Sree GR-L Series Bus-type AC Servo Drive Unit User Manual the cylindrical surface of the workpiece, thus ensuring the accuracy and stability. To resolve the conflict between the clamping force of the mechanical clamping device and the torque of the spindle motor, the servo unit needs to be controlled to reduce the motor torque when the mechanical clamping device is controlled by the CNC system to clamp the spindle. For the GR-L series spindle servo unit, the motor torque can be reduced by controlling the spindle clamping interlock signal (BREF). Description: The spindle clamping interlock signal (BREF) is specified in the communication protocol. Relevant N unit | Parameter | Default | Applicable lame ni parameters range | value | method Delay time of spindle clamping interlock ms | 0~32000 | 100 SP PA150 Set the delay time of motor torque after the spindle is clamped by the mechanical clamping device on the spindle side, PA150 is set to 100 under normal circumstances. The delay time is to ensure that the spindle is completely clamped by the mechanical clamping device, thus reducing the motor torque and preventing the spindle from deviation in the clamping process. Below is the time sequence for spindle clamping subject to CNC control: Spindle clamping signal on (CNC — mechanical I clamping device) Not - Spindle clamped amped Clamp Spindle clamping y interlock signal (CNC + spindle servo OFF, ty or unit) Spindle motor N torque 0 After the workpiece is machined and the spindle clamping device is released, the BREF signal must be set to OFF, The spindle will enter the position mode again, and the spindle will stil be clamped. If the spindle position is slightly shifted after the mechanical clamping device is released, the BREF signal will be OFF, and the spindle will return to the clamped position. 6.8 Spindle Orientation Function Orientation function: The orientation function is to make the spindle oriented quickly and 90Chapter VI Function Debugging accurately according to the position feedback signal of the motor encoder or second position encoder and also keep it in the pre-stop position (stop position of the motor shaff or spindle) for too! replacement and measurement. Orientation accuracy: During the orientation with the orientation axis, the orientation accuracy is represented by the maximum orientation angle deviation @, as shown below. Formula 1~ 360 _ 90) @- 407 Positioning center Then the orientation accuracy is #8. ~ C: Number of lines of the position feedback encoder; 4C: Number of pulses of the orientation encoder after quadruple muttiplication. Therefore, when a 1024-Iine incremental encoder is used, the orientation accuracy is + 0.088 * > In actual orientation, the orientation error is usually + 28 due to the influence of mechanical drive errors. In orientation applications, the orientation accuracy can be represented by the arc length of the workpiece or the chord length of the arc, The outer circle of the round workpiece is subject to oriented drilling during lathing; and the machining center is aligned with the spindle during milling. The orientation accuracy is therefore not only related to the number of lines of the motor (or spindle) encoder, but also to the diameter of the orientation circle, as indicated by the following formula Formula 2~ D.: ye 6, = Ssins 2 INC > CG 1° Positioning D: Diameter of the orientation circle. + ~. 51: Orientation accuracy represented by the chord length of the orientation circle. It can also be calculated by the formula below Formula 3- o> aD ' = - 4c Positioning center 2: Orientation accuracy represented by the arc length of the orientation circle. | CS As indicated by the Formulas 2 and 3, the orientation accuracy of the spindle servo 1Sree GR-L Series Bus-type AC Servo Drive Unit User Manual unit may be accurate to £8; or + 52. Example: ‘As shown on the right, drilling is performed along the outer circle of the round workpiece with a diameter of 200mm. If the orientation deviation is required to be less than 50 ym during drilling, how many lines should be applied in the encoder? Here the arc length is chosen, To make the orientation deviation not greater than 50 jum, the drive unit needs to be 25 um or less. Calculated by the Formula 3: Ao 222 4c Then: C2 6280 6, Therefore, the number of lines in the encoder should be 6,280 or greater, so that the deviation of the drilling position is not greater than 50 ym. ‘The orientation function of the GR-L series servo unit is applied in the following two modes, depending on the position feedback input. 1. Orientation with the incremental motor encoder (CN2 input) as the orientation position feedback input. Turn on the power supply, call the monitoring menu GP-APo. , and press e € COON wit be displayed, The symbol “E” indicates that the motor shaftis in an uncertain orientation position, but cannot be used as the orientation position reference Rotate the motor shaft for at least one revolution. When the servo unit detects the Z pulse signal of the motor encoder, the correct position will be displayed, and the value of OP-RPo| wit change into + CULL), indicating that the encoder position displayed is correct, low speed command provided, The motor shaft can be rotated manually if the motor is not enabled, or according to the @® _ Make sure that the spindle servo unit is disabled. Slowly adjust the motor shaft or ‘connected spindle to the predetermined orientation point. Record the position displayed by dP-APo! and write it into the parameter PA103. Then record the position displayed by dP-RPo.| and write it into the parameter PA104. Save these two parameters, which determine the orientation position 1 92Chapter VI Function Debugging ) The CNC system executes M51 (orientation start). It sends the Enable (SON) and orientation start (OSTA) commands to the servo unit through the GSK-Link bus. The motor starts running at the orientation speed set by PA99. After the orientation point is. found, the motor shaft will be immediately maintained in the orientation position. At the same time, the servo unit sends the orientation completion signal (COIN) to the CNC system. @® When the CNC system receives the COIN command, tool replacement and other operations will be performed. The orientation start signal (OSTA) must always be ON during tool replacement, and canceled after tool replacement, followed by other operations. CS 1. In order to ensure the position accuracy of orientation, the feedback signal with the motor encoder as the orientation position is only applicable to the machine tool in Which the transmission ratio of the motor shaft and spindle is 1:1 2. Ifthe transmission ratio of the motor shaft and spindle of the machine tool is not 1:1, the second position encoder with the transmission ratio of 1:1 must be installed on the spindle side of the machine tool, to feedback the unique Z pulse signal once the spindle rotates for one revolution. 2. The operation process with the second position input signal (CN3 input) as orientation position feedback input is the same as the above process, except for the first three steps. The first three steps are as follows. Tum onthe power supply, cll the montoring menu SP=SPo] , and press ECOL wit be displayed, The symbol “E” indicates thatthe spindle isin an uncertain orientation position, but cannot be used as the orientation position reference. ® _ Rotate the spindle for at least one revolution, The servo unit will automatically search the correct position of the second position encoder. After the correct position is found the value of GP-SPO) witl change into F COLI, indicating that the encoder position is correct. @ _ Make sure that the servo unit is disabled. Slowly adjust the spindle to the orientation point, Record the position displayed by JP~5P0 and write it into the parameter PA103. Save this parameter, which determines the orientation position 1 Repeat the steps 4 and 5 for orientation of the motor encoder. > Ifthe spindle keeps rotating and the Z pulse cannot be detected, causing the failure in orientation, the phases of SCA and SCB pulses of the second position encoder may be incorrect. In this case, modify and save the value of PA101, and turn on the power supply again for orientation. The time sequence of the entire orientation process is as follows. 93Orie GR-L Series Bus-type AC Servo Drive Unit User Manual Time sequence A of spindle orientation (the motor is moving) Drive Emale (SON) CCW / CW ation stat (SIRSRY) operatic pation Oriematon speed Rotation speed ay _O speed Ovittaton end (COIN) | 120.55 Time sequence B of spindle orientation (the motor is free or not moving) Drive Enable (SON) entation start signal (OSTA) Orientation speed Rotation speed (n) 0 speed Orcntaton end (COIN) 120.5 | Relevant it. | Parameter | Default | Applicable parameters Name Unit range value_| method PAZ3 Third proportional gain of 10-1000 40 > position loop Third proportional gain of 7 Pads soed loop Hz 10~3000 | 200/800 s Paag | Third integral time constant of 13000 | 100/200 S speed loop Effective | PAIS PASS, PAIS PAIS gain control PAI6 PAS PAIG PAI parameter PAIS PAS PAIS PAID “Speed” “Speed Postion Speed contrel position control control switching ost : , OFF ON OF coIN OF ON OF The first speed loop gain (PA15, PA16), the first position loop gain (PA19), third speed loop gain (PA48, PA4S) and third position loop gain (PA23) are applied in the orientation process. Therefore, the values of PA48, PA49 and PA23 need to be reduced proportionally to prevent the spindle from swinging during orientation 94Chapter VI Function Debugging >«PARE “Type of second position 0-300 D PS encoder Applicable | encoder | Singletum | pospaz00 Encoder model | hardware data of protocol Set value version encoder Incremental TTL Incremental | 19532767 o TT Incremental TTL Incremental / 50 grating ruler TTL AAI BISS-B 131072 14 ‘Ad (spindle) protocol 131072 All 131072 4 a6 8388608, 2 Te : ‘amagawa magnetic 1pe"16984 3 resistor (128 teeth) Tamagawa magnetic | Above | Tamagawa 256°16384 9 resistor (256 teeth) | v1.27 | agreement Te : ‘amagawa magnetic aeart6384 7 resistor (384 teeth) Tamagawa magnetic 512°16384 10 resistor (542 teeth) AT Nikon protocol | 16777216 64 ‘AS (spindle) 2097152 79 R 7 fenishaw 26-bit Biss-c | 67108864 80 BISs-c protocol Fagor 26-bit BISS-C ; 1 grating ruler 95Sree GR-L Series Bus-type AC Servo Drive Unit User Manual Relevant Parameter | Default | Applicable Name Unit parameters range | value | _method ‘Type of Second position 7 Tipe of 0~320 0 PIs Al BISS-B 431072 ta ‘Ad (spindle) protocol 491072 Aall Tamagawa 431072 4 AB Vi. | agreement 8388608 2 ‘AQ Heidenhain 25-bit 33554432 ENDAT2.2 Heidenhain radial 51 protocol 1 grating/arating Sine/eosine, 162 “ 162"16384 55 PAB || tooth Sine/cosine, 256 256716384 19 teeth Special Sine/cosine, 384 | sine/cosin aear16384 " teeth econtrol_| Sine/cosine Sineleosine, 512 | board subdivision 51216384 12 teeth 2.27 or b Sinelcosine, 1024 | above to2s-16384 6 teeth Sine/eosine, 2,048 2048°16384 87 teeth Selection of position feedback o~2 1 PIS input signal PAG7 = 0: select the second position input signal as the position feedback input signal. In this case, CN3 is not connected with the feedback signal of the second sepagy | Postion encoder, andthe servo unit will be subject to Er-24 or Er-53 failure. * PAG7 = 1: select the motor encoder signal as the position feedback input signal PAQ7 = 2: Select the external sensor switch signal as the reference signal of the orientation function. Note: The modified parameter will nt take effect until the power supply is turned on again Number of lines of the second 10~30000 | 1024 PIS position encoder. Page Set the number of ines of the second position encoder, which is valid when the incremental encoder is used, Orientation speed rimin_| 10~1000 | 100 s Page The spindle motor needs to be rotated at the orientation speed first in the orientation 96Chapter VI Function Debugging Relevant ; Parameter | Default | Applicable parameters Name Unit range value | _method process. If the servo unit captures the Z pulse of the encoder, the spindle motor will rotate to and stops exactly in the orientation position. Selection of orientation o-2 0 s direction A100 = 0: the orientation speed is in the CCW direction when the motor runs in the CCW direction and in the CW direction when the motor runs in the CW direction. PAT00 | PA100 = 1: the motor is oriented at the orientation speed in the CCW direction, regardless of the running direction, PA100 = 2: the motor is oriented at the orientation speed in the CW direction, regardless of the running direction, Negation of the signal of second position feedback om 0 PIs XPAION input PA101 = 0: maintain the original phase relationship of the SCA and SCB pulses of the second position input signal PA101 = 1: negate the phase relationship of SCA and SCB. ren vane une] Parmeter [eta] Appice Orientation position window | Pulse | 0~1000 18 s After the speed/position switching is enabled, the servo unit will be in the position loop control mode, and the motor shaft (or spindle) will be detected at the orientation speed and stopped exactly in the reference point position. Due to the closed-loop adjustment of the deflection angle of the motor shaft by the position loop, the motor will jitter slightly when stopped, When the jitter deviation of the motor is within the orientation window, the orientation will be regarded completed, and the PSIO PA102 | switching completion signal will be valid. PST OFF ON ps0 OFF ON Ifthe set value is small, orientation may fail 97Sree GR-L Series Bus-type AC Servo Drive Unit User Manual Tow level of orientation position 09999 ° High level of orientation PA103 s x40000 | 0~30000 ° s position Set four orientation positions. If the value of the orientation position does not exceed patog _ | that of the low level, itis not necessary to set the high level. When orientation is. performed based on the motor encoder signal, set the low level of orientation position according to DP-APO and high level according to DP-APO. In the case of orientation based on the second position encoder signal, set the low level of orientation position according to DP-SPO and high level according to DP-SPO. For parameters with a ‘>’ mark before the parameter number, after the parameter Descriptio value is modified, please save to ensure that the value is valid after re-power on 6.9 Speed/Position Switching Function (CS Axis Function) The Cs axis function is for the speed control of one axis of the CNC machine tool, within a wide speed control range, and also the position control, subject to interpolation with other feed axes. For instance, the spindle of the turning center has such a function. ‘Speed/position switching function: When the servo unit is in the speed control mode and M14 is executed in the CNC system, the orientation function will be performed. First, the servo motor is first oriented to the reference point, Then, the servo unit will be subject to position control by the system. If M15 is executed in the system, the position mode will change into the speed mode. The speediposition switching process is essentially the same as the orientation process, so their debugging methods and relevant parameters are the same. The difference is that the orientation Position of the orientation function and reference point of the speediposition switching function are set according to the parameters. Basic debugging operation M14 execution in CNC | T19 system sends SON and PST! input commands to the system servo unit through the GSK-Link bus. Step 1 | The servo unit is required to change from the speed mode to position mode. This command can be monitored in dL-In. (See 3.3.6 for details) Key points 1. When PA88 is set to 0 by default, the servo unit will stop exactly at the reference point (PASO + PAS1) after each speed/position switching operation. When PA88 = 1, the servo unit that is powered on will stop exactly at the reference point (PA9O + PAS1) after the first speed/position switching, and immediately stop running without searching the reference point after further speed/position switching, When PA88 = 2, the servo unit will immediately stop running without searching the reference point. 2. dL-In is the VO information in communication, which can be used by debugging personnel to verify the PLC signal of the CNC system 98Chapter VI Function Debugging Relevant ; Parameter | Default | Applicable parameters Name Unit range value | method Selection of speed/position o~2 0 pis switching mode 0: the servo unit will be exactly stopped in the reference point position (PAGO + PA91) after the speed mode changes into the position mode; PAB | 1: the servo unit that is powered on will be exactly stopped in the reference point position (PA8O + PAS1) after the first speed/position switching, and immediately stop running without searching the reference point after further speed/position switching; 2: the servo unit will immediately stop running without searching the reference point after the speed mode changes into the position mode, Low level of orientation PASO —_| position in speed/position 0~9999 0 P mode High level of orientation position in speediposition 0~30000 0 P mode pags _ | Position parameters of the reference point in speed/posiion switching: when the number of lines in the encoder is 2,500 or less, PA90 is set to the reference point Position; and when the number of lines in the encoder is more than 2,500, PA90 is set to the four lower bits of the reference point position, and PAS1 is set to the five higher bits of the reference point position. Switching of the servo | stopped based on the reference point positon set by PASO + step 2 | _unitafter receiving | pag SON and PST! input ‘commands 3. After the motor is exactly stopped, the servo unit will send the 1. In the speed mode, the spindle rotates first at the speed set by PASS. 2. Once the Z pulse is detected, the servo unit will be exactly PSTO switching completion signal to the system through the GSK-Link bus, indicating that the speed/position switching is completed. Key points 1, PAQ9 is set to an absolute value. PA100 can be set to change the motor speed direction during the search of the reference point. 2. If the motor runs at the speed set by PA99, but the Z pulse is not detected, the servo unit will send the Err-25 orientation failure alarm in 10s. 3. In the speed/position switching process, the Z pulse required for orientation is taken from CN2 ‘or CN3, depending the PA97 setting 4. If the transmission ratio of the spindle and motor shaft is not 1:1, the second position encoder 99Sree GR-L Series Bus-type AC Servo Drive Unit User Manual with a transmission ratio of 1:1 must be installed 5. For the load with large inertia, the spindle often swings during speed/position switching. In this case, the parameters of the servo unit need to be adjusted, to reduce the motor rigidity during switching and swing during orientation. 1. The system executes M15. That is, the PST! signal is M15 command cancelled. As the PSTO signal disappears, the servo unit will execution in CNC retum to the speed mode. 2. Ifonly SON is revoked but PSTI is not, the motor will be in the free status. When the SON signal is valid, the servo motor will Step 3 system The servo unis required ‘to change from the position mode to speed mode. search the reference point again for orientation and enter the position mode. The time sequence of speediposition switching is shown below. When SON and PSTI are ON, the servo unit will enter the orientation mode (the reference point is the orientation position set by PAQO + PAS1). The specific switching process is as follows: SON inp ON PSTHinpat FE ON _ OFF speed 4 Orienaion 0 PADI eee PADI positon Orientation Pavo speed oo + > Speed mode Postion mode >} speed mode r PsTo pay OFF oN OFF 6.10 Function Of Sensor Switch Orientation As shown in the figure below, for the spindle of the machine tool that is not subject to 1:1 transmission, if there are not high requirements for the spindle orientation accuracy, the sensor switch instead of spindle encoder can be installed on the spindle, using the sensor switch signal as the orientation reference signal, to perform the functions of spindle orientation or speed/position switching. Thus, high-accuracy position control can be performed with low costs. 100Chapter VI Function Debugging Tnductive swith _ [> \er sransmission 1. Function of sensor switch orientation: Shown as follows: The output signal of the sensor switch (three-wire type) is connected to ‘SEC2 (CN8-12), as the reference signal for spindle orientation Please select the NPN high-speed proximity switch with 7 1 external 24V power supply as the sensor switch. Ter eee Tot Sensing distance S: 2-3mm | Width (WW) of sensing metal groove or boss: greater than w a the width of the sensing surface, preferably square. Sensing frequency: the recommended value is greater than 1KHz. The following figure shows the wiring principle: | 14 |COM+ +24V | ~~ 1 *z| 12 | SEC2 OUT a \ = When the SEC2 input is valid, the ON status of the signal can be seen in the “dL-In’ monitoring window. Observe the ON/OFF status of the signal to debug this function. 101Oris GR-L Series Bus-type AC Servo Drive Unit User Manual sr wer SL. GAIN. OSTA Relevant parameters Parameter | Default | Applicable Name Unit range value _| method PA97 Selection of position feedback input signal o~2 1 PIS PAST = 0: select the second position input signal as the position feedback input signal. In this case, CN3 is not connected to the feedback signal of the second position encoder, and the sensor will be subject to Er-24 failure. PAQ7 = 1: select the motor encoder signal as the position feedback input signal; PAQ7 = 2: Select the external sensor switch signal as the reference signal of the orientation function. Note: The modified parameter will not take effect until the power supply is turned on again. PA9S Orientation speed rimin_ | 10~1000 | 100 s The spindle motor needs to be rotated at the orientation speed first in the orientation process. If the servo unit captures the Z pulse of the encoder, the spindle motor will rotate to and stops exactly in the orientation position. PA100 Selection of orientation o~2 0 s direction PA100 = 0: the orientation speed is in the CCW direction when the motor runs in the CCW direction and in the CW direction when the motor runs in the CW direction. PA100 = 1: the motor is oriented at the orientation speed in the CCW direction regardless of the running direction. A100 = 2: the motor is oriented at the orientation speed in the CW direction, regardless of the running direction. PA103 Low level of _ orientation position 4 09999 ° s PA104 High level of orientation x10000 | 0~30000 0 s position 1 ‘When PAS7 is equal to 2 and the SEC1 (CN8-13) signal is ON, the parameters of] the orientation position 2 will be enabled. If the value of the orientation position does not exceed the number of bits at the low level, it is not necessary to set the high level. When orientation is performed based on the motor encoder signal, set the low level of orientation position according to DP-APO and high level according to DP-APO, Set the low level of the orientation position according to DS-SPO in the case of orientation based on 102