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Spindle Learning Control Manual Additional Manual Page 20

Additional Manual
20/22
Design.
DateEd.
2002.05.06
SHEET
DRAW. No.
CUST.
TITLE
M.Niwa
Newly preparation
Spindle Learning Control Description
A-53866E-0425
FANUC LTD
01
Appendix : Relationship between speed command specified by PMC and actual command
speed
command
(min
-1
)
actual
speed
command
(min
-1
)
learnin
g
period
(0.5ms)
speed
command
(min
-1
)
Actual
speed
command
(min
-1
)
learnin
g
period
(0.5ms)
speed
command
(min
-1
)
actual
speed
command
(min
-1
)
learnin
g
period
(0.5ms)
speed
command
(min
-1
)
actual
speed
command
(min
-1
)
learnin
g
period
(0.5ms)
25 25.00 4800 85 84.99 1412 145 144.93 828 205 204.78 586
26 26.00 4616 86 85.96 1396 146 145.99 822 206 205.83 583
27 27.00 4445 87 86.96 1380 147 146.88 817 207 206.90 580
28 28.00 4286 88 87.98 1364 148 147.97 811 208 207.97 577
29 29.00 4138 89 88.95 1349 149 148.88 806 209 208.70 575
30 30.00 4000 90 89.96 1334 150 150.00 800 210 209.79 572
31 31.00 3871 91 90.98 1319 151 150.94 795 211 210.90 569
32 32.00 3750 92 91.95 1305 152 151.90 790 212 211.64 567
33 32.99 3637 93 92.95 1291 153 152.87 785 213 212.77 564
34 33.99 3530 94 93.97 1277 154 153.85 780 214 213.90 561
35 35.00 3429 95 94.94 1264 155 154.84 775 215 214.67 559
36 35.99 3334 96 96.00 1250 156 155.84 770 216 215.83 556
37 36.99 3244 97 96.93 1238 157 156.86 765 217 217.00 553
38 38.00 3158 98 97.96 1225 158 157.89 760 218 217.79 551
39 39.00 3077 99 98.93 1213 159 158.94 755 219 218.98 548
40 40.00 3000 100 100.00 1200 160 160.00 750 220 219.78 546
41 41.00 2927 101 100.93 1189 161 160.86 746 221 220.99 543
42 41.99 2858 102 101.95 1177 162 161.94 741 222 221.81 541
43 43.00 2791 103 102.92 1166 163 162.82 737 223 222.63 539
44 43.99 2728 104 103.99 1154 164 163.93 732 224 223.88 536
45 44.99 2667 105 104.99 1143 165 164.84 728 225 224.72 534
46 45.99 2609 106 105.91 1133 166 165.98 723 226 225.99 531
47 46.99 2554 107 106.95 1122 167 166.90 719 227 226.84 529
48 48.00 2500 108 107.91 1112 168 167.83 715 228 227.70 527
49 49.00 2449 109 108.99 1101 169 168.78 711 229 228.57 525
50 50.00 2400 110 109.99 1091 170 169.97 706 230 229.89 522
51 51.00 2353 111 110.91 1082 171 170.94 702 231 230.77 520
52 51.99 2308 112 111.94 1072 172 171.92 698 232 231.66 518
53 52.98 2265 113 112.99 1062 173 172.91 694 233 232.56 516
54 53.98 2223 114 113.96 1053 174 173.91 690 234 233.92 513
55 55.00 2182 115 114.94 1044 175 174.93 686 235 234.83 511
56 56.00 2143 116 115.94 1035 176 175.95 682 236 235.76 509
57 56.98 2106 117 116.96 1026 177 176.99 678 237 236.69 507
58 58.00 2069 118 117.99 1017 178 177.78 675 238 237.62 505
59 59.00 2034 119 118.93 1009 179 178.84 671 239 238.57 503
60 60.00 2000 120 120.00 1000 180 179.91 667 240 240.00 500
61 60.98 1968 121 120.97 992 181 181.00 663 241 240.96 498
62 61.98 1936 122 121.95 984 182 181.82 660 242 241.94 496
63 62.99 1905 123 122.95 976 183 182.93 656 243 242.91 494
64 64.00 1875 124 123.97 968 184 183.77 653 244 243.90 492
65 64.97 1847 125 125.00 960 185 184.90 649 245 244.90 490
66 65.97 1819 126 125.92 953 186 185.76 646 246 245.90 488
67 66.96 1792 127 126.98 945 187 186.92 642 247 246.91 486
68 67.99 1765 128 127.93 938 188 187.79 639 248 247.93 484
69 68.97 1740 129 128.89 931 189 188.98 635 249 248.96 482
70 69.97 1715 130 129.87 924 190 189.87 632 250 250.00 480
71 70.96 1691 131 130.86 917 191 190.78 629 251 250.52 479
72 71.99 1667 132 131.87 910 192 192.00 625 252 251.57 477
73 72.99 1644 133 132.89 903 193 192.93 622 253 252.63 475
74 73.98 1622 134 133.93 896 194 193.86 619 254 253.70 473
75 75.00 1600 135 134.98 889 195 194.81 616 255 254.78 471
76 76.00 1579 136 135.90 883 196 195.76 613 256 255.86 469
77 76.97 1559 137 136.99 876 197 196.72 610 257 256.96 467
78 77.97 1539 138 137.93 870 198 197.69 607 258 257.51 466
79 79.00 1519 139 138.89 864 199 198.68 604 259 258.62 464
80 80.00 1500 140 139.86 858 200 200.00 600 260 259.74 462
81 80.97 1482 141 140.85 852 201 200.67 598 261 260.87 460
82 81.97 1464 142 141.84 846 202 201.68 595 262 261.44 459
83 82.99 1446 143 142.86 840 203 202.70 592 263 262.58 457
84 83.97 1429 144 143.88 834 204 203.74 589 264 263.74 455
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Contents Summary of Spindle Learning Control Manual Additional Manual

  • Page 1FANUC AC SPINDLE MOTOR αi series Spindle Learning Control Description 1. General ................................................................................................................................................. 2 1.1. Overview..........................................................
  • Page 21. 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 Le
  • Page 32.1.2. Example 1 : in case of direct drive system velocity and position sensor Built-in spindle motor CNC 1st spindle (master axis) Series 16i/160i/160is JA7B JYA2 18i/180i/180is MODEL B SPM TYPE B JA7A JX4 velocity and position sensor communication between SPMs Built-in spindle motor JX4 JA7B JYA2
  • Page 42.1.3. Example 2 : in case of full-closed system with gear reduction velocity sensor Spindle motor CNC 1st spindle (master axis) Series 16i/160i/160is Spindle JA7B JYA2 18i/180i/180is shaft MODEL B SPM external TYPE B position sensor JA7A JYA4 JX4 velocity sensor communication between SPMs Spindle m
  • Page 52.1.4. Example 3 : In case of semi-closed system with gear reduction velocity and position sensor Spindle motor CNC 1st spindle (master axis) Series 16i/160i/160is Spindle JA7B JYA2 18i/180i/180is external shaft MODEL B SPM one-rotation TYPE B signal (proximity switch) JA7A JYA3 JX4 velocity and pos
  • Page 62.2. Software configuration 2.2.1. Spindle software Software series / edition note Series 9D50 edition E(05) or later for induction motor control Series 9D53 edition B(02) or later for synchronous motor control 2.2.2. CNC software Software series / edition note Series B0H1 edition R(18) or later for
  • Page 73. Block diagram CNC 2nd Spindle position feedback velocity feedback - - Slave Helical + + position + velocity spindle movement controller controller & command ( Gain Kp2 ) + + + Sensor No.4069~4072 Learning Learning period controller Feedforward (coefficient α2) No.4036 K2 Synchronous ratio K1 No.4
  • Page 84. Input / Output Signals (CNC ↔ PMC) 4.1. Input signal (PMC → CNC) address #7 #6 #5 #4 #3 #2 #1 #0 G073 LCMODA G077 LCMODB LCMODA : Learning Control request signal (for 1st spindle) LCMODB : Learning Control request signal (for 2nd spindle) 0 : Disables Learning Control 1 : Enables Learning Control
  • Page 95. Example of sequence master : 1st spindle, master axis of Spindle EGB control master axis speed command slave : 2nd spindle, slave axis of Spindle EGB control slave axis speed command synchoronization synchoronization start by G81 finish by G80 SYNMOD (F65#6) LCVARA (F48#5) LCMODA (G73#6) LCMODB (
  • Page 106. Parameters 6.1. Parameters related to sensors *See “FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL : B-65280EN” for more information about sensor settings. Parameter No. 4000 ROTA1 #7 #6 #5 #4 #3 #2 #1 #0 ROTA1 : Relationship between the rotation direction of spindle and spindle motor. Paramet
  • Page 11Parameter No. 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1 data unit : Motor rotation for one rotation of spindle × 100 (In case of No.4006#1=1, motor rotation × 1000) data
  • Page 126.2. Parameters related to position loop control for constant velocity command in PMC axis control *Master axis (1st spindle) must be driven by this function in Cs contouring mode when Spindle Learning Control function is used. *See “FANUC Series 16i / 18i SPECIFICATIONS FOR POSITION LOOP CONTROL FO
  • Page 136.3. Parameters related to Spindle EGB control function *See “FANUC Series 16i / 18i -MA Spindle electronic gear box Specifications : A-77833E” for more information about Spindle EGB Control. *CNC software option is required to use Spindle EGB Control function 6.3.1. Parameters related to serial spi
  • Page 14Parameter No. 4386 Gear teeth number of spindle sensor of master axis data unit : 1λ / rev data range : 0, 64 ~ 4096 This data is used to set the gear teeth number of spindle sensor of master axis. When this parameter is set to “0”, synchronous ratio “0” is assumed. *This parameter is valid only for
  • Page 156.3.2. Parameters related to synchronous control Parameter No. 7700 HDR HBR #7 #6 #5 #4 #3 #2 #1 #0 HDR : Setting of the synchronization cancellation by reset HBR : Setting of the direction for helical gear compensation Parameter No. 7703 LFS #7 #6 #5 #4 #3 #2 #1 #0 LFS : Setting of the position com
  • Page 166.4. Parameters related to Spindle Learning Control Parameter No. 4015 LRNFNC #7 #6 #5 #4 #3 #2 #1 #0 LRNFNC : Function bit of Learning Control 0 : Learning Control is invalid 1 : Learning Control is valid *CNC software option is required to use this function. This bit is automatically set by CNC so
  • Page 17Parameter No. 4431 Duration of learning : LCTIME data unit : 0.1sec data range : 0 ~ 32767 This data is used to set duration of Learning Control. Learning controller stops update of compensation data after the expiration of the time interval that this parameter specifies (See following figure). If “
  • Page 187. Diagnosis related to Spindle EGB Control Address Description Unit 716 Synchronous error between master and slave axis in Spindle pulse EGB Control (weight of error is slave axis side) *Both αi SPM TYPE B and i series model B CNC are required for the display of synchronous error on CNC diagnosis s
  • Page 199. 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), v
  • Page 20Appendix : Relationship between speed command specified by PMC and actual command actual learning Actual learning actual learning actual learning speed speed speed speed speed speed speed speed command period command period command period command period command command command command (min-1) (0.5ms
  • Page 21actual actual actual actual speed learning speed learning speed learning speed learning speed speed speed speed command period command period command period command period command command command command (min-1) (0.5ms) (min-1) (0.5ms) (min-1) (0.5ms) (min-1) (0.5ms) (min-1) (min-1) (min-1) (min-1)
  • Page 22actual actual actual speed learning speed learning speed learning speed speed speed command period command period command period command command command (min-1) (0.5ms) (min-1) (0.5ms) (min-1) (0.5ms) (min-1) (min-1) (min-1) 639~641 638.30 188 938~944 937.50 128 1765~1791 1764.71 68 642~645 641.71 1