A-79805E
Title
Draw
No.
22/40
Sheet
FANUC Series 30i/ 31i/ 32i
Live Tool Control With Servo Motor
Edit
Apprv.Desig.
Date
Design
Descri
tion
Date
Oct.26.2004
1825 Servo loop gain for each axis
[Input type] Parameter input
[Data type] Integeraxis
[Unit of data] 0.01/sec
[Valid data range] 1 to 9999
Set the loop gain for position control for each axis.
When the machine performs linear and circular interpolation (cutting),
the same value must be set for all axes. When the machine requires
positioning only, the values set for the axes may differ from oneanother.
As the loop gain increases, the response by position control is improved.
A too large loop gain, however, makes the servo system unstable.
The relationship between the positioning deviation (the number of pulses
counted by the error counter) and the feedrate is expressed as follows:
Positioning deviation = Feedrate / (60 × Loop gain)
Unit : Positioning deviation mm, inch or deg
Feedrate mm/min, inch/min, or deg/min
Loop gain 1/sec
1826 In-position width for each axis
[Input type] Parameter input
[Data type] 2-word axis
[Unit of data] Detection unit
[Valid data range] 0 to 99999999
The in-position width is set for each axis.
When the deviation of the machine position from the specified position
(the absolute value of the positioning deviation) is smaller than the
in-position width, the machine is assumed to have reached the specified
position. (The machine is in the in-position state.)
1828 Positioning deviation limit for each axis in movement
[Input type] Parameter input
[Data type] 2-word axis
[Unit of data] Detection unit
[Valid data range] 0 to 99999999
Set the positioning deviation limit in movement for each axis.
If the positioning deviation exceeds the positioning deviation limit during
movement, a servo alarm (SV0411) is generated, and operation is stopped
immediately (as in emergency stop).
Generally, set the positioning deviation for rapid traverse plus some margin
in this parameter.