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Drive set-up procedure
14.3.8
Torque Control and Fixed Stop Function
14
-74
• MD32610 VELO_FFW_WEIGHT (For each axis)
Meaning: Speed feedforward weight
Setting value: [0.01]
Standard setting value: 1.0
14.3.8 Torque Control and Fixed Stop Function
Limiting with drive parameters
You can set the following parameters to control the torque for each axis continuously.
Servo drive
• MD3352 (Pn402) FORWARD_TORQUE_LIMIT (For each servo axis)
Meaning: Forward torque limitingl value
Setting value: [%] (percentage for rated torque)
• MD3353 (Pn403) REVERSE_TORQUE_LIMIT (For each servo axis)
Meaning: Reverse torque limiting value
Setting value: [%] (percentage for rated torque)
Spindle drive
• MD6421 (Cn421) TORQUE_LIMIT (For each servo axis)
Meaning: Torque limiting level on motor side
Setting value: [%]
• MD6422 (Cn422) REGENERATION_TORQUE_LIMIT (For each servo axis)
Meaning: Torque limiting level on regenerator side
Setting value: [%]
Control by CNC (Fixed Stop function)
On YS 840DI system, Fixed Stop function allows you to perform easy, continuous torque
control with torque limiting for the servo axes or spindles via CNC program.
For example, to activate Fixed Stop function for X axis, input the following programming
command.
FXS [X1] =1 G90G00X100. :
Positioning, after torque limiting is enabled for X1 axis
FXS
［
X1
］
=0 X0. : Torque limit is released for X1 axis
Set the following machine data for Fixed Stop function.
- Yaskawa Siemens CNC Series 1
- Safety-related symbol marks 3
- Table of Contents 5
- Part 2 Software 6
- Part 3 PLC 7
- Table of Contents 10
- Outline of this manual 12
- Related manuals 12
- How to use this manual 13
- Trademarks 13
- PROHIBITED 14
- MANDATORY 15
- Safety precautions 16
- Operating 20
- Maintaining 22
- General notes 23
- Warning labels 24
- Warning marking 25
- Hardware 26
- Chapter 1 27
- 1.1 System configuration 28
- System configuration 29
- Converter 34
- Inverter 34
- Servo unit 35
- -05 A 2 S 36
- -AZA30K 1 37
- System Configuration 38
- Spindle motor designations 38
- Chapter 2 39
- 2.1 Designing the panels 40
- Capacity of heat exchangers 42
- 2.1.3 Heat dissipation 44
- 2.1.4 Power consumption 46
- 2.2.1 Separation of cables 47
- 2.2.2 Noise-proof devices 48
- Installing diodes 49
- Example grounding wiring 50
- 2.2.4 Cable shield clamp 51
- 2.3 Installation precautions 52
- Feed/spindle 53
- SERVOPACK 53
- Heat sink 53
- Outside air 53
- Converter Inverter Servo unit 54
- Installation precautions 55
- I/O modules 56
- Recommended surge absorbers 57
- Installing the control panels 58
- Chapter 3 59
- 3.1 Servo motors 60
- 3.2 Spindle motors 61
- Installing the motors 62
- Chapter 4 63
- 4.1.1 CNC unit 64
- Arrangement of connectors 65
- Right side surface 66
- Rear surface 67
- 4.1.2 Power supply module 68
- 4.1.3 I/O module 68
- 153-1AA02-OXB0 69
- Dummy module (DM370) 70
- 4.1.4 Converter 71
- 4.1.5 Inverter 72
- Indicator 73
- CHARGE : red 73
- Connection method 74
- Servo unit 74
- 4.2 Power on/off signals 76
- Wiring between units 76
- Detailed wiring drawing 77
- Power on/off signals 79
- 4.2.3 Time chart 80
- 4.3 Wiring units and devices 81
- Example wiring 81
- CNC unit address setting 82
- Machine control panel I/O 82
- I/O module 82
- Termination setting 82
- Wiring units and devices 83
- Chapter 5 85
- 5.1 Installing the CNC unit 86
- Installation procedure 86
- Installing the CNC unit 87
- Assembling and replacing 88
- Release this part 89
- OpenClosed 89
- Replacing the servo unit fan 93
- オプションカバー 94
- Optional board 95
- Chapter 6 97
- 6.2 Data types 99
- NT’s Explorer: 100
- Service screen directories 101
- Software configuration 102
- Chapter 7 103
- 7.1 How to archive 104
- How to archive 105
- 7.2 Network settings 109
- YS 840DI settings 110
- Network settings 111
- Click on OK 114
- 7.2.2 PC settings 116
- PC settings 118
- 840DI system 119
- Chapter 8 123
- All programs convertible 124
- Most programs convertible 124
- 8.2 Program structure 125
- 8.3 Address structure 126
- Address symbol 127
- Bit address 127
- Byte address 127
- 8.4 Interface structure 128
- 8.4.3 Data blocks 129
- 8.4.4 Program components 130
- Chapter 9 131
- 9.1 Hardware configuration 133
- 9.2 Defining the hardware 134
- Then select Insert New Object 135
- SIMATIC 300 Station 135
- Order number and other 136
- を選択しドラッグアンドドロップ 137
- Slot specification method 138
- Drag-and-drop method 139
- 9.2.7 Adding the CPU module 140
- CPU’s DP port setting 141
- PROFIBUS 143
- ノードアドレスの指定 143
- ラックの詳細ウィンドウのス 144
- ロットを指定してモジュール 144
- をダブルクリック、 144
- あるいはモジュールを選択し 144
- てドラッグアンドドロップ 144
- Select a target slot and 145
- Rack's properties screen 146
- List of rack numbers 146
- Rack number 146
- Defining the hardware 147
- Create a new project 150
- ハードウェアコンフィグレーション画面より 151
- 9.3.3 List of addresses 153
- Setting up and maintenance 154
- Chapter 10 155
- 10.1 Screen operation 156
- 10.1.2 Basic operation 157
- Overview of System 158
- 10.1.2 158
- Basic operation 158
- 10.2 MD components 159
- Chapter 11 161
- Startup 162
- 11.1.2 Screen Configuration 163
- Basic operation 164
- Input of setting value 164
- Decimal number 164
- Hexadecimal number 164
- Binary number 164
- Searching 165
- Updating the data display 166
- 11.1.5 Protection level 167
- Drive Parameter Screen 168
- 11.2.1 168
- Drive diagnosis 169
- 11.3 Mapping ACC file 170
- 11.4.1 Error screen display 171
- 11.4.2 Troubleshooting 172
- 11.4.4 Error message display 172
- Chapter 12 173
- 12.1 Basic operation 174
- 12.1.3 Reset of servo alarm 175
- How to use Digital Operation 176
- 12.1.4 176
- Switching the basic mode 176
- 12.1.5 Axis selection mode 177
- 12.1.6 Status display mode 177
- Speed control mode 178
- Position Control Mode 179
- 12.1.7 180
- User Constant Setting Mode 180
- IMPORTANT 181
- The setting digit flashes 183
- How to use the monitor mode 184
- Indication of Monitor Mode 185
- Input signal monitor display 186
- Output signal monitor display 187
- Up: OFF ("H" level) 187
- Upper 16-bit data 188
- Lower 16-bit data 188
- 12.2 Application 189
- Check of alarm 190
- Application 191
- 12.2.3 192
- Checking the motor type 192
- Display of software version 194
- Software 194
- Software version 194
- Machine origin 195
- The point where the motor 195
- Data setting changed 198
- Changes alternately 199
- [DSPL/SET] key 201
- Flashes one 203
- 12.2.9 204
- Chapter 13 205
- 13.1 System configuration 206
- Other machine data section 208
- About “digit” setting 209
- About unit data 209
- Setting value: [0.01 ms] 210
- Chapter 14 211
- Drive set-up procedure 212
- 14.1 Fundamental settings 215
- DP cycle setting 215
- IPO cycle setting 215
- CNC setting 216
- Drive setting 217
- Fine interpolation 217
- 14.1.4 Axis configuration 218
- Fundamental settings 219
- 220
- Machine data setting 221
- 14.1.4 222
- Axis configuration 222
- 14.1.5 226
- Motor encoder 226
- Servo drive 227
- Spindle drive 229
- Resetting Absolute encoder 230
- 14.1.6 234
- External encoder 234
- Heavy Industries MP scale 235
- AA = Un00D 236
- 送り軸エンコーダ関連ＣＮＣパラメータ一覧 238
- Encoder setting 239
- Settings at CNC 241
- Settings at drive 241
- CNC version number check 242
- Display at CNC 244
- 14.2 Servo control 246
- 14.2.3 Spindle servo mode 249
- 14.2.4 Backlash compensation 250
- Setting value: [0.01%] 251
- Quadrant error 252
- Servo control 253
- Adjustment procedures 254
- For feed axis 255
- Servo drive settings 256
- For cutting feed 256
- For positioning 256
- CNC settings 258
- For Servo drive 258
- 14.2.11 260
- Vibration-damping control 260
- Servo drive setting 262
- For handle feed 263
- 14.2.13 264
- Current offset adjustment 264
- Monitor cable 266
- 14.3 Motion Control 267
- Feed Axes/Spindles 267
- Feed axes 267
- Spindle 268
- 14.3.3 Positioning 273
- 14.3.3 274
- Positioning 274
- Position 275
- Reference position 275
- Actual position 275
- Spindle drive 277
- 14.3.5 278
- Return to reference point 278
- Motion Control 281
- 14.3.6 Brake control 282
- 14.3.7 Speed feedforward 283
- (motor encoder) 288
- (separately mounted encoder) 288
- 14.3.10 Gantry control 290
- 14.3.10 292
- Gantry control 292
- Feed axes 293
- Relevant I/O 294
- Relevant Parameter 296
- Relevant CNC machine data 297
- Changing process 300
- Relevant parameters 301
- Spindle parameter 302
- PLC -> CNC 302
- DBX21.0-2 302
- H gear M gear L gear H gear 302
- 14.3.16 Rigid tap 303
- 14.3.17 Threading 304
- CNC side setting 306
- I/O signal 306
- COMPCURV function 308
- COMPCAD function 308
- • MD20172 COMPRESS_VEL_TOL 309
- Setting value: [mm/min] 309
- 14.4.3 Spline interpolation 310
- Fine interpolation 311
- 14.4.4 312
- 14.6 Trouble shooting 322
- Chapter 15 324
- Table 15.1 325
- Error and Troubleshooting 327
- Chapter 16 330
- 16.1.1 Checking Servo motor 331
- Operating conditions 332
- 16.2.2 Scheduled maintenance 334
- 16.2.4 Periodical check 335
- 16.3 Absolute encoder 337
- "Auxiliary function 338
- 16.4 Analogue monitor 340
- Maintenance and Check 341
- 16.3.3 341
- Analogue monitor 342
- Appendix 344
- Appendix A Parameters 345
- 3103 Pn149 347
- 3109 Pn14F 347
- (Lower word) 350
- (Upper word) 350
- Drive data list 363
- B.2 List of Inverter alarms 368
- Siemens Japan K.K 373
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