MITSUBISHI

AC SERVO
MDS-C１-V1/V2

SERVO ADJUSTMENT MANUAL (For M640)

BNP–A2993–87–A(ENG)

MITSUBISHI ELECTRIC CORPORATION

SERVO ADJUSTMENT MANUAL For M640 USA-E00080-027-*

18/DEC/2000 NC System Dept.

Outline
This manual describes how to adjust MDS–C1–V1/V2 (High gain mode) and MDS–CH–V1/V2 on M640.
Refer to MDS–C1 Series SPECIFICATIONS MANUAL BNP–C3000*(ENG) or MDS–CH Series
SPECIFICATIONS MANUAL BNP–C3016A(ENG) for details.

1. Auxiliary axis setting ……….…………………………………………………. 3

2. Current loop gain setting ……………………………………………………... 4
3. Speed loop gain setting ………………………………………………………. 5
4. Acceleration/Deceleration time constant setting …………………………… 12
5. Position loop gain setting …………………………………………………….. 16
6. Vertical axis setting …………………………………………………………… 22
7. Lost motion compensation setting …………………………………………... 23
8. Machine end compensation setting (Machining center) ..…………………. 25
9. Collision detection setting (NC lathe) …………………………………………. 27

Standard parameter list by each motor ……………………………………... 30

Report on adjustment result of the servo used for the first time ………….. 32
Check sheet for speed gain adjustment ……………………………………. 34

(1/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

USA-E00081-040-*
Servo Adjustment Flow Chart
1) Set the auxiliary axis
When using MDS–B–V1/V2, MDS–B–SP/SPH/SPM and MDS–C1–SP/SPH/SPM in the same system,
set the servo specifications and spindle synchronized tapping specifications to the synchronous mode.
–> Refer to [1. Auxiliary axis setting].

2) Set the current loop gain

Set with the standard parameter by each motor.
–> Refer to [2. Current loop gain setting] and
APPENDIX A [Standard parameter list by each motor]

3) Set the speed loop gain Set the machine resonance filter
Set 70% of the limit value. - Measure the resonance frequency and set.
Set by aiming at 1.4 times to twice as high as - 3 machine resonance filters and adaptive filter
that of standard drive unit. (to raise the sensitivity) can be used.
Confirm the full stroke by handle feed at the
maximum scale. –> Refer to [3. <How to measure the resonance
–> Refer to [3. Speed loop gain setting]. frequency>].

4) Set acceleration/deceleration time constant

Set 90% of the motor’s specification value.
–> Refer to [4. Acceleration/Deceleration time constant setting].

5) Set the position loop gain (SHG) In case that the position loop gain limit is low.
Set 80% of the limit value. When linear acceleration/deceleration is
Set by aiming at 1.4 times to 2.5 as high as commanded, position loop gain occasionally cannot
that of standard drive unit. be set high enough due to the machine limit. (This
–> Refer to [5. Position loop gain setting]. does not mean the limit of servo.)
–> Refer to [5. Position loop gain setting].

6) To the vertical axis, set the deceleration to a stop and torque offset.
–> Refer to [6. Vertical axis setting].

7) Finally confirm that no vibration is occurring under the following conditions.

- at each speed (Override 10 to 100 %)
- with the set position loop gain and acceleration/deceleration time constant
- with full stroke
- at the speed loop gain limit

8) Measure the roundness

Set the lost motion compensation value.
(Motor end or machine end)
–> Refer to [7. Lost motion compensation setting].

9) Set the machine end compensation amount (Machining center)

Measure the machine end roundness and set the machine end compensation
amount.
–> Refer to [8. Machine end compensation setting].

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 1. Auxiliary axis setting

To perform interpolation (including synchronized tapping) with MDS–C1–V1/V2 (High gain mode) in case the
other models of drive unit are used in the same system, parameters of the axis to perform the interpolation
with has to be changed.
Especially, when performing synchronized tapping with the spindle drive unit (MDS–B–SP/SPH/SPM/SPJ2,
C1–SP), make sure to set as follows.

(1) Models of drive unit that can perform the interpolation with MDS–C1–V1/V2 (High gain mode)
-Servo drive unit
C1–V1/V2 C1–V1/V2
B–V1/V2 B–V14/V24 B–SVJ2
(Standard mode) (High gain mode)
* O * O X

-Spindle drive unit

B–SP/SPH/SPM C1–SP/SPH/SPM C1–SP4/SP4M B–SPJ2

* * O *
O: No problem with standard settings
* : Available only when the parameters are set as follows
X: Not available (Possible to drive individually, however, synchronous accuracy is not guaranteed.)
[Note] Only when the communication cycle with NC is 3.5ms, B–SPJ2 is applicable.

(2) MDS-B–V1/V2, MDS−C1−V1/V2 (Standard mode)

No. Abbrev. Parameter name Explanation
To synchronize with MDS–C1–V1/V2 (High gain mode), set to the synchronization
SV017 SPEC Servo specifications
mode with the following parameter.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
spwv

bit Meaning when “0” is set Meaning when “1” is set

Synchronization with MDS–B– Synchronization with MDS–B–
3 spwv
V14/V24 is disabled. V14/V24 is enabled.

The applicable software versions are; MDS–B–V1/V2 –> Ver.AD and later versions
MDS–C1–V1/V2 (Standard mode) –> Ver.A1 and later versions

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(3)MDS–B–SP/SPH/SPM/SPJ2, MDS–C1–SP/SPH/SPM
No. Abbrev. Parameter name Explanation
Spindle specifications
To synchronize with MDS–C1–V1/V2 (High gain mode), set to the synchronization
SP193 SPECT during synchronized
mode with the following parameter.
tapping

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
phos

bit Meaning when “0” is set Meaning when “1” is set

Synchronization with MDS–B– Synchronization with MDS–B–
8 phos
V14/V24 is disabled.. V14/V24 is enabled.

The applicable software versions are;

MDS–B–SP –> Ver.AE
MDS–B–SPH –> Ver.B4 and later versions
MDS–B–SPM –> Ver.A0 and later versions
MDS–B–SPJ2 –> Ver.A8 and later versions
MDS–C1–SP/SPH/SPM –> Ver.A0 and later versions

2. Current loop gain setting

Set the current loop gain of the standard parameters by each motor.

SV009 (IQA) 4096

SV010 (IDA) 4096
SV011 (IQG) 768

SV012 (IDG) 768

(The above table is an example of HC motor.)

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3. Speed loop gain setting

Set the speed loop gain by taking account of the individual differences of each machine as follows.
Confirm that no resonance sound is occurring when performing the following operations.
-Handle feed (full stroke)
-Rapid traverse feed 25, 50, 100%
-Cutting feed 10 to 100%

(1) Measure the machine resonance frequency

Measure the machine resonance frequency with a check pin etc.
–> Write the result in the check sheet.

If the filer is set deeply in case

that the resonance frequency
(2) Set the 1st machine resonance filter is close to the speed loop
Set the machine resonance suppression filter to the maximum band (up to 300Hz), the
(–∞dB), and confirm the speed loop gain limit at that time. Only response at the
when the low–frequency resonance (50 to 150Hz) occurs, however, low–frequency is suppressed.
make the filter depth shallower. Thus, set the depth with care
when using 2 machine
resonance suppression filters.

(3) Secure the resonance margin

Confirm that the set frequency is optimum by lowering and raising
the set resonance filter frequency at the depth that is set in
procedure (2). Confirm also the speed loop gain limit of each As shown below, confirm the
frequency. Determine the lowest speed loop gain limit as the range about the point at which
speed loop gain limit of this machine. the speed loop gain limit
–> Write the result in the check sheet. reaches the maximum.
Center frequency Frequency In the flowing example, set 550.

The set
409 450 500 562
frequency
Speed
gain limit
550 650 600 550
Confirm by lowering and raising the
resonance filter frequency
Determine Confirm the
the lowest range about the
speed loop point at which
gain limit the speed loop

(4) Set the second machine resonance suppression filter

Set the second machine resonance suppression filter after
confirming the same way. –> Write the result in the check sheet.

Set this to suppress the

(5) Set the adaptive filter
resonance which was not
Set the adaptive filter and confirm the speed loop gain limit.
confirmed when the
–> Write the result in the check sheet.
machine was adjusted.
The unconfirmed resonance
may occur under the
different installation or work
condition.
(6) Determine the setting value of the speed loop gain
Set 70% of the speed loop gain limit that was determined by
carrying out the procedures from (1) to (5). (Completed)
–>Write the result in the check sheet.

(5/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<How to measure the resonance frequency>
Calculate the resonance frequency with the analogue current waveform of a check pin card etc.
Check pin card 7 pins – L axis U–phase current FB
17 pins – L axis V–phase current FB
6 pins – M axis U–phase current FB
16 pins – M axis V–phase current FB

[Note1] The resonance frequency cannot be judged correctly with the waveform of D/A output, as its
sampling cycle is too long.
[Note2] Set the speed loop gain (SV005) to about 50 to 100, and measure without the resonance filter.
( SV033 bit0 to 7 –> xx00
SV038, SV046 –> 0
SV027 –> 4xxx）

Example of resonance frequency measurement

20ms
Current feedback: 9 wave cycles

Machine resonance

9 / 0.02 = 450 (Hz)

[Note3] Measure the phase current while stopping. During the axis movement, the AC element of the phase
current exists.

<Secure the resonance margin>

To confirm the speed loop gain limit, the setting filter frequency is lowered and raised by 1 to steps, at this time,
confirm the following frequency as well.
(Example) In case of setting to 450Hz
(1) Set to 409Hz and 500Hz and confirm that the speed loop gain limit is the maximum at 450Hz.
(2) In this case, set the filter frequency to 409, 450 and 500Hz and determine the lowest speed loop gain limit
as the speed loop gain limit of this machine.

Machine resonance suppression filter frequency to be confirmed

70Hz 173Hz 375Hz 818Hz
80Hz 187Hz 409Hz 900Hz
90Hz 204Hz 450Hz 1000Hz
100Hz 225Hz 500Hz 1125Hz
112Hz 250Hz 562Hz 1285Hz
125Hz 281Hz 600Hz 1500Hz
132Hz 300Hz 642Hz 1800Hz
150Hz 321Hz 692Hz 2250Hz
160Hz 346Hz 750Hz −

(6/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<How to set the machine resonance filter frequency in case that resonance cannot be eliminated>
Normally, 2 variable machine resonance filters equipped with MDS–C1–V1/V2 (High gain mode) are enough to
suppress the machine resonance, however, some machines cause machine resonance at more than 3 points
and it disables to suppress machine resonance completely. In this case, try the following methods.

(1) In case that the machine resonance occurs at more than 3 points and any of resonance is caused at
more than 800Hz;
Set the 3rd machine resonance filter (SV033, bit4). By setting the 3rd machine resonance filter, the resonance
filter is set at 1125Hz and the machine resonance at more than 800Hz can be suppressed. Eliminate the rest
of machine resonance with the 1st and 2nd machine resonance filters.
In the same way, in case that the machine resonance at more than 800Hz is too large to eliminate with the 1st
and 2nd machine filters even by setting 1st and 2nd machine filters to the resonance frequency, setting the 3rd
machine resonance filter may work.

(Example) In case that the machine resonance at around 1100Hz is too strong to suppress even by setting the
1st machine resonance filter the most deeply, the machine resonance can be eliminated by setting the 1st
machine resonance filter to 1125Hz and to the depth of about 6dB in combination with 3 machine resonance
filter.

(2) In case that the machine resonance occurs at more than 3 points (Case1)
Eliminate the machine resonance at the highest frequency with an adaptive filter. Even in case that the
machine resonance cannot be suppressed, the sensitivity is raised, therefore, set the adaptive filter by following
the instruction. Eliminate the rest of the machine resonance with 1st and 2nd machine resonance filters.

(3) In case that the machine resonance occurs at more than 3 points (Case2)
The machine resonance filter of MDS–C1–V1/V2(High gain mode) can also be set to the frequency increased
by odd-number times of the setting frequency. Thus, in case that one machine resonance is close to the
frequency increased by the odd-number times of the other machine resonance, machine resonance at 2 points
can be eliminated by setting the resonance filter frequency to the lower frequency and adjusting by 10 to 20Hz.

(Example) Incase that the machine resonance occurs at 260Hz and 750Hz, the machine resonance at both
frequency can be eliminated by setting the filter to 250Hz.

(4) In case that the machine resonance does not improved even after setting the machine resonance
filter
The machine resonance filter frequency of MDS–C1–V1/V2 (high gain mode) cannot be set to the other
frequency but to the frequency calculated by following expression only. Therefore, in case of no frequency to
set to, machine resonance can be eliminated by setting to the frequency calculated by dividing by odd-number.
(For example, one third.)
The settable machine resonance filter frequency (Hz) = 9000/N (N=4 to 128)

(Example) To set to 1400Hz, set to 470Hz so that the same effect can be obtained.

(7/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<How to adjust in case that the machine resonance occurs during high-speed revolution>
In case that the machine resonance during high-speed revolution is too strong, for example when using a
detector with low-resolution, the accuracy can be raised by enabling the variable speed loop gain function.
With this variable speed loop gain;
-the speed loop gain during low-speed revolution is secured (the accuracy is improved.)
-machine resonance during high-speed revolution is suppressed
However, be aware that the vibration while accelerating/decelerating during high-speed revolution will be
stronger as the speed loop gain is lowered.

[How to adjust] Refer to the following flow chart and adjust.

Fig1. Variable speed loop gain function adjustment Fig2. Outline of variable speed loop gain function
(1) Adjust the speed loop gain regularly. Secure the speed band during
low-speed revolution.

(2) Is machine resonance during high-speed revolution NO Suppress the excitation

strong and is speed loop gain limit low? VGN1 to the machine during
(SV005) high-speed revolution.
YES
(3) Set the same value as VGN1 (SV005) to VGN2
(SV006).
VGN2
(SV006)

(4) Set the max. motor speed of cutting feed, that

requires the accuracy, to VCS (SV029). Rated revolution speed x 1.2
VCS
(SV029) 3000r/min --- 3600
2000r/min --- 2400
Not
(5) Adjust the speed loop gain by cutting feed and improved
improve VGN1 (SV005). <Completed>
Speed loop gain does not improved even
Improved with variable speed loop gain function.

(6) Perform rapid traverse feed and lower the VGN2 (SV006) until
the machine resonance is suppressed. (Down to one fifth, Min.0)

Vibration
(7) Confirm the droop fluctuation during rapid traverse feed at the max. exceeds
revolution speed. the Suppress the vibration to be within
[Note] The tolerance of the droop fluctuation depends on the machine’s tolerance the tolerance.
dimensions. (1) Lower VGN1 (SV006)
If the machine’s dimensions are small, about 20 to 30 µm is OK. (2) Lower VCS (SV029)
–> Ask and confirm the vibration to a machine builder.

Vibration occurs within the tolerance

(8) Confirm each “%” of rapid traverse feed and cutting
feed, and then adjustment is completed.

How to set the variable speed loop gain function

No. Abbrev. Parameter name Unit Explanation Setting range
SV005 VGN1 Speed loop gain – Set the speed loop gain. 1 to 999
during low-speed When setting higher value than the standard setting gain,
revolution responsiveness is improved, however, the vibration and
noise becomes worse.
SV006 VGN2 Speed loop gain – Set the speed loop gain (smaller than VGN1) during – 1000
during high-speed high-speed revolution (1.2 time as fast as rated revolution). to 1000
revolution Set “0” when the filter is not to be used.
SV029 VCS Motor speed at the r/min When the noise is too loud during high-speed revolution such 0 to 9999
start of revolution as rapid traverse feed, set the motor speed at the start of (r/min)
speed decrease revolution speed decrease
Set “0” when the filter is not to be used.

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How to set the machine resonance filter in MDS–C1–V1/V2 (High gain mode)
No. Abbrev. Parameter name Unit Explanation Setting range
SV038 FHz1 Center frequency 1 Hz Set the resonance frequency to be suppressed. (Available at 36 0 to 9000
of machine or more). (Hz)
resonance Set “0” when the filter is not to be used.
suppression filter
SV046 FHz2 Center frequency 1 Hz Set the resonance frequency to be suppressed. (Available at 36 0 to 9000
of machine or more). (Hz)
resonance Set “0” when the filter is not to be used.
suppression filter
SV033 SSF2 Special servo function
Set the compensation depth of machine resonance suppression filter with following parameter.
selection 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
dos dis nfd2 nfd3 nfd1 zck

bit Explanation
Set the filter depth of the 1st machine resonance suppression filter.
1 The control is stabilized by setting the filter shallowly enough to eliminate
the vibration.
to nfd1 Deeper <– –> Shallower
3 Setting value 000 001 010 011 100 101 110 111
Depth （dB） –∞ –18 –12 –9 –6 –4 –3 –1
Enable the 3rd machine resonance suppression filter.
4 nfd3
(Center frequency 1125Hz)
Set the filter depth of the 2nd machine resonance suppression filter.
The control is stabilized by setting the filter shallowly enough to eliminate
5
the vibration.
to nfd2 Deeper <– –> Shallower
7 Setting value 000 001 010 011 100 101 110 111
Depth （dB） –∞ –18 –12 –9 –6 –4 –3 –1

SV017 SPEC Servo specification Set speed feedback filter with following parameter.
The feedback filter is efficient for the resonance which is more than 2250Hz.
(The following parameter is added to MDS–C1–V1/V2 Ver.A1 and later versions)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Vfb

bit Explanation
Speed feedback filter is enabled.
3 Vfb This is as effective as the machine resonance filter whose center frequency
is more than 2250Hz.

How to set the adaptive filter in MDS–C1–V1/V2 (High gain mode)

No. Abbrev. Parameter name Explanation
SV027 SSF1 Special servo function Start the adaptive filter with following parameter.
selection 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1

bit Meaning when “0” is set. Meaning when “1” is set

15 aflt Adaptive filter STOP Adaptive filter START
13 afrg 00: Normal adaptive filter 01: Up the adaptive filter
12 afse sensitivity sensitivity

(9/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<Standard setting value of speed loop gain (SV005: VGN1) >
In case of MDS–C1–V1/V2 (High gain mode)
Determine the speed loop gain referring to the comparison graph shown below.
In case that the speed loop gain exceeds the standard speed gain value shown in the graph, some machine
system easily cause the small vibration as the change of the current command becomes too large for the
change of speed feedback by 1 pulse.
Settable standard speed gain
HC202 / HC352 / HC452 / HC702 / HC902
HC203 / HC353 / HC453 / HC703
700

600

500 1,000,000-pulse
encoder
400
Speed
gain
VGN1 300
100,000-pulse
200 encoder

100

0
1 2 3 4 5
Load inertia scale
(Total load inertia / motor inertia)

Settable speed gain Settable speed gain

HC53 / HC103 / HC153 HC52 / HC102 / HC152
700 700

600 600
1,000,000-
500 pulse 500
encoder
400 400 1,000,000-
Speed Speed pulse
gain gain
VGN1 300 VGN1 300

200 100,000-pulse 200

encoder
100 100 100,000-pulse
encoder
0 0
1 2 3 4 5 1 2 3 4 5

Load inertia scale Load inertia scale

(Total load inertia / motor inertia) (Total load inertia / motor inertia)

(10/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<Standard setting value of speed loop gain (SV005: VGN1) >
In case of MDS–CH–V1/V2
Determine the speed loop gain referring to the comparison graph shown below.
In case that the speed loop gain exceeds the standard speed gain value shown in the graph, some machine
system easily cause the small vibration as the change of the current command becomes too large for the
change of speed feedback by 1 pulse.

Settable standard speed gain Settable standard speed gain

HC-H902 / HC-H1102 HC–H202 / HC–H352 / HC–HC452 / HC–HC702
HC-H903 / HC-H1103 HC–H203 / HC–H353 / HC–HC453 / HC–HC703
700 700

600 600

1,000,000- 1,000,000-
500 500
pulse encoder pulse encoder
400 400
Speed Speed
gain gain
VGN1 300 VGN1 300

100,000-pulse 100,000-pulse
200 200 encoder
encoder
100 100

0 0
1 2 3 4 5 1 2 3 4 5
Load inertia scale Load inertia scale
(Total load inertia / motor inertia) (Total load inertia / motor inertia)

Settable standard speed gain Settable standard speed gain

HC–H103 / HC–H153 HC–H152
700 700

600 600

500 500

400 1,000,000- 400

Speed pulse encoder Speed
gain gain 100,000-pulse
VGN1 300 VGN1 300 1,000,000- encoder
pulse encoder
200 200

100 100,000-pulse 100

encoder
0 0
1 2 3 4 5 1 2 3 4 5
Load inertia scale Load inertia scale
(Total load inertia / motor inertia) (Total load inertia / motor inertia)

(11/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

4. Acceleration/deceleration time constant
(1) Adjust rapid traverse feed
To adjust rapid traverse feed, adjust the rapid traverse rate (Rapid) and acceleration/deceleration time constant
(G0t) with NC machine parameter. Set the rapid traverse rate corresponding to the machine specifications so
that the motor speed becomes less than the specified maximum speed. Set the acceleration/deceleration time
constant so that the maximum current command value becomes less than the table below by performing
reciprocating operation. With the motor whose speed is specified as “maximum rotation speed > rated speed”
(HC, HC–R, HC–MF, HA–FF), output torque is especially limited in the range that exceeds the rated rotation
speed. When adjusting, observe the current FB during acceleration/deceleration to set the torque within the
specification range. When driver input voltage is too low (170 to 190), be aware that the torque is likely to
become insufficient and the excessive error can easily occur during acceleration/deceleration.

(2) Adjust cutting feed

(2-1) In case of machining center:
-When geometry compensation is disabled (G64);
To adjust cutting feed, adjust clamp speed (M3: clamp) and acceleration/deceleration time constant (N2: G1t)
with NC machine parameter. In this case, set the same in-position width as when actual cutting is carried out.
Determine the clamp speed (maximum cutting speed) and adjust the acceleration/deceleration time constant.
(Set the same clamp speed to all the interpolation axes.)
Perform reciprocating cutting feed at the clamp speed (maximum cutting speed) without dwell and adjust the
acceleration/deceleration time constant so that the maximum current command value becomes less than the
range of the Table3 shown below. The minimum theoretical value of the cutting feed time constant can be
calculated by the expression shown below with G0 rapid traverse time constant.
N2 = (M3/ M1) x N1 x 2
Define the time constant of the interpolation axis which accelerates at the lowest speed as the common time
constant of all axes and set the time constant.
(In interpolation axis, set the same clamp speed and acceleration/deceleration time constant for all axes.)

-When geometry compensation is enabled (G61.1);

To adjust during cutting feed when geometry compensation is enabled, adjust the constant inclination feedrate
(L74) and constant inclination acceleration/deceleration time constant (L75).
Set L74/L75 to the inclination value based on the axis whose acceleration (M1/N1) of G0 rapid traverse
acceleration/deceleration is the smallest of all interpolation axes allowing cutting load margin. For the cutting
load margin, refer to the conventional settings of each machine. Additionally, set the pre–interpolation filter
(56.8ms).
[Note] The maximum feedrate during geometry compensation is M3xL76/100.

Table1: Parameter to specify the acceleration/deceleration time constant (Machining center)

Parameter to Parameter to
Filter before
Operation pattern set max. set Remarks
interpolation
speed time constant
G0 constant
G0 Rapid inclination disabled
1) M1（Rapid） N1（G0t） –
traverse feed (K96bit7=0
+G64 mode)
G0 constant
G0 Rapid K107
2) inclination enabled M1（Rapid） N1（G0t）
traverse feed (Normally 56.8ms is set)
(K96bit7=1)
G1 cutting Geometry interpolation
3) M3 （Clamp） N2（G1t） –
feed disabled (G64)
Geometry interpolation
G1 cutting K107 Set feed forward
4) enabled L74 L75
feed (Normally 56.8ms is set) gain separately.
（G61.1）

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(2-2) In case of NC lathe
-When geometry compensation is disabled (G64);
Cutting feed clamp speed cannot be set in NC lathe. To adjust the cutting feed, adjust the
acceleration/deceleration time constant (BS04: G1t) corresponding to the assumed maximum cutting feedrate.
As for in-position width in this case, set the same value as in actual cutting.
Determine the maximum cutting feedrate and adjust the acceleration/deceleration time constant. Perform
reciprocating cutting feed without dwell at the maximum cutting feedrate and adjust the
acceleration/deceleration time constant so that the maximum current command values becomes less than the
range of Table3. The minimum theoretical value of the cutting feed time constant can be calculated by the
expression shown below with G0 rapid traverse time constant.
BS04 = (Maximum cutting feedrate / A1) x BS03 x 2
Define the time constant of the interpolation axis which accelerates at the lowest speed as the common time
constant of all axes and set that value.

-When geometry compensation is enabled (G61.1) …Applied to M640MT Ver.D0 and later version of INTEGREX
machine.
To adjust during geometry compensation cutting feed, adjust the constant inclination feedrate (B233) and
constant inclination acceleration/deceleration time constant (B146).
Set B233/B146 to the inclination value based on the axis whose acceleration of G0 rapid traverse feed is the
smallest of all interpolation axes allowing cutting load margin. However, set A1/(BS03 x 1.2) in X-axis and
Y-axis though the rest of G0 rapid traverse feed acceleration/deceleration is set to A1/BS03 (*Note 1). Refer to
the conventional settings of each machine when setting cutting load margin. Additionally, set the filter pre–
interpolation (56.8ms).
[Note] The maximum feedrate during geometry compensation is B147.
(*Note )The reason why the constant inclination acceleration/deceleration
of INTEGREX machine is increased by 1/1.2 times
Carefully adjust the parameter of INTEGREX machine following the precautions below as it has compound axis
(inclined Y-axis).
Normally, when adjusting Y-axis (compound axis), the adjusted parameter of Yt-axis (actual axis) is set as
Y-axis parameter.
In this case, the acceleration (inclination) of pre–interpolation acceleration/deceleration in geometry
compensation occasionally exceeds the setting value of the parameter (=B233/B146)
In short, when moving in Y-axis direction within the tolerance acceleration time as shown in Fig.A, the
movement component distributed to the actual axes (X-axis and Y-axis) shows that acceleration is increased by
1/sinθ times in Yt-direction. In Fig.B, when moving to vertical direction against Yt-axis within the tolerance
acceleration, the acceleration increased by 1/θ times occurs toward X-axis direction.
In INTEGREX machine, θ =60°. Therefore, 1/sinθ=1/sinθ60° 1.2.
To prevent the movement acceleration distributed to actual axes from exceeding the tolerance acceleration,
thus, set the parameter on the basis of the acceleration (A1/(BS3x1.2) ) increased by 1/1.2 times to the G0
rapid traverse acceleration (A1/BS3) adjusted in Yt-axis in advance.

Acceleration: speed α Acceleration speed: β

in command movement direction in command movement direction Yt-axis vertical direction
X-axis direction
Command in X-axis direction
Y-axis direction Command in
Y-axis direction θ

θ θθ θ
Yt-axis direction Yt-axis direction

Acceleration speed: α/tan θ Acceleration speed: β/sin θ

Acceleration speed: α/sin θ in X-axis movement direction in X-axis movement direction
in Yt-axis movement direction
Acceleration speed: β/tan θ
in Yt-axis movement direction
Fig.A: In case of max. acceleration in Yt-axis Fig.B: In case of max. acceleration in X-axis

(13/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

Table2: Parameter to determine acceleration/deceleration time constant (NC lathe)
Parameter to Parameter to set Filter before
Operation pattern Remarks
set max. speed time constant interpolation
G0 Rapid G0 constant inclination
1)
traverse feed disabled. (G64)
A1(Rapid) BS3 (G0t) –
G0 constant inclination
G0 Rapid B112
2) enabled (Interpolation A1(Rapid) BS3 (G0t)
traverse feed (Normally 56.8ms is set)
type + G61.1)
G1 cutting Geometry compensation
3)
feed disabled（G64）
A4(Clamp) BS4 (G1t) –
G1 cutting Geometry compensation B233 B112 Set feed forward
4) B146 (G1btL) gain separately.
feed enabled (G61.1) (G1bF) (Normally 56.8ms is set)
2) and 4) are available only when geometry compensation are optioned to the INTEGREX machine Ver. D0 or later
versions.

(3) Maximum current value by each motor during acceleration/deceleration time constant adjustment

In case of MDS–C1–V1/V2
The maximum current values by each motor during acceleration/deceleration time constant adjustment are
shown in the right column of the table below.

Table3.1: Maximum current value by each motor

Stall Specified Current Standard Stall Specified Current Standard
Motor rating max. limit value for Motor rating max. limit value for
type current current value adjustment type current current value adjustment

% A % % % % A % % %

Within Within
HC52 3.94 17 431 431 HC53 5.8 17 293 293
388% 264%
Within Within
HC102 7.4 28 378 383 HC103 9.8 28 286 289
340% 257%
Within Within
HC152 11.1 47 423 431 HC153 15.9 47 296 300
380% 266%
Within Within
HC202 15.4 47 305 311 HC203 22.4 64 286 285
275% 257%
Within Within
HC352 22.9 64 279 279 HC353 33.3 85 255 287
251% 230%
Within Within
HC452 40.4 85 210 242 HC453 57.3 113 197 228
189% 177%
Within Within
HC702 46.2 113 245 245 HC703 67.2 141 210 210
221% 189%
Within
HC902 55.9 141 252 252
227%
HA– Within
100 260 260 260
LF15K 234%

(14/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

 In case of MDS–CH–V1/V2
The maximum current values by each motor during acceleration/deceleration time constant adjustment are
shown in the right column of the table below.

Table3.2: Maximum current value by each motor

Stall Specified Current Standard Stall Specified Current Standard
Motor rating max. limit value for Motor rating max. limit value for
type current current value adjustment type current current value adjustment

% A % % % % A % % %

HC– 14.
4.6 307 307 276%
H103 1

HC– Within HC– 23.

4.3 23.8 553 554 6.1 390 390 351%
H152 498% H153 8
HC– Within HC– 31.
6.3 23.8 378 378 9.0 353 353 318%
H202 340% H203 8
HC– Within HC– 47.
10.9 31.8 292 292 17.7 269 269 243%
H352 263% H353 7
HC– Within HC– 63.
15.8 47.7 302 302 23.6 269 269 243%
H452 272% H453 6
HC– Within HC– 71.
20.2 63.6 315 315 33.0 215 215 194%
H702 283% H703 0
HC– Within HC– 101
29.4 71.0 241 241 41.8 243 243 219%
H902 217% H903 .8
HC– Within HC– 124
H1102 55.8 124.0 222 233 59.6 208 218 187%
200% H1103 .0

(15/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

5. Position loop gain
(1) Operation patterns to confirm position loop gain
The limit of the position loop gain is confirmed by the following operation patterns.

-The operation patterns to be performed by machining center

Operation pattern Details
G0 constant Perform reciprocating rapid traverse feed at the maximum rapid
G0 Rapid
inclination disabled.traverse rate with dwell, measure speed–position droop. If the
1) traverse
(K96bit7=0, overshooting amount during a stop is less than 1µm, there will be no
feed
+G64 mode) problem. Confirm also that no vibration occurs.
Perform reciprocating rapid traverse feed at the maximum rapid
G0 Rapid G0 constant
traverse rate with dwell, measure speed–position droop. If the
2) traverse inclination enabled
overshooting amount during a stop is less than 1µm, there will be no
feed (K96bit7=1)
problem. Confirm also that no vibration occurs.
Perform reciprocating cutting feed at the maximum cutting feedrate
Geometry without dwell, measure speed–position droop. If the droop
G1 cutting compensation
3) fluctuation width during constant speed feed is less than 3µm, there
feed
disabled（G64） will be no problem. If the operation without dwell is not performed in
the machine (or in axes), judge with dwell.
Perform reciprocating cutting feed at the maximum cutting feedrate
Geometry
G1 cutting with dwell, and measure the speed–position droop. If the
4) compensation
feed overshooting amount during a stop is less than 1µm, there will be no
enabled (G61.1)
problem. Confirm also that no vibration occurs.
Perform reciprocating rapid traverse feed at the maximum manual
feedrate with dwell, measure the speed–position droop. If the
overshooting amount during a stop is less than 1µm, there will be no
5) Manual feed
problem. Confirm also that no vibration occurs.
(Confirm the waveform only, as this is the same as the case that G0
constant inclination is disabled.)
Carry out the pulse input with the maximum scale and confirm that no
6) Handle feed
vibration occurs.
For 1) to 4), submit the current– speed –position droop waveform at which the position loop gain reaches to the
limit.

(16/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

-The operation patterns to be performed by NC lathe (In case without geometry compensation)
Operation pattern Details
Perform reciprocating rapid traverse feed at the maximum rapid
traverse rate with dwell, measure speed–position droop. If the
1) G0 Rapid traverse feed
overshooting amount during a stop is less than 1µm, there will be no
problem. Confirm also that no vibration occurs.
Perform reciprocating cutting feed at the maximum cutting feedrate
without dwell, measure speed–position droop. If the droop
2) G1 Cutting feed
fluctuation range during constant speed feed is less than 3 µm, there
will be no problem. Confirm also that no vibration occurs.
Perform reciprocating rapid traverse feed at the maximum manual
feedrate with dwell, measure speed–position droop. If the
overshooting amount during a stop is less than 1 µm, there will be no
3) Manual feed
problem. Confirm also that no vibration occurs. (Confirm the
waveform only, as this is the same as the case that G0 constant
inclination is disabled.)
Carry out the pulse input with the maximum scale and confirm also
4) Handle feed
that no vibration occurs.
For 1) to2), submit the current– speed –position droop waveform at which the position loop gain reaches to the
limit.

The operation patterns to be performed by NC lathe (In case with geometry compensation: Geometry
compensation is available only when geometry compensation are optioned to the INTEGREX machine Ver.D0 or
later version.)
Operation pattern Details
Perform reciprocating rapid traverse feed at the maximum rapid
G0 Rapid G0 constant
traverse rate with dwell, measure speed–position droop. If the
1) traverse Inclination
overshooting amount during a stop is less than 1 µm, there will be no
feed disabled. (G64)
problem. Confirm also that no vibration occurs.
G0 constant
Perform reciprocating rapid traverse feed at the maximum rapid
G0 Rapid inclination
traverse rate with dwell, measure speed–position droop. If the
2) traverse enabled
overshooting amount during a stop is less than 1 µm, there will be no
feed (Interpolation type
problem. Confirm also that no vibration occurs.
+G61.1)
Perform reciprocating cutting feed at the maximum cutting feedrate
without dwell, measure speed–position droop. If the droop
Geometry
G1 cutting compensation fluctuation range during constant speed feed is less than 3 µm, there
3)
feed will be no problem. Confirm also that no vibration occurs.
disabled（G64）
If the operation without dwell is not performed in the machine (or in
axes), judge with dwell.
Perform reciprocating cutting feed at the maximum cutting feedrate
Geometry
G1 cutting with dwell, measure speed–position droop. If the overshooting
4) compensation
feed amount during a stop is less than 1 µm, there will be no problem.
enabled (G61.1)
Confirm also that no vibration occurs.
Perform reciprocating rapid traverse feed at the maximum manual
feedrate with dwell, measure speed–position droop. If the
overshooting amount during a stop is less than 1 µm, there will be no
5) Manual feed
problem. Confirm also that no vibration occurs. (Confirm the
waveform only, as this is the same as the case that G0 constant
inclination is disabled.)
Carry out thte pulse input with the maximum scale and confirm also
6) Handle feed
that no vibration occurs.
For 1) to4), obtain current– speed –position droop waveform at which the position loop gain reaches to the limit.

(17/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

(2) Criterion of position loop gain limit

Generally, according as the speed loop gain becomes higher, overshooting occurs during a stop. In case that the
axis which nearly reaches the position loop gain limit exists, position loop gain is limited as the same position loop
gain value have to be set to all the interpolation axes.
Position loop gain limit has to be judged according to the following criterion after measuring overshooting amount
during a stop.
When machine vibration is remarkable, measure also the position droop fluctuation width during constant speed
feed for judging the position loop gain limit.
(However, position droop fluctuation width cannot be used as the criterion of closed machine that uses a scale
because the position droop fluctuation width will become larger if the position resolution is low. In this case, only
the overshooting amount during a stop can be the criterion.)

Criterion of position loop gain limit

Overshooting during a stop Position droop fluctuation range
Operation pattern
(Criterion of position loop gain limit) (Ref. Criterion of )
G0 Rapid traverse feed Within 1µm Within 4 µm
G1 Cutting feed Within 1 µm Within 3 µm
Manual feed Within 1 µm Within 4 µm
Carry out the pulse input with the maximum scale and confirm that there is no
Handle feed
vibration.

(3) SHG control

In SHG control mode, set PGN1, PGN2 and SHGC by the following ratio.
8
PGN1 : PGN2 : SHGC = 1: :6
3
During SHG control, speed loop gain response has to be high enough as the actual position loop gain becomes
high even though PGN1 is set to the same value. If the speed loop responsiveness is low, vibration and
overshooting will occur. Lower the position loop gain when speed loop gain is lowered due to the machine
resonance occurrence.
Setting
No. Abbrev. Parameter name Ratio Examples Explanation
range

SV003 PGN1 Position loop 1 23 26 33 38 47 60 70 80 90 100 Specify 1 to 200

(SV049) (PGN1sp) gain1 with a
set of 3
SV004 PGN2 Position loop 62 70 86 102 125 160 186 213 240 266 0 to 999
8 parameters.
gain2
(SV050) (PGN2sp) 3

SV057 SHGC
SHG control gain 6 140 160 187 225 281 360 420 480 540 600 0 to 1200
(SV058) (SHGCsp)

Ideal feed forward

S4 Fwd_g 51 53 51 54 54 55 56 58 59 60 0 to 100
gain
Speed loop
SV008 VIA leading Set to “1900” as a standard during SHG control. 1 to 9999
ti
Acceleration feed
SV015 FFC Set to “1900” as a standard during SHG control. 0 to 999
forward gain

(18/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<How to set when position loop gain is not improved>
With MDS–C1–V1/V2 (High gain mode), high-position loop gain can be expected because speed loop gain and
current loop gain is improved. However, position loop gain will not be raised enough in case that the machine
rigidity is low. In this case try the following operations.
(1) In case that the machine center of the gravity is too high and the vibration occurs at 10 to 20Hz
during a stop;
If the machine center of the gravity is too high for the drive unit of the ball screw as shown below, position loop
cannot be raised, as the stable speed loop band cannot be secured due to the fall of machine response speed.
In this case, the position loop can be raised by raising the response speed at 10 to 20Hz using disturbance
observer function.

Machine action in case of heavy center of gravity

Movement of machine center
of gravity In the machine configuration with
heavy center of gravity, the stable
speed band cannot be secured
Machine because the response speed is
center of slowed against the movement of
gravity the ball screw drive unit as shown
The response speed is
the left.
countervailed and slowed.

Movement of the ball

screw drive system Motor

Effect by the disturbance observer against the machine vibration between 10 and 20Hz in case of heavy
machine center of gravity

Before using
After using
disturbance
disturbance
observer Vibration is
Vibration observer
10 to suppressed.
20Hz

Position droop waveform Position droop waveform

<How to set the disturbance observer to suppress the vibration>

1.Lower the VGN1 by 20 to 30% from the value adjusted where vibration is eliminated.
2.Set the load inertia scale (SV037:JL) to the inertia “200 to 300” and set disturbance observer2 (SV044:OBS2)
to “100”.
3.Set disturbance obserber 1 （SV043：OBS1） and set 200 to 300 to the observer filter band (observer pole).
4.Set 70% of speed loop gain limit after checking the speed loop gain limit again.

Parameter concerning with disturbance observer function.

No. Abbrev Parameter name Unit Explanation Setting range

SV037 JL Load inertia scale % Set the load inertia that includes the motor in respect to 0 to 5000
the motor inertia. (When the motor is a single unit, set (%)
100%)
SV043 OBS1 Disturbance observer 1 rad/sec Set the observer filter band (observer pole) 0 to 1000
Set about 200 to 300. (rad)
SV044 OBS2 Disturbance observer 2 % Set the observer gain. 0 to 500
Set about 100 and lower the setting if vibration occurs. (%)

(19/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

 [Note 1] Make sure to measure the speed loop gain limit again.
By using disturbance observer function, the speed loop gain is equivalently raised. In case that the
margin is not allowed, therefore, it is very dangerous as the vibration can occur.
[Note 2] What can do with disturbance observer is to suppress the machine vibration between 10 to 20Hz.
Comparing with the case that disturbance observer is not used, position loop gain can be raised by 20
to 30%, however, machine configuration has to be reconsidered and position command has to be
considered to eliminate the vibration between 10 and 20Hz.

(2) In case that the vibration between 10Hz and 20Hz occurs during a stop in the closed system using scale
etc.
In closed system such as that of large machine, if the connection point of the motor and machine or rigidity of the
machine system is weak, position loop gain cannot be raised as the response during acceleration and deceleration
becomes vibratory and overshooting is caused. In this case, dual feedback function is more effective.
When dual feedback function is enabled, the position feedback by the detector at the motor end is used for stable
control in high acceleration range. In low acceleration range, position feed back by the detector (or a scale) at the
machine end is used for improving the precision. As a result, the position loop gain is raised.
Dual feedback block
NC + Position Speed Current M Machine
control control control
–
Motor end Machine end
feedback feedback

+
– +
Time lag filter of
first order
–

Effect by dual feedback control

In closed loop control In dual feedback control

Vibration Vibration is
10 to 20 Hz suppressed.

Position droop waveform during a stop Position droop waveform during a stop

Setting dual feedback time constant

Machine (scale) end Motor end
G ω: Frequency
1 G 1 G: Gravity of position feedback
T ω T ω

In low acceleration range, make the

gravity of machine end position larger to
improve the precision. In high
The time constant T is set by acceleration range, make the gravity of
SV051. (Unit: ms)
motor end position larger to perform
stable control.

(20/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<How to perform dual feedback control (in closed control)>
1.Set SPEC(SV017)bit to “1”, and enable dual feedback function. (Need to turn OFF and ON the power.)
2.Set the first-order lag time constant in DFBT(SV051). (“100” as a standard)
3.Measure the overshooting of position droop raising DFBT(SV051) by 10ms.
Set the time constant at which the overshooting is eliminated.
4.According as time constant becomes larger, the system becomes closer to the semi-closed system. As a
result, position loop gain is raised.

[Note 1] The position loop gain limit raised by the dual feedback function is equivalent to the position loop gain
limit in the semi-closed system which does not use a detector (or a scale) at the machine end.
The position loop gain limit does not become higher than that in semi-closed system.
[Note 2] Even though “0” is set in DFBT(SV051) when dual feedback function is enabled, 1ms (the minimum
value) is used internally.

The parameter concerning with dual feedback function

Setting range
Name Abbrev. Details
(unit)
SV017 SPEC Servo specifications

F E D C B A 9 8 7 6 5 4 3 2 1 0
spm drvall drvup mpt3 mp abs vmh vdir fdir seqh dfbx vdir2

Bit Name Meaning when “0” is set. Meaning when “1” is set.
1 dfbx Dual feedback control is disabled. Dual feedback control is enabled.

SV051 DFBT 0 to 9999

Set the time constant during dual feedback control.
(msec)
SV052 DFBN Set the voltage dead zone during dual feed back control. 0 to 9999
(µm)

(21/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

6. Vertical axis setting

CAUTION To use vertical axis drop prevention control function, the power supply control axis has
to be set depending on the system configuration.
Refer to the specification manual for further details.

(1) Vertical axis drop prevention control function (deceleration stop function)
Vertical axis drop prevention control is a function that prevents the vertical axis from dropping due a delay in the
brake action when an emergency stop is inputted. No-operation-time is eliminated by delaying READY OFF of
servo driver as much as the time set with a parameter that is since the emergency stop was inputted.

<Overview and parameter settings>

This function is controlled depending on the servo status as follows;
During a stop --- Driver is turned to “READY OFF” when vertical axis drop prevention time (SV048) has passed.
During movement --- Deceleration stop is performed. Driver is turned to “READY OFF” when either of longer
time, vertical axis drop prevention time (SV048) or maximum delay time for emergency stop (SV55), has
passed.
No. Abbrev. Name Details Setting range
SV048 EMGrt Vertical axis srop Input the time to delay the READY OFF when an emergency stop occurs. 0 to 2000
prevention time Set the value which is larger than the time when the brake is working. (msec)
(ms) When the input power supply is OFF, the vertical axis drop prevention time
set here is not guaranteed.
SV055 EMGx Maximum delay Set the maximum READY OFF delay time. 0 to 2000
time for emergency Normally set the same value as SV048. (msec)
stop (ms) When executing READY OFF after deceleration stop, set the same value as
SV056. This is enabled only when SV056 is larger than SV048.
When setting the value which is smaller than SV048 in the parameter, the
same value as SV048 is automatically set.
When input power supply is OFF, the maximum delay time for emergency
stop is not guaranteed.
SV056 EMGt Deceleration control When SV048 is set, deceleration stop is performed and deceleration stop 0 to 2000
time constant during time constant also has to be set. (msec)
emergency stop. Set the same value as rapid traverse time constant.
When this parameter is set, constant linear deceleration stop is performed
during emergency stop.
When “0” is set, step stop is performed.
[Note 1] If setting both SV048 and SV055 to “0”, drop prevention function will be disabled.
[Note 2] SV048 and SV055 is set by each axis, however, when the different values are set to each axis in the
same driver, the larger value is enabled.
[Note 3] If only SV048 is set, deceleration stop will be changed to step stop and machine vibration will
occur. Therefore, make sure to set the rapid traverse acceleration/deceleration time constant in
SV055.

(2) Torque offset function

If the load torque differs in the positive and negative directions such as with a vertical axis or slant axis, the
torque offset (SV032: TOF) is set to carry out accurate lost motion compensation.

<Setting method>
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to be
compensated and measure the load current % when fed at a constant speed on the CNC servo monitor screen.
The unbalance torque at this time is expressed with the following expression.
(+feed load current%) + (–feed load crrent % )
Unbalance torque =
2

For the torque offset (TOF), set above unbalance torque value.
If direction makes any difference in the protrusion amount, adjust with LMC2. Never adjust with TOF.
Abbrev. Parameter
No. Unit Explanation Setting value
name
SV032 TOF Torque offset Stall% Set when performing lost motion compensation. – 100 to 100
(rated current%) Set the unbalance torque amount.
[Note] Even if TOF is set, the torque output characteristics of the motor and load current display of the
CNC servo monitor will not change. Only LMC compensation characteristics is affected.

(22/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

 7. Lost motion compensation (LMC compensation)
The lost motion compensation compensates the response delay during the reversal by adding the torque
command set with the parameters when the speed direction changes. There are three methods for lost motion
compensation. With the machining center, type 3 is used as a standard. With the NC lathe, type 2 is used as
a standard.
(For further details of type 3, refer to “LOST MOTION COMPENSATION TYPE 3 FUNCTION
SPECIFICATIONS MANUAL” <BNP-A2993-74>.)

<Setting method>
1. Set the special servo function selection1 (SV027:SSF)bit9. (The LMC compensation type 2 will start.)
2. Set the compensation amount with a stall (% unit) in the lost motion compensation 1 (SV016: LMC1) (For the
general-purpose motor, rated current “%” is used as a unit). The LMC1 setting value will be used for
compensation in positive and negative directions when SV041: LMC2 is “0”.
3. If the compensation amount is to be changed in the direction to be compensated, set LMC2. The
compensation direction setting will be as shown below with the CW/CCW setting in the CNC parameter. If
only one direction is to be compensated, set the side not to be compensated as –1.
If the delay occurs in the quadrant protrusion in the circle or arc cutting as shown below in respect to the
cutting direction when CNC sampling measurement (DDB measurement) or actual cutting is carried out, and
the compensation appears before the protrusion position, set the lost motion compensation timing (SV039:
LMCD).
While measuring the arc path, increase LMCD by 10 msec at a time, to find the timing that the protrusion and
compensation position match.

Compensation The Y axis speed command

CW CCW +Y D direction changes from + to –.
Point
A X axis: LMC2 X axis: LMC1 The X axis speed command
A direction changes from + to –.
B Y axis: LMC1 Y axis: LMC2
C X axis: LMC1 X axis: LMC2
D Y axis: LMC2 Y axis: LMC1 –X +X

The X axis speed command B The Y axis speed command

C direction changes from – to +. –Y direction changes from – to +.

Abbrev
No. Parameter name Explanation
.
SV027 SSF1 Special servo The lost motion compensation starts with the following parameters.
function 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
selection 1 aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1

bit No LMC LMC type2 Setting prohibited

8 lmc1 0 0 1
9 lmc2 0 1 1

No. Abbrev. Parameter name Unit Explanation Setting range

SV016 LMC1 Stall% While measuring the quadrant protrusion amount, –1 to 200
Lost motion
(rated adjust with a 5% unit. The ± direction setting value will (%)
compensation 1
current%) be applied when LMC 2 is set to “0”.
SV041 LMC2 Stall% Set “0” as a standard. Set this when the –1 to 200
Lost motion
(rated compensation amount is to be changed according to (%)
compensation 2
current%) the direction.
SV039 LMCD Lost motion Msec Set this when the lost motion compensation timing does 0 to 2000
compensation not match. Adjust while increasing value by 10 at a (msec)
timing time.

(23/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

<Adjustment method>
First, confirm whether the axis to be compensated is an unbalance axis (vertical axis, slant axis). If it is an
unbalance axis, carry out the adjustment after performing step “(2) unbalance torque compensation”.
Next, measure the frictional torque. Carry out reciprocation operation (approx. F1000) with the axis to be
compensated and measured the load current % when fed at a constant speed on the CNC servo motion screen.
The frictional torque of the machine at this time is expressed with the following expression.

(+ feed load current%) – (–feed load current)

Frictional torque =
2

The standard setting value for the lost motion compensation 1 (LMC1) is double the frictional torque above.
(Example)
Assume that the load current % was 25% in the + direction and –15% in the – direction when JOG feed was
carried out at approx. F1000. The frictional torque is as shown below, so 20% x 2 = 40% (LMC2 remains
at zero, and compensation is carried out in both directions.) is set for LMC1. (LMC2 is left set at “0”.) With
this setting, 40% compensation will be carried out when the command reverses from the + direction to the –
direction, and when the command reverses from the – direction to the + direction.

25– (–15)
＝ 20%
2

For the final adjustment, measure the CNC sampling measurement (DBB measurement) or while carrying out
actual cutting. If the compensation amount is insufficient, increase LMC1 or LMC2 by 5% at a time. Note that if
the setting is too high, biting may occur.

Compensation 0 Optimum Too high

[Note1] When either parameter SV016: LMC1 or SV041 LMC2 is set to “0”, the same amount of compensation is
carried out in both the positive and negative direction with the setting value of the other parameter (the
parameter not set to “0”).
[Note2] To compensate in only one direction, set “–1” in the parameter (LMC1 or LMC2) for the direction in which
compensation is prohibited.
[Note3] The value set based on the friction torque is the standard value for LMC compensation. The optimum
compensation amount changes with the cutting conditions (cutting speed, cutting radius, blade type,
workpiece material etc.) Make test cuts matching the target cutting and determine the compensation
amount ultimately.

(24/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

8. Machine end compensation (Machining center)
This is a new function added to MDS–C1–V1/V2 (High gain mode). This function enables to compensate the
machine end geometry during high-speed acceleration/deceleration.

(1) Overview
Machine end compensation enables to compensate the spring action between machine (spindle) end and motor
(scale) end.
In the machine with a large spring action, the geometry (complete round) can be worsened as the machine
(spindle) end occasionally swells to the outside of the motor (scale end) during high-speed feed (especially in
smaller radius) though the geometry during low-speed feed is shaped well. By using machine end
compensation function, motor (scale) movement is controlled by speed and the effect can be confirmed
obviously with the roundness when adjusting servo.
However, adjustment by the roundness is basically required.
[Note] This function is applied to the software version A2B and later version. (as of 1/OCT/ 1999)

Example of geometry error occurrence (during round drive) and effect of machine end compensation

Compensated by machine end compensation

No machine end compensation

Machine The head swells to Taking account of the

phenomenon the outside due to swelling amount to be
spring action during caused by the spring
acceleration / action, the machine
deceleration end drives inner.

Machine end path

(on machining
surface) Low-speed:
Example: R25mm

F1000mm/min

Machine end complete Machine end complete

round (machining surface) round (machining surface)

Oval path means an error Oval path was improved.

High-speed (high acceleration):

The machine goes the
Example: R25mm
same path as low-speed
F10000mm/min
and high-speed.

Command path Command path

(Ideal path) (Ideal path)

(25/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

(2) Setting method
How to set the machine end compensation function with MDS–C1–V1/V2 (High gain mode)
Abbrev
No. Parameter name Explanation
.
SV027 SSF1 Special servo function The machine end compensation starts with the following parameters.
selection 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
aflt zrn2 afrg afse ovs2 ovs1 lmc2 lmc1 omr vfct2 vfct1 upc vcnt2 vcnt1

bit Meaning when “0” is set. Meaning when “1” is set.

Machine end compensation Machine end compensation
7 omr
stop. start.

SV065 TLC Machine end The value calculated with the following expression is compensation 0 to 32767
compensation amount.
amount Compensation
2
Command speed F (mm/min) x SV065(TOF)
amount (µm) = 9
Radius R(mm) x 10

Compensation amount can be calculated as mentioned above only in

case of open loop. Determine the actual value during adjustment
because the value is changed due to spring constant of the actual
machine.
When not using, set to “0”.

(3) Adjustment method

1) With CNC sampling, confirm that the roundness of the motor end is good enough.
2) On this condition, measure the high-speed and low-speed round path without machine compensation.
The difference between high-speed round path and low-speed round path is the error amount swelled due to
spring action. Therefore, the amount is specified as a compensation amount. When using grid encoder,
determine the value as mentioned above.
When using RENISHAW DBB, the circular path cannot be compared as the value is not outputted by absolute
coordinate but by related coordinate. In this case, the difference between the longer oval radius and shorter
oval radius is specified as axis compensation amount.
3) Input the value calculated in (2) and measure the high-speed round path. In case that the oval still remains,
increase or decrease the setting value by 1/10.
Confirm that there is no problem in low-speed round path.

Examples of the speed used when determining the machine end compensation amount.
When using a grid
When using RENISHAW DDB Acceleration
encoder
Low-speed (standard) R25mmF500mm/min R100mmF1000mm/min 0.00028G
High-speed (when determining
R25mmF10000mm/min R100mmF20000mm/min 0.11G
compensation amount)

[Note1] Do not input remarkably large value in machine end compensation amount parameter (SV065), or the
vibration is caused even during a stop.
[Note 2] In the machine end compensation amount (SV065), the values are inputted with both decimal notation
and hexadecimal notation. When calculating or setting the value with the setting method explained in
(2), the value has to be inputted with decimal notation. If the parameter is specified to be inputted
with hexadecimal notation, convert the decimal value to hexadecimal value and input the result. (as
of 1/NOV/2001)

(26/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

9. Collision detection (NC lathe)
The purpose of the collision detection function is to detect a collision quickly and decelerate to a stop. This
suppresses and prevents the excessive torque generated to the machine tool. Impact during a collision cannot
be prevented even when the collision detection function is used, so this function does not guarantee that the
machine will not break nor does not guarantee the machine accuracy after a collision. Thus, an attention has
to be paid as conventional to prevent machine collisions from occurring.
The collision detection is performed with the following two methods. In either method, the servo alarm will
occur after deceleration to a stop.

(1) Method 1
The required torque is calculated from the position command issued from the NC. The disturbance torque
exceeds the collision detection level set with the parameters, the axis will decelerate to a stop with at the
maximum torque of the motor. The method 1 is available only when SHG control is used. (If SHG control is
not used, the load alarm <58/59> will occur immediately.)
In the method 1, the collision detection level during rapid traverse feed and that during cutting feed can be set
individually. Calculate the collision detection level during cutting feed by increasing that during rapid traverse
feed by 0 to 7 times (with an integral number). When setting to “0” times, the collision detection method 1
during cutting feed will be disabled.

(2) Method 2
When the current command reaches the motor’s maximum current, the axis will decelerate to a stop with at the
maximum torque of the driver. After decelerating to a stop, an alarm will occur and the system is stopped.
However, this can be ignored by setting the servo parameter SV035:SSF4/cl2n to “1”.

Method 2
Detection range

Method 1
Detection range Tolerance range of Driver capacity
actual torque

Torque offset Estimated torque

Frictional G1 modal collision

G0 modal collision
torque detection level
detection level

Speed

Method 1 Driver capacity

Detection range

Method 2
Detection range

G0 modal G1 modal

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<Setting and adjustment method>
1. Confirm that SHG control is being used.
2. SV032: TOF Torque offset
Move the axis to be adjusted with JOG etc. by F1000mm/min and check the load current in the [I/F diagnosis
screen, servo monitor]. If the current load during the movement is positive, check the maximum load current.
If the current load during the movement is negative, check the minimum load current. Then, set the average
of both + and – direction.
3. SV045: TRUB Frictional torque
Move the axis to be adjusted with JOG etc. by F1000mm/min and check the load current in the [I/F diagnosis
screen, servo monitor]. Set the absolute position subtracting the current load value during the movement
toward – direction from the current load value during the movement toward + direction and dividing the result
in two.
4. SV059: TCNV Torque estimated gain
Set the parameter SV035:SSF4/clt(bitF) of the axis to be adjusted to “1”.
Move the axis to be adjusted to both direction with JOG etc. at the maximum rapid traverse rate until MPOF
display in the [I/F diagnosis screen, servo monitor] becomes stable.
Set displayed value of MPOF in the [I/F diagnosis screen, servo monitor] .
Set SV035:SSF4/clt(bitF) back to “0”.
5. SV035:SSF4/cl2n(bitB)
Set “1” in case that the acceleration/deceleration time constant is short and current is limited.
6. SV060: TLMT Collision detection level (Method 1 / during G0 modal)
Fist of all, set “100”. (Set SV035:SSF4/clet to “1”, and the estimated disturbance torque peak value for the
last 2 second is displayed. Refer to the value when setting. The displayed value is leveled off, therefore,
set the doubled value of the displayed value first.)
Perform rapid traverse feed at the maximum feedrate without load. If an alarm occurs, raise the setting
value by approximately 20.
If an alarm does not occur, lower the setting value by approximately 10.
Set the value increased the limit value by 1.5 times at where no alarm occurs.
7. SV035:SSF4/clG1(bit12‐14)
Divide the maximum cutting load by the setting value of SV060:TLMT. Set the result (by rounding up a
decimal place).
(Example) In case of maximum cutting load: 200% , SV060: TLMT setting value: 80%
200/80=2.5 –> If the setting value is “3”, set “3xxx” in SV035:SSF4

No. Abbrev Parameter name Explanation

SV035 SSF4 Special servo The following parameters are used for the collision detection.
function 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
selection 4 clt clG1 cl2n clet cltq iup tdt

bit Meaning when “0” is set. Meaning when “1” is set.

8,9 cltq Set the deceleration torque during collision detection.
The estimated disturbance torque peak
10 clet Setting for normal use. value for the last 2 seconds is displayed in
MPOF, servo monitor screen.
11 cl2n Setting for normal use. Disable collision detection method 5.
Collision detection method 1: Set the collision detection level during G1
modal.
12 When “0” is set: The collision detection during method 1 G1 modal is not
to clG1 carried out.
14 When “1 to 7” is set: Specify the value increased the collision detection
level during method 1 G0 modal by several times as the collision detection
level during method 1 G1 modal.
SV059: A standard for TCNV setting value
15 clt Setting for normal use. is displayed in MPOF, servo monitor
screen.

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 No. Abbrev. Parameter name Unit Explanation Setting range
SV032 TOF Torque offset Stall% Set the unbalance torque amount of the axis which has unbalance –100 to 100
(rated current%) torque including vertical axis by a percentage (%) to the stall rated
current.
SV045 TRUB Current Stall% Set the frictional torque for using the collision detection function by 0 to 100
compensation / (rated current%) a percentage to the stall rated current.
frictional torque 8 low-order digits are used.
When not using collision detection function, set “0”.
SV059 TCNV Torque estimated Set the torque estimated gain when using collision detection 0 to 32767
gain function.
If setting SV035:SSF4/clt to “1”, the standard for the setting value
can be displayed in MPOF, monitor screen.
SV060 TLMT G0 collision Stall% Set the collision detection level of method 1 G0 modal when using 0 to 100
detection level (rated current%) the collision detection function.
When “0” is set, collision detection functions will not function.

[Note 1] Even if collision detection function is enabled, a machine can be troubled due to machine collision or its
accuracy cannot be guaranteed. Thus, conventional caution is required to prevent machine collisions
from occurring.
[Note 2] Set the collision detection level with an allowance to avoid in correct detections.
[Note 3] When a motor or a detector is changed as for maintenance, adjust the parameters concerning with
collision detection function again.
[Note 4] SV059:TCNV torque estimated gain has to be changed if the detection resolution is changed when
changing detector or if position control system (if closed loop is changed to semi-closed loop) is changed.

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APPENDIX A Standard Parameter List by Each Motor (HC Series)

HC Standard Motor S Drive Unit Motor

Motor HC HC HC HC HC HC HC HC HC HC HC HC HC HC HC HC HC HC HC HA-
52 53 102 103 152 153 202 203 352 353 452 453 702 703 902 353 452 453 702 LF15K
Driver 05 05 10 10 20 20 20 35 35 45 45 70 70 90 90 45S 45S 70S 70S 150
SV001 - - - - - - - - - - - - - - - - - - - -
SV002 - - - - - - - - - - - - - - - - - - - -
SV003 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47 33
SV004 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125 86
SV005 100 150 100 150 150 150 200 200 200 200 200 200 200 200 200 200 200 200 200 150
SV006 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV007 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV008 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900
SV009 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV010 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV011 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768
SV012 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768 768
SV013 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV014 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV015 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV016 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV017 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1000 1000 1000 1000 0000
SV018 - - - - - - - - - - - - - - - - - - - -
SV019 - - - - - - - - - - - - - - - - - - - -
SV020 - - - - - - - - - - - - - - - - - - - -
SV021 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60
SV022 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150
SV023 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV024 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
SV025 xxB0 xxC0 xxB1 xxC1 xxB2 xxC2 xxB3 xxC3 xxB4 xxC4 xxB5 xxC5 xxB6 xxC6 xxB7 xxA4 xx95 xxA5 xx96 xx2D
SV026 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV027 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV029 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV030 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV031 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV032 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV033 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV034 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003 0003
SV035 0000 0000 0000 0000 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0040 0000
SV036 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV038 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV039 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV040 0 0 0 0 0 0 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240 10240
SV041 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV046 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV047 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV048 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV049 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15
SV050 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV051 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV052 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV053 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV054 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV055 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV056 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV057 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281 187
SV058 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV061 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV063 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV064 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
OS1 3600 3600 3600 3600 3600 3600 3000 3600 3000 3600 3000 3600 3000 3600 3000 3600 3000 3600 3000 3000
OS2 3600 4200 3600 4200 3600 4200 3000 4200 3000 4200 3000 4200 3000 4200 3000 4200 3000 4200 3000 3000

(30/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

APPENDIX B Standard Parameter List by Each Motor (HC–H Series)

HC–H Standard Motor

Motor HC− HC− HC− HC− HC− HC− HC− HC− HC− HC− HC− HC− HC− HC− HC−
H103 H152 H153 H202 H203 H352 H353 H452 H453 H702 H703 H902 H903 H1102 H1103
Driver 10 20 20 20 35 35 45 45 70 70 90 90 110 150 150
SV001 - - - - - - - - - - - - - - -
SV002 - - - - - - - - - - - - - - -
SV003 47 47 47 47 47 47 47 47 47 47 47 47 47 47 47
SV004 125 125 125 125 125 125 125 125 125 125 125 125 125 125 125
SV005 75 50 75 150 150 150 150 150 150 150 150 150 150 150 150
SV006 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV007 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV008 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900 1900
SV009 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV010 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
SV011 1280 1024 1280 1024 1024 1024 768 1024 768 768 768 768 768 768 768
SV012 1280 1024 1280 1024 1024 1024 768 1024 768 768 768 768 768 768 768
SV013 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV014 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500
SV015 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV016 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV017 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008
SV018 - - - - - - - - - - - - - - -
SV019 - - - - - - - - - - - - - - -
SV020 - - - - - - - - - - - - - - -
SV021 60 60 60 60 60 60 60 60 60 60 60 60 60 60 60
SV022 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150
SV023 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV024 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
SV025 xxC1 xxB2 xxC2 xxB3 xxC3 xxB4 xxC4 xxB5 xxC5 xxB6 xxC6 xxB7 xxC7 xxB8 xxC8
SV026 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6
SV027 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SV028 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV029 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV030 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV031 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV032 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV033 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010 0010
SV034 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV035 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV036 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
SV037 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV038 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV039 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV040 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV041 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV043 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV044 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV046 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV047 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
SV048 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV049 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15
SV050 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV051 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV052 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV053 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV054 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV055 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV056 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV057 281 281 281 281 281 281 281 281 281 281 281 281 281 281 281
SV058 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV059 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV060 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV061 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV062 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV063 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SV064 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
OS1 3600 2400 3600 2400 3600 2400 3600 2400 3600 2400 3600 2400 3600 3000 3600
OS2 3600 2400 3600 2400 3600 2400 3600 2400 3600 2400 3600 2400 3600 3000 3600

(31/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

 REPORT ON MDS–C1/CH–V1/V2 SERVO ADJUSTMENT FOR THE FIRST TIME

1. Date – – Engineer: Section: Observer:

2. Specifications
SSO No. SSO – Initial (or original) parameter list No. BN
Machine name Machine number Power supply type
axis drive unit type axis drive unit serial No. Servo motor type
axis drive unit type axis drive unit serial No. Servo motor type
axis drive unit type axis drive unit serial No. Servo motor type
axis drive unit type axis drive unit serial No. Servo motor type

3. Parameter check (These items shall be checked by a designer of the machine tool builder.)
axis Max. load inertia kgcms
2 Acceleration/Deceleration Theoretical :
time constant (m/sec) value
Acceleration/Deceleration Theoretical
axis Max. load inertia kgcms
2
time constant (m/sec) :
value
Acceleration/Deceleration Theoretical
axis Max. load inertia kgcms
2
time constant (m/sec) :
value
Acceleration/Deceleration Theoretical
axis Max. load inertia kgcms
2
time constant (m/sec) :
value
Acceleration/Deceleration Theoretical
axis Max. load inertia kgcms
2
time constant (m/sec) :
value

4. Speed loop gain (SV005)

Axis SV38 SV46 SV33
ＶＧＮ limit Adaptive filter The third filter Setting VGN
name FHz FHz2 SSF3

Note) Set the notch filter FHz (SV38) in case that the machine resonance occurs during VGN adjustment.

5. Position loop gain limit

G0 G0 Disturbance observer function Setting
Axis
Constant inclination Constant inclination G64G1 G61.1G1 OBS2 position
name JL(SV37) OBS1(SV43)
disabled enabled （SV44) loop gain

Note) Set the disturbance observer in case that the low frequency current vibration between 10 and 20Hz occurs during
SHG control.
The parameters to be set are JL(SV37), OBS1(SV43) and OBS2(SV44).

6. Rapid traverse acceleration/deceleration time constant

Max. Acceleration / Max. current value Max. current value of Max. current value
Axis Data
speed deceleration time (%) (Converted to the motor specification ratio of the motor Judgment
name No.
(M1) constant (M1)(mS) the stall current) (%) specification (%)

7. In high–accuracy control mode

Max. speed (L74) Time constant (L75) Feed forward gain (S4) S-pattern (K107) Data No. Judgment

(32/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

8. Lost motion compensation fucntion
Adjust when evaluating DDB measurement or synchronized tapping etc.
Axis name Unbalance load TOF(SV32) LMC1(SV16) LMC2(SV41) LMCT(SV40) LMCD(SV39) Data No.
Exists / Not Exist
Exists / Not Exist
Exists / Not Exist
Exists / Not Exist
Note) Make sure to set the torque offset amount TOF(SV032) to the axis which has unbalanced load.
Set SSF1bit9=1 when carrying out the lost motion compensation.
Set “0” in LMC2, and adjust only when the protrusion amount increases depending on the direction.
Set LMCD(SV039) in case that the timing does not match correctly.

9. Closed loop overshooting compensation function

Adjust the speed loop delay compensation VIL(SV07) in the axis which causes overshooting in the closed loop system
including a linear scale.
SV17
Axis VIL SV51
(SPEC)
name (SVO7) (DFBT)
Bit 1

Note) Set SSF1bit9 =1 in the axis which causes droop during stop due to the VIL setting.

10. CVE current measurement -Confirm referring to the current check manual BQN–N1–2097.
Measure by performing all axis simultaneous acceleration/deceleration (at the maximum rapid traverse rate) and
confirm that the value is less than the tolerance.
Simultaneous
acceleration / Max. current Max. current interpolation
(During) Tolerance Data. No Judgment
deceleration during interpolation (%) when not interpolating (%)
axis
Acceleration A A( %) A( %)
Deceleration A A( %) A( %)
Acceleration A A( %) A( %)
Deceleration A A( %) A( %)

11. Conclusion
The official report on the result of above-mentioned measurement will be made by / / .
The parameters for the servo adjustment, SV61, SV62, SV63 and SV64, were set back to “0” which is the original
setting.

12. Special mention

(33/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

Check Sheet for the machine resonance suppression filter and speed loop gain limit
Center frequency
1st machine Hz Hz Hz Hz Hz
Depth
resonance
suppression filter 0 (–∞)
(SV038)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Center frequency
2nd machine Hz Hz Hz Hz Hz
resonance Depth
suppression filter 0 (–∞)
(SV046)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Speed loop gain limit
after an adaptive filter is used
Center frequency
1st machine Hz Hz Hz Hz Hz
Depth
resonance
suppression filter 0 (–∞)
(SV038)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Center frequency
2nd machine Hz Hz Hz Hz Hz
resonance Depth
suppression filter 0 (–∞)
(SV046)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Speed loop gain limit
after an adaptive filter is used
Center frequency
1st machine Hz Hz Hz Hz Hz
Depth
resonance
suppression filter 0 (–∞)
(SV038)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Center frequency
2nd machine Hz Hz Hz Hz Hz
resonance Depth
suppression filter 0 (–∞)
(SV046)
4 (–12dB)
Machine 8 (–6dB)
resonance
C (–3dB)
frequency
Hz Remarks
Speed loop gain limit
after an adaptive filter is used

(34/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL

 Revision history
Rev. Date Details
New edition
The following items have been rewrote since [MDS–B–V14/V24
adjustment manual] was issued.
-Description was changed for MDS–C1 series.
-Explanation about speed feedback filter (2250Hz machine resonance
* '2000-12-18
filter) was added.
-Adjustment procedures during dimension interpolation in the NC lathe
were added.
-S drive unit motor was added to a standard parameter.
-HA–LK15K was added to a standard parameter.
The descriptions of following items were added.
-Various speed loop gain function
-HC–H series speed loop gain standard setting value
A ‘2002-6-25 -HC–H series max. current value during acceleration/deceleration time
constant adjustment by each motor
-HC–H series standard parameter

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(36/N) BNP–A2993–87–A(ENG) SERVO ADJUSTMENT MANUAL