HUST CNC H6D-T Manual
7 - 46
NC controller output voltage command
= GAIN * Servo feedback error * ( )
The controller in HUST is a closed-loop system. The servo error is the
difference between the controller position command and the actual feedback
value of the servo motor. The controller will adjust the output voltage of the
controller properly according to this difference value. The setting value of the
position gain is related to the stability and the follow-up of the system servo, so
please modify it with care. If:
Servo mismatch 4096, the ERROR 02 will occur.
In this case, please correct the values of MCM Parameters 701~709 and then press
the “Reset” key. If the problem still exists, please check if the wire connection of
the servo motor is correct.
Adjustment procedure for smooth motor operation: (recommended)
(1) Adjust the servo driver. (Please refer to the operation manual of the driver)
(2) Adjust the MCM Parameters 461 469 for the multipliers (1,2,4) of the
signals from the the speed sensors. In normal condition, if the motor is
locked, the Servo Error will be oscillating between 0 and 1; if it is
oscillating between 4 and 5, the problem can be solved usually by
adjusting the MCM Parameters 461 469 for the multipliers, i.e., 4 --> 2,
or 2 --> 1.
(3) Adjust the values of MCM Parameters 701~709 for the position loop gain.
MCM# 710~720 System Reserved
721. Break-over Point (in Error Count) for Position Gain, X-axis.
722. Break-over Point (in Error Count) for Position Gain, Y-axis.
723. Break-over Point (in Error Count) for Position Gain, Z-axis.
724. Break-over Point (in Error Count) for Position Gain, A-axis.
725. Break-over Point (in Error Count) for Position Gain, B-axis.
726. Break-over Point (in Error Count) for Position Gain, C-axis.
727. Break-over Point (in Error Count) for Position Gain, U-axis.
728. Break-over Point (in Error Count) for Position Gain, V-axis.
729. Break-over Point (in Error Count) for Position Gain, W-axis.
Format (Default=10)
The proper setting of this parameter will assure smooth start-up of servo motor.
When servo error is smaller than the setting value of MCM #721~#729, the
position gain is 64. Otherwise, position gain will be calculated based on the
setting value of MCM #701~ #709 and the setting values depend on the frictional
load on the motor. If the frictional load is high, setting value is small and vice
versa.
10V
2048
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