuning
Step A
Before tuning of Leaning Controller, tune current loop (in case of 3rd party spindle
motor), velocity loop and position loop to get wide bandwidth as possible.
Step B
Specify “0” in No.4426:LRNBAND and “50~100” in No.4435:DSTAMP. And start gear
cutting process cycle, measuring position error of target axis under no Learning Control
with disturbance torque.
Step C
Specify “400” in No.4426:LRNBAND.
Step D
Specify “6” in No.4427:GxCMH and “3” in No.4428:GxCML.
Step E
Start gear cutting process cycle, observing whether position error converges or not.
Step F
Increase the value of .No.4427:GxCMH and start process cycle, observing position
error convergence. And find maximum value of GxCMH that position error doesn’t
diverge.
Step G
Then reduce the value of .No.4427:GxCMH and start process cycle, observing position
error convergence. And find minimum value of GxCMH that position error doesn’t
diverge.
Step H
Calculate midpoint value acquired on step F and G. And Specify this value in
No.4427:GxCMH.
Step I
If position error diverges in any GxCMH setting on step D~G, reduce the value of
No.4426:LRNBAND by 50Hz. Then return step D.
*For the safety, be sure to do process cycle without actual gear cutting.
*Normally, tuning of No.4429:GxMXCF and No.4430:GxMNCF isn’t necessary.
*Be sure to reset No.4435:DSTAMP after tuning to avoid adding disturbance torque command
during actual gear cutting process.
9.2. Spindle check board output signal setting
Data No.
d-05
d-09
Data shift
value
d-06
d-10
Data shift
direction
d-07
d-11
Offset
d-08
d-12
Description data range
211
±32pulse / ±5V
111
±64pulse / ±5V
001
±128pulse / ±5V
101
±256pulse / ±5V
009
201
Position error
±512pulse / ±5V
211
±32pulse / ±5V
111
±64pulse / ±5V
001
±128pulse / ±5V
101
±256pulse / ±5V
345
201
Synchronous error between master
axis and slave axis
±512pulse / ±5V