‘GE Online Support - CNC “http://www. gefanuc.com/support/cnc/4001 htm GE Fanuc Automation All GE Industral Systerns GE Fanuc Automation {Al GE Industrial Systems GE Fanue Automation {All GE industrial Systems GE Fanuc Automation [AlIGE Industrial Systems GE Fanuc Automation All GE Industral Systems All GE Industral Systems GE Fanuc Automation {All GE Industrial Systems GE Fanuc Automation {All GE Industral Systems GE Fanuc Automation {All GE industrial Systems EliteNet Login | Register Now! ste search o Home | Buy | Toole | Products | Services | Solutions | Support | Company Info | Contact Us re 3) GE Industrial Systems‘GE Online Support - CNC ‘http://www. gefanuc.com/support/cnc/4001.htm: 20f8 CMR N/M Calculations The purpose of this document is to instruct you in how to calculate CMR and NIM for servo applications. It wil begin with a iscussion of what CMR and N/M is and how to calculate i. The rest wil include examples and exercises. CMR converts the move command into detection units (DU). NIM relates the number of feedback pulses the controls seeing to the distance traveled in DU. This is lustrated by their respective postions inthe folowing diagram. Detection Postion ‘ts Oy se Least Command Control ‘rerenent Before we go through how to calculate and setup CMR and N/M | need to point outa few things: |. When referring to CMR I willbe discussing its calculated value, To set the parameter you should multiply the calculated value by 2 Htyou need to or wish to set DMR you can multiply your N/M by 4to find i | will refer to complete cycles of A quad B feedback as lines and to individual puses of A or B as pulses. Beware, FANUC calls both pulses depending on what you are talking about EX. A 2500 Pulse A quad B encoder has 2500 inesirev while a Serial 40,000 pulse encoder has the equivalent of 10,000 ines/rev. The procedure for calculating CMR and N/M i the folowing: Find out what kind of feedback you have and its resolution. Find the mechanics of the system; gear ratios, screw pitches, et, Use the above to find the puises of feedback per inchimmideg of travel Use the customer's chosen least input increment and detection unit to find CMR. Use the pulses of feedback per inchymmideg and the detection unt to find NIM, 6. Use the customers grid (distance traveled between marker pulses) ond DU to find the reference counter capaci, 7. Use the mechanics to find the pulses of feedback per motor revolution to be used in setting PLS. DETERMINING SETTINGS FOR SEMI-CLOSED FEEDBACK LOOP (Motor encoder used for positon feedback) 1. Find out what kind of feedback you have and t's resolution. When using motor feedback this involves checking the motor number to find what encoder it has. The information ‘needed to da ths isin Chapter 2 Section ? af the Serva Description Manwal GFZ-65002E. Ex. Motor number A068-0313-807247000 Pulse coder has 1,000,000 pulses of resolution. 2. Find the mechanics of the system; gear ratios, screw pitches, etc ‘This wil need to be gotten from the machine tool builder's information. It should net be determined by ‘experimentation or tal and error. Ex. The motor is coupled tothe screw via @ 2:1 gearbox and the pitch ofthe screw is 1 inch 12/12/04 9:51 AM.GE Online Support - CNC ‘http://www .gefanuc. com/supporticnc/4001.htm 3. Use the above to find the pulses of feedback per inchimmideg of travel. ‘This can be done by simply canceling units to get the units you want. Ex. You have 1,000,000 pulses of feedback per motor revoltion. (Serial A encoder) 2 revs ofthe motor per 1 rev of he screw. ‘inch of travel per rev of the screw. Unit cancelation Pulses of Foedback _ 4 Pulses, _2MotorRes- 1 c Ditanee led” =“ tBineeftees *PSeeetiee * Tach Va = -2900,000 Pulses = —Thnchof Travel 2,000,000 Pulses per Inch of Travel 4. Use the customer's chosen least input increment and detection unit to find CMR, ‘You can see from the previous chart that CMR relates the Least Command increment to the Detection Unit. The relation is Least Command increment dvided by CMR equals the Detection Unit EX. Least Command increment = .0001 inch. Detection Unit = .0001 inch cwr = Least Increment. _ 0.0001 Inch TOOT inch ee ee = 1 (Setting Value of 2) \Note: The selection of Detection Unit depends on the system resolution the customer requires. On most standard ‘machines .0001 inch is adequate forthe accuracy requires. For precision applications a finer detect unit may be required by the machine tool bulder to get higher accuracy. That i, however, f their machine fs bultto the tight ‘tolerances required. i you have 3 tenths lost motion then no matter what your Detect Units are your machine will ‘only be accurate to 3 tenths. 5. Use the pulses of feedback per inchmm/deg and the detection unit to find NIM. From the previous operations we have determined @ Detection Unit and the Pulses of Feedback per distance ‘taveled. They have the same units but one isthe inverse ofthe other. NIM equates Pulses of Feedback to Detection units so the relationship between the three is: Dawcibcunig = N/M * Pulses of feedback per Distance Traveled Ex. ToT meh TPaee = N/M x 2100000 pulses finch Rearranging the equation we get: Nim, = 10000 Buleoed mete 1 "2,000,000 Buleee-tmctr ~ 200 Note: When NIM equals 1, every feedback puse is used. For our example only 1 out of every 200 feedback pulses fs used, the rest being discarded. Should NIM be set to greater than 1 then we would be creating resolution that is not realy there. 30f8 12/12/04 9:51 AM KR‘GE Online Support - CNC ‘hutp:/www. gefanuc. com/support/cnc/4001 him Soff \With near scales the feedback pulses are just the inverse of the resolution since the scale is mounted direct tothe table. Ex. Resolution = tmmfpuise Feedback pulses per mm = 11mmipulse) = 1000 pulsessimm Use the customers chosen least input increment and detection unt to find CMR. ‘This is done the same as it was forthe somi-closed system, Ex. The customer has chosen the standard least input increment of 001 mm and desires a detecton unit of 001 Least Command Increment = 001 mm Detection Unit=.001 mm = Least Command increment_ _ ” ir ove = leaned ma BE | tga Use the pulses of feedback per inchimmideg and the detection unt to find N/M. ‘This is also done the same way as it was for the semi-ciosed system. Dawciin Unie = N/M x Pulses of feedback per Distance Traveled & ——1__. On mai ee N/M x 1,000 pulses / mm Rearranging the equation we get: Nim = 1000_Bulesoeinctr 1 1000 Bulssetinetr 1 Use the customers grid (distance traveled between marker pulses) and DU to find the reference counter capacity. Most scales have only one marker pulse so the seling of reference counter capacity is somewhat arbitrary. You can elect any grid interval hati long enough to allow the ais to stop on the same arid point after coming off the switch ‘but short enough that it tops inside the overtravel mits. People wil often set the RCC based on the distance ‘traveled per revolution of the motor, same as semi-closed feedback, because this provides a standard seting method and normaly works fine, Ex ft takes 06 mm forthe axis to decel from the reference FL rate to stop and there are 10 mm between the switch {and the stop. We choose the interval of .5 mm since itis greater than .08 and well less than 10 and isan integer. (plus itis the distance the table travels per revokdion of the motor) RCC is the Reference Counter Capacity Use the mechanics of the system to find the pulses of feedback per motor revokiton to be used in setting PPLS. PPLS is the number of positon pulses received per revokiton of the motor. n the case of semi-ciosed loop the moter feedback is the posiion feedback so i was easiy obtainable. Since in ful closed loop the postion feedback is ‘separated from the motor by gearboxes and screw pitches we must use these to calculate PPLS. 12/12/04 9:51 ANGE Online Support - CNC http://www. gefanuc.com/support/cnc/4001.htm Ex. Position feedback pulses = 1000 pulses per mm of mactine travel Gearboxis a 2 gearbox motor to screw. ‘The screw pitch is 1 mm per revokiton of the screw. ‘To find the positon feedback pulses/motor revolutions we set up the folowing equation. 1,900 Pulses , 1 Screw Rev. , 1mm PPLS =""'T mm * 2 Motor Reve. “1 Screw Rev. By Canceling Units, We get: 000 Pulses, 1_Scsowfer” 1 oe PPLS = = 500 Pulses / Motor Rev. EXAMPLE N/M SETTING FOR A ROTARY AXIS WITH SEMLCLOSED LOOP “The process for calculating the setup for a rotary axis isthe same as for ainear axis except that our units are degrees instead of rmilimeters or inches. The folowing is & rotary ars sample calculation, We know the following about the ais. «© Iths a rotary table + Feedback fs 2 2000 ine encoder (this is equal to @ 8000 pulse encoder) © Gearbox ratio fs 200:1 motor to table ‘Least command increments .001 degrees. ‘= Desired detection units 0005 degrees We find the pulses of feedback per distance traveled. Pusee Feaiback O00 Puone, , 2nseeefere 1 [able Rer~ Distance Traveled ~"TIahleRer-* 30 Degrees 41,800 000 Pulses "360 Dogreos _ 40,000 Pulses = ~SDegress ‘We find the CMR salting from the least command increment and detection unit. Leas! Command Increment. CMR = ection Units = 0.001 Degree * TONE Degree” = 2 Getting Value of 4) Use the pulses of feedback per inchmmideg and the detection unit to find N/MM Soff 12/12/04 9:51 AM‘GE Online Support - CNC http://www. gefanuc.com/support/cnc/4001.htm 1 Pulse - Datection Unie” = N/M Pulses of Feedback por Distance Traveled 1 Pulse__ = N/M x 40,000 Pulses Toms Dearees = N/M * “SD earees NIM = OE at eo = 18900 40,000 -2 a ‘The Reference Counter Capacty is found using the customers grid and Detection Unit. Grid isthe dstance between marker pulses “which in this semi-closed ioop example is distance traveled per revolution of the moto. j $60 Degrees 1 Table Rev Grid (Searees) = Table Rev. * 20 Motor Rew = 18 Degrees Rec = _ASDeseeee— TONE Dieprees = 300 PULCO and PPLS should be set as instructed in the setup flowcharts in the Servo Maintenance Manual (GFZ-65005E) In this case ‘ince the system is semi-ciosed and the encoder is a 2000 ne A quad B encoder, PULCO and PPLS would both be set to 8000. CMR-DMR Definitions Least Command increment ‘The Least Command Increment (LCI) is the smallest amount thatthe CNC can be programmed to move. This can, ‘easly be determined by locking at the postion page and noting the least sigaficant decimal place thats displayed, ‘This can alco be determined by parameters setings (refer to parameter table attached). Example: Display reads 0.0000. The LCI would be 0.0001, the smallest amount that can be programmed. Feedback Putse Unit: ‘The Feedback Pulse Unit (FPU) is the distance the ads moves per one feedback pulse. This is derived, when using ‘rotary pulse coder, by dividing the mactine distance moved per one rev of the pulse coder by the # of pulses per rev ofthe postion pulse coder. ‘CMR/ DMR: ‘The CMR and DMR are used to internally scale the feedback data from the position detection device and to internally match that signal wth the commanded move to the motor. The CMR and DMR scale the commanded move and feedback , respectively, and the units obtained are detection units. 70f8 12/12/04 9:51 AM8af8 ‘Support - CNC ‘http://www. gefamuc.com/support/cnc/400 | btm Flexible Feed Gear Factors N and M: In some machine set ups is impossible to match the scaled command and feedback using the avaiable settings in the CNC for CMR and DMR. In those situations when itis impossible to use the standard values, the system offers ‘an alternative scaling factor for DMR which enable scaling of the feedback to be very lexble. GE Fanuc recommends that this method be used in al machine setups that have tis functon available. This method involves ‘setting two parameters laboled'N’' and 'M, which replace the DMR scaling factor (refer to the equations below). The Flexible Feed Gear function is only avatable in 9030 software eciton J or later (this feature isnot avaliable in 16 bit 0-€ control however, must be used with serial feedback) Detection Unit ‘The detection unit (DU) of each axis is used internally to calculate system resolution. This isthe uni thatthe ‘commanded move distance (via CMR) and the actual feedback distance (via DMR) must be soaled to. Reference Counter ‘The reference Counter is used to set up an internal software grid systern which the CNC uses when referencing the machine, Grid interval ‘The Grid Interval (Gi) is equal tothe machine movement per pulse coder rotation, assuming a pulse coder is used {for positon feedback. Actualy the Grid Interval is equal tothe machine mavement per marker pulse ofthe feed back. device ot can be lees in integer amounts. The Gl is determined by the RCC and can be varied depending on the ‘machines referencing oycie. ‘acy Paley |Terms and Conditions © 1997, 1898, 1999, 2000, 2001, 2002 General Electric Company 12/12/08 9:51 AM