YASKAWA SIEMENS CNC Series, Maintenance Manual, Serviceman Handbook

Page: 246 / 373

Drive set-up procedure
14.2.1 Position control
14-36
14.2 Servo control
14.2.1 Position control
In DSC, CNC and a drive share the position control, so that CNC also has the position con-
trol-related machine data. The following explains how to set fundamental machine data and
parameters for position control.
„ CNC setting
• MD10230 SCALING FACTOR_USER_DEF [9] (For all axes in common) ##
Meaning: Position loop gain setting unit
Setting value: 1.0 [1/s]
With this setting, the unit of position loop gain MD32200 becomes [1/s].
Note: If 16.66666667 has been assigned, the setting unit of MD32200
(position loop gain) is [m/min/mm].
• MD32200 POSCTRL_GAIN [0] (For each units)
Meaning: Position loop gain
Setting value: [1/s] (The unit defined by MD10230 becomes the unit of the position
loop gain.)
• MD36400 CONTOR_TOL (For each axis)
Meaning: Maximum deviation [Command unit (mm, deg, and others)]
Setting value: To be set to the following value.
„ Drive setting
Servo drive
• MD3000 digit 1 (Pn000 digit 1) FUNCTION_SWITCH_BASIC (For each axis) ##
Meaning: Position control is enabled/disabled.
Setting value: 0 --- Position control is disabled.
1 --- Position control is enabled.
7 --- Position control and speed control are switched over.
Must be set to "7".
• MD3032 (Pn102) KP (For each axis)
Meaning: Position loop gain
Setting value: [0.1/s]
This value is not used for DSC control, but used internally for calculating
gain and others of the quadrant error compensation function. Set this
parameter to a value of MD32200 at CNC, paying attention to the setting
unit.
Maximum feed speed [Command unit (mm, deg, and others)]
×
1.2
Position loop gain [1/s]
×
60