_
OK
Set as follows:
OSP=SO,
PGl=
200,
CSP=20,
and
4
PG2=20
NG (The motor over-
runs when it stops.)
OK
The spiondle does not
Increase PG2 (max. 40)
vibrate when it stops.
Increase bits 8 to B (Kp
NG
magnification) and bit C
Decrease CSP
(min.
10)
*
to F (Ki magnification) of
the parameter ORSl in the
same ratio.
OK
I
Ill
Without increasing
Kp and Ki, the spin-
dle vibrates when it
stops.
Next step
'I
OSP=220
and
PGl=
180
are determined.
OK
OSP and
PGl
are determined.
OK
OSP and
PGl
are determined.
(Note) 1.
2.
When the orientation time becomes long because the
time period on which the spindle rotates at a creep
speed (point b to
c)
is long, decrease
PGl
or in-
crease OSP in the manner that the spindle does not
overrun when it stops.
(PGl>
PG2,
the maximum value
of
OSP
= 300.)
The parameter
ORSl
bits 0 to 3
(WT
selection) are
the compensation gain for delay/advance of bit 4
(control method in servo lock situation).
Increase WT and the temporary servo rigidity in-
creases and the torque against the position devia-
tion decreases.
-lll-
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