YASKAWA SIEMENS CNC Series, Maintenance Manual, Serviceman Handbook

Page: 262 / 373

Drive set-up procedure
14.2.12 Gain switching
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14.2.12 Gain switching
You can automatically switch speed loop gain between KV and KVI in Cutting feed, Posi-
tioning, and handle feed modes.
When gain switching is enabled with the following machine data and parameters, each of the
parameters becomes active in the following cases.
• Cutting feed gain: Always active for cutting feed during programmed operation.
• Positioning gain: Always active for positioning during RAPID, JOG, and programmed
operation excluding handle feed or step feed operation.
• Handle feed gain: Always active for handle feed and step feed operation.
„ CNC setting
For feed axis
• MD37610 PROFIBUS_CTRL_CONFIG (For each axis)
Meaning: CNC feed mode transmission to a drive
Setting value: 0 --- Disabled
1 --- Enabled
Assign "1" (Enabled) to this parameter when gain switching is used.
Note: Set this parameter to "Disabled" for Spindle; otherwise, you cannot
change over Spindle drive parameters (DBX21.0-2) from PLC.
„ Servo drive setting
For cutting feed
Standard setting value becomes the cutting feed gain.
• MD3030 (Pn100) KV (For each axis)
Meaning: Speed loop gain
Setting value: [0.1 Hz]
To express the setting value in previous unit [1/s], multiply the value by
2
π
/10.
• MD3031 (Pn101) KVI (For each axis)
Meaning: Speed loop integration time constant
Setting value: [0.01 ms]