2/22
Design.
DateEd.
2002.05.06
SHEET
DRAW. No.
CUST.
TITLE
M.Niwa
Newly preparation
Spindle Learning Control Description
A-53866E-0425
01
1. General
1.1. Overview
This manual describes methods for applying Spindle Learning Control for reducing periodic
synchronous error between master and slave axes in gear cutting process.
See “90A3 / 90A7 / 90B3 / 90B7 Learning Control Operator’s Manual : A-63696E-070” for detailed
explanation of Learning Control itself.
1.2. Remarks
• Both
αi SPM TYPE B and i series model B CNC are required for Spindle Learning Control function.
• CNC software option is required for Spindle Learning Control function
• Both of spindles must be driven in Cs contouring mode.
• Master axis (1st spindle) must be driven by position loop control for constant velocity command in
PMC axis control
• Both of spindles must be driven by Spindle EGB Control function.
*CNC software option is required to use this function.
• The allowable speed command range of master axis is between 25 and 6000min
-1
in Spindle
Learning Control function. If the command out of this range is specified, spindle alarm occurs.
• Learning period must be integral multiple of control cycle (0.5msec) because of Learning Control
principle constraint. Constant speed command of master axis specified by PMC is converted to
learning controllable position command by CNC software. So, strictly speaking, actual speed
command is different from that commanded by PMC. See “Appendix : Relationship between speed
command specified by PMC and actual command” for concrete correspondence.
• In general gear cutting system ,cutter axis is master axis (1st spindle). But work axis must be master
axis If the target periodic disturbance is caused by work rotation because only command for master
axis is learning controllable.
• For the accuracy, increment system IS-C* (3,600,000pulse/rev) is recommendable as detection unit.
*CNC software option of increment system 1/10 is required.
• For rapid convergence of position error, it is recommendable to start leaning compensation after both
of spindles reach constant speed.
• For rapid convergence of position error, it is recommendable to set 100% as feedforward coefficient.
2. System configuration
2.1. Hardware configuration of spindle
2.1.1. Ordering number of spindle amplifier
Ordering number note
A06B-6112-Hxxx#H550 200V input series, TYPE B, for induction motor drive
A06B-6112-Hxxx#H553 200V input series, TYPE B, for synchronous motor drive
A06B-6122-Hxxx#H550 400V input series, TYPE B, for induction motor drive
A06B-6122-Hxxx#H553 400V input series, TYPE B, for synchronous motor drive
*
αi SPM TYPE B is required for high speed communication between SPMs
*FANUC Series 16i / 160i / 160is / 18i / 180i / 180is -M model B is required for new interface
between CNC and SPM