Precautions; Position Loop Gain Switch - Mitsubishi Electric M800VW Series Programming Manual

M800V/M80V Series PLC Programming Manual (2/2)
13 Spindle Control
13.10 Spindle Position Control (Spindle/C Axis Control)

13.10.5 Precautions

(1) Turning the "servo OFF" signal (*SVFn) OFF while the C axis is moving and changing from the C-axis mode to the spin-
dle mode results in generation of the operation error (M01 005). Clear the error by performing a reset.
(2) Turning the "servo OFF" signal (*SVFn) ON while power is turned ON will cause the Z-phase detection operation to exe-
cute while the power is turned ON and cause the return to origin operation to execute after the Z phase has passed if the
zero point return type ("#3106 zrn_typ/bit8" = "0") is enabled.
If the decelerate and stop type ("#3106 zrn_typ/bit8" = "1") is enabled, the Z-phase detection operation is executed by the
move command and the positioning operation is executed after the zero point return operation.

13.10.6 Position Loop Gain Switch

Position loop gain switch of spindle (C axis)
Position loop gain can be switched for each control mode.
 For spindle motors
Parameters of position loop gain used in each control mode is shown below.
Note
(1) Position loop gain in C axis mode (#43095 SP002cax (PGNcax)) is available only for spindle motors.
#43095 is set to
"0".
Position loop gain
#43095 is set to
other than "0".
 For spindle-mode servo motors
When spindle-mode servo motor is used as spindle of synchronous tapping or C axis, position loop gain follows the setting of
"#52001 SVSPEC" (Spindle-mode servo: Specification).
Switching position loop gain of servo axis (other than C axis)
When an interpolation of C axis and that of servo axis other than C axis are required, including milling machining, the position
loop gain of the two axes needs to be the same.
However, when the setting of position loop gain of C axis cannot be the same with the gain of servo axis (#2203 SV003
(PGN1)) due to problems such as spindle inertia, set the same value with the position loop gain of the C axis to the "Position
loop gain 1 in spindle synchronous control" (#2249 SV049 (PGN1sp)) of the servo axis. By doing so, gain of servo axis can be
switched to position loop gain in spindle synchronization control at the timing of switching C axis, and interpolation can be
performed.
Valid/invalid of gain switchover can be set with the parameter "#3129 cax_spec/bit4" (Gain switchover for all the axes within
the part system when C axis is selected). When there is even one C axis with the parameter "#3129/bit4" set to "1", the gains
of all servo axes excluding C axis are switched as shown in the following table.
Servo parameter
# Name
2203 SV003(PGN1)
2204 SV004(PGN2) when SHG is set
2257 SV057(SHGC) when SHG is set
IB-1501668-B
C axis mode
Non-interpolation
type
#13002 SP002(PGN) #13001 SP001(PGV) #13002 SP002(PGN) #13003 SP003(PGS)
#43095 SP002- #13001 SP001(PGV) #13002 SP002(PGN) #13003 SP003(PGS)
cax(PGNcax)
Switchover parameter in C axis mode
#
↔ 2249
↔ 2250
↔ 2258
530
Spindle mode
Synchronous tap-
ping
Name
SV049(PGN1sp)
SV050(PGN2sp) when SHG is set
SV058(SHGCsp) when SHG is set
Spindle synchroni-
zation