Transcription

FANUC SERVO GUIDEOPERATOR’S MANUALB-65404EN/01

No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice.In this manual we have tried as much as possible to describe all the various matters.However, we cannot describe all the matters which must not be done, or which cannot bedone, because there are so many possibilities.Therefore, matters which are not especially described as possible in this manual should beregarded as ”impossible”.This manual contains the program names or device names of other companies, some ofwhich are registered trademarks of respective owners. However, these names are notfollowed by or in the main body.

SAFETY PRECAUTIONSB-65404EN/01SAFETY PRECAUTIONSThis manual includes safety precautions for protecting the user andpreventing damage to the machine. Precautions are classified intoWarning and Caution according to their bearing on safety. Also,supplementary information is described as a Note. Read the Warning,Caution, and Note thoroughly before attempting to use the machine.WARNINGApplied when there is a danger of the user beinginjured or when there is a damage of both the userbeing injured and the equipment being damaged ifthe approved procedure is not observed.CAUTIONApplied when there is a danger of the equipmentbeing damaged, if the approved procedure is notobserved.NOTEThe Note is used to indicate supplementaryinformation other than Warning and Caution.*Read this manual carefully, and store it in a safe place.s-1

SAFETY PRECAUTIONSB-65404EN/01GENERAL WARNINGS AND CAUTIONSThe following warnings and cautions provide information that the usershould bear in mind when handling the CNC to use a machine withthe CNC more safely.WARNING1 SERVO GUIDE is the software for only tuningservo system. Don't use this software for normalwork (cutting or etc.).2 Before tuning with SERVO GUIDE, thoroughlyconfirm that there are no dangerous objects, forexample tools, work objects and so on. When youget the data by SERVO GUIDE during cutting,please operate not from SERVO GUIDE but fromNC directly. And don't send programs or changeparameters through SERVO GUIDE. Don't forget touse SERVO GUIDE ONLY for measurement.3 Don't connect two personal computers to one NCand operate one NC through both SERVO GUIDE.Both requests interfere each other and CNCsystem may behaves incorrectly.4 After understanding the effect of tuning parametervery well , tune the parameter. The wrong tuning ofparameters may cause the unexpected behavior ofthe machines.CAUTIONSERVO GUIDE can handle command programs ,parameters and so on from the personal computerside. Before using SERVO GUIDE, don't forget tomake a backup of the nonvolatile memory data toprovide against erasing memory by mistake.s-2

SAFETY PRECAUTIONSB-65404EN/01WARNINGS AND CAUTIONS RELATING TO SERVO GUIDEWarnings and cautions relating to SERVO GUIDE are explained inthis manual. Before using SERVO GUIDE, read this manualthoroughly to become familiar with the provided warnings andcautions.s-3

PREFACEB-65404EN/01PREFACEFANUC SERVO GUIDE is the integrated environment to make Servo& Spindle tuing easier.SERVO GUIDE has the following features. Easy connection to NCIntegrated environment for tuning for example runing programs,measuring data and changing parametersMeasurement of servo and spindle data at the same timeTuning navigator which includes the automatic tuning functionThis software is used on Microsoft Windows . This manual does notexplain basic operations of Windows. Users who are using Windowsfor the first time should read manuals on Windows first to becomefamiliar with the basic operations of Windows.This manual explains items specific to the servo tuning tool includinginformation on how to install, start, and operate this software. Forinformation about CNC operation and parameter setting, refer to therelevant manuals on the CNC used.Read this manual thoroughly to ensure the correct use of FANUCSERVO GUIDE.CAUTIONThis software can be used on one computer. Whenthis software is used on more than one computer,the user must receive as many licenses as thenumber of the computers used to run this software.Just one copy of this software is permitted forbackup or storage. The copyrights of this softwareproduct, supplied help, and so on belong to FANUC.*Microsoft and Windows are registered trademarks of MicrosoftCorporation in the United States of America.p-1

PREFACEB-65404EN/01ORGANIZATION OF THIS MANUALThis manual is organized as follows:SAFETY PRECAUTIONSExplains the general precautions which must be observed to useSERVO GUIDE safely.PREFACEBriefly explains the features of SERVO GUIDE. Also explainshow to use information on the usage of SERVO GUIDE,including this manual.I. USAGE1. SETUPExplains how to set up SERVO GUIDE.2. CONNECTION AND COMMUNICATION WITH THE NCExplains how to connect a personal computer to the NC.3. MAIN BARExplains the Main Bar of SERVO GUIDE.4. PARAMETER WINDOWExplains the Parameter Window.5. GRAPH WINDOWExplains the Graph Window.6. PROGRAM WINDOWExplains the Program Window.7. TUNING NAVIGATORExplains Tuning Navigator.II. CONCRETE EXAMPLESSpecifically explains how to make measurements using the threewindows of SERVO GUIDE by using examples.APPENDIXProvides information which is to be read as necessary.p-2

PREFACEB-65404EN/01NOTATION CONVENTIONSThe following explains the notation conventions used in this manual: Menu, commands, and screen notationsExampleExplanation[Menu]Menu names are enclosed in brackets [].[Command]Command names are enclosed in brackets [].[Title bar]Screen names (displayed on the title bar) areenclosed in brackets []. OK buttonCommand buttons on the display are enclosedin angle brackets . Key notations and operationExampleExplanation[Enter] keyKey names are enclosed in brackets [].[Ctrl] [Tab] keys When keys are to be pressed sequentially andheld down at the same time, the keys areindicated by connecting them with , asshown on the left.Direction keysThe [ ], [ ], [ ], and [ ] keys arecollectively called the direction keys. Mouse operationsExampleExplanationClickPress a mouse button, then release itimmediately.Double-clickClick a mouse button twice in quicksuccession.DragMove the mouse while holding down a mousebutton, then release the button at a desiredlocation. FoldersThis manual refers to directories and folders collectively asfolders.p-3

PREFACEB-65404EN/01 CNC modelsIn this manual, the abbreviations listed below are used. (ThePower Mate i is included in the FS16i in this manual.)CNC modelsFANUC Series 30i-MODEL AFANUC Series 31i-MODEL AFANUC Series 31i-MODEL A5FANUC Series 32i-MODEL AAbbreviationsSeries 30iFANUC Series 16i-MODEL BFANUC Series 18i-MODEL BFANUC Series 18i-MODEL B5FANUC Series 21i-MODEL BFANUC Series 20i-MODEL BFANUC Series 0i-MODEL BFANUC Series 0i-MODEL CFANUC Series 0i Mate-MODEL BFANUC Series 0i Mate-MODEL CFANUC Power Mate i-MODEL DFANUC Power Mate i-MODEL HSeries 16ip-4Series 31iFS30iSeries 32iSeries 18iSeries 21iSeries 20iSeries 0iSeries 0i MatePower Mate iFS16i

PREFACEB-65404EN/01FEATURES OF SERVO GUIDEThis software has the following features: Integrated tuning tool for tuning servo and spindle axes on apersonal computerEasy connection by inserting a PCMCIA-LAN card on the frontof the CNCEasy operation by GUIAutomatic tuning by Tuning Navigatorp-5

PREFACEB-65404EN/01Outline of software specificationsSERVO GUIDE consists of four software functions including threetypes of window, which are the Parameter Window, the GraphWindow, and the Program Window, and a tuning support wizardcalled Tuning Navigator.The following outlines the specifications of these software functions.(1) Parameter Window Parameters on the NC are taken in, and classified and displayedfor each function.Parameters for servo and spindle axes are supported.Automatic acceleration/deceleration functions for high speed andhigh-precision are supported.NC parameters can be changed on the personal computer.*Multipath systems are supported by Version 3.00 and laterversions.(Details of supported functions)GroupDescriptionSystem settingServo axis settingAcceleration/decelerationCurrent controlVelocity controlPosition controlContour errorsuppressionImprovement inovershootHigh-speedpositioning functionStopUnexpecteddisturbance torquedetectionLinear motorp-6CNC options related to servo systems areextracted and displayed.Use of separate detector, rotary motor/linearmotor, CMR, flexible feed gear, etc.Time constant of Acc./Dec. before interpolationand time constant of Acc./Dec. after interpolation,speed difference in automatic corner deceleration,setting for arc radius-based feed rate clamp,setting for acceleration-based deceleration, Jerkcontrol(Normal control, advanced preview control, AIadvanced preview control, AI contour control, AInano contour control, high precision contourcontrol, AI high precision contour control, AI nanohigh precision contour control, AI contour control Iand II)HRV, HRV2, HRV3, and HRV4 controlVelocity loop gain setting, and setting of filters foreliminating machine resonance, vibration dampingcontrol, and dual position feedbackPosition gain settingFeed-forward, backlash acceleration, fineAcc./Dec. (16i series only)Setting of overshoot compensation functionSetting of FAD advanced preview feed-forward,position gain switching function, etc.Setting of brake control, quick stop at emergencystop, etc.Adjustment of estimated disturbance value, alarmdetection levelAMR conversion coefficient, setting of smoothingcompensation

PREFACEB-65404EN/01GroupDescriptionSpindle systemsettingSpindle systemconfigurationNormal spindlevelocity controlRigid tappingCs contour controlOrientationSpindle synchronouscontrolCNC options related to spindles are extracted anddisplayed.Motor end sensor setting, spindle end sensorsetting, gear ratio (main and sub)Velocity loop gain setting, and setting of filters(main and sub) for eliminating vibration, resonanceelimination filterCommand setting, velocity control setting (mainand sub), position control setting, fine Acc./Dec.(16i series only)Command setting, velocity control setting, positioncontrol setting, fine Acc./Dec. (16i series only),resonance elimination filtersVelocity control setting, position control setting,acceleration setting (high-speed orientation),resonance elimination filtersVelocity control setting, position control setting,resonance elimination filtersFunction categories- Acceleration/deceleration- Velocity control- Rigid tappingetc.Tip hint of parametersDisplay of Acc./Dec.patternSet parametersParameter Window (example)(2) Graph Window Data measurement display functionHorizontal axis time modeNormal mode, first order differential mode, second orderdifferential mode (YT mode)Feed smoothness measurement mode (DXDY mode)Tangent speed display mode (XTVT mode)Synchronous error measurement mode (Synchro mode)XY mode (Polar coordinates conversion and angular axisconversion also available)Arc path error zoom mode (Circle mode)p-7

PREFACEB-65404EN/01-Contour path error zoom mode (Contour mode)Frequency spectrum analysis mode (Fourier mode)Velocity loop frequency response mode (Bode mode)For servo and spindle axes, data measurement is possible. (Dataof both servo and spindle axes can also be measured at the sametime.)For a spindle that is not an αi spindle, measurement data isrestricted.Up to six channels can be measured at the same time.The shortest sampling period equals the current control period(for servo axes only).Displayed data can be printed, and its bitmap can be input via theclip board.* 1 Example of contour error measurement in Cs contour axiscontrol 2 Example of velocity loop frequency responseGraph Window (example)p-8

PREFACEB-65404EN/01 Function for determining linear motor smoothing compensationparameters (Version 2.00 and later versions)With this function, parameters of the smoothing compensationfunction, which improves the smoothness of linear motor feed,can be determined easily.(Screen example)Magneticpole position(Adjustment example)Before smoothing compensation adjustmentAfter smoothing compensation adjustmentTorque commandp-9

PREFACEB-65404EN/01(3) Program Window Test program creation support functionLinear acceleration/deceleration for one axisCircleSquareSquare with rounded cornersRigid tappingCs contour Display of test program pathSending a test program to NC memory and executing it(The operator needs to press the start button.)Selecting a program in NC memory and executing it(The operator needs to press the start button.)Printing of a created program ProgramcommandpathSettings ofconditions- Distance- Radius- Velocity, etc.Characterstrings inprogramcreatedautomaticallyProgram Window (example)p-10

PREFACEB-65404EN/01(4) Tuning Navigator Operating requirementsSERVO GUIDE: Version 2.00 or laterServo software: Series 90B0 20th edition or later, Series 90B6,90B5, 90B1, 90D0, and 90E0NOTETuning Navigator does not support Series 9096. Automatic tuning of velocity loop gain and filtersSupport of high-speed and high-precision function settingAutomatic tuning of velocity loop gain and filtersBy measuring the frequency response of velocity control loopwith moving axis, and the parameters of the velocity loop gainand resonance elimination filters are determined automatically. Itis also possible to fine-tune the indicated parameter values andcheck the effect of the fine-tuning.Filter adjustment (example)p-11

PREFACEB-65404EN/01 Support of high-speed and high-precision function settingIn a program of a square with rounded corners, the high-speedand high-precision function parameters are tuned whileovershoots are checked. There are tuning parameters for thehigh-speed and high-precision function. FANUC providesrecommended parameter sets (for speed priority and precisionpriority), and an intermediate value between recommendedparameter values can be selected easily just by using a slider.Tuning of the high-speed and high-precision function (example)p-12

PREFACEB-65404EN/01CONTENTS OF THE PRODUCT PACKAGEThe product package of this software consists of the following: CD-ROM diskFANUC SERVO GUIDE CD-ROM (A08B-9010-J900) CD-ROM disk (for version upgrading)FANUC SERVO GUIDE CD-ROM (for version upgrading)(A08B-9010-J901)NOTEAlso read the Release Note (READMEEN.TXT) ofthe product package.p-13

TABLE OF CONTENTSB-65404EN/01TABLE OF CONTENTSSAFETY PRECAUTIONS.s-1GENERAL WARNINGS AND CAUTIONS. s-2WARNINGS AND CAUTIONS RELATING TO SERVO GUIDE . s-3PREFACE .p-1ORGANIZATION OF THIS MANUAL .p-2NOTATION CONVENTIONS.p-3FEATURES OF SERVO GUIDE .p-5CONTENTS OF THE PRODUCT PACKAGE.p-13I. USAGE1SETUP. 31.11.222.2Installation Procedure.91.2.2Installing the Upgrading Version .101.2.3Deleting Setting Information.101.2.4Uninstallation Procedure .11VIA ETHERNET. 132.1.1Connection .132.1.2Setting of PC .142.1.3Setting of NC.232.1.4Setting of SERVO GUIDE.272.1.5Additional Information about Ethernet Connection .28VIA HSSB . 292.2.1Connection .292.2.2Setting of SERVO GUIDE.29MAIN BAR. 303.13.241.2.1CONNECTION AND COMMUNICATION WITH THE NC . 122.13ENVIRONMENT . 4INSTALLATION AND UNINSTALLATION . 9MAIN BAR STRUCTURE . 31EXPLANATION OF THE MENU . 32PARAMETER WINDOW . 334.14.2OVERVIEW . 34EXPLANATION OF THE MENU . 37c-1

TABLE OF CONTENTS4.35B-65404EN/01USAGE . 39GRAPH WINDOW . 415.15.25.35.45.55.65.75.85.95.105.115.12OVERVIEW . 42MENU . 46TOOL BAR . 49USAGE . 50SHORTCUT. 51CHANNEL SETTING . 535.6.1Procedure.535.6.2Available Data at Servo Axes.555.6.3Available Data at Spindle Axes.57OPERATION SETTING . 685.7.1Procedure.685.7.2Basic Graph Mode.695.7.3Available Operations.705.7.4Setting of Unit .725.7.5Load Reference Path .72SCALE SETTING . 735.8.1Overview .735.8.2Scale (Y-Time) .745.8.3Scale (XY).755.8.4Scale (Circle).765.8.5Scale (Fourier).775.8.6Scale (Bode) .78EASY GRAPH MODE. 79SPECIAL GRAPH DISPLAY MODES. 815.10.1Frequency Analysis (Fourier Transformation) Display Mode .815.10.2Frequency Response (Bode Diagram) Display Mode .82TOOL. 835.11.1Frequency Response.835.11.2Smooth Compensation Setting Support.85SUPPLEMENTARY INFORMATION . 865.12.1Measurement Data Value Scaling .865.12.2Measurement Data Time Shift.885.12.3Limitation of Measurement .895.12.4Difference from SD.EXE .90c-2

TABLE OF CONTENTSB-65404EN/016PROGRAM WINDOW . 916.16.26.36.47OVERVIEW . 92MENU . 95TOOL BAR . 97USAGE . 98TUNING NAVIGATOR . 1027.17.27.37.47.5OVERVIEW . 103INITIAL GAIN-TUNING. 105INITIAL FILTER-TUNING . 113GAIN-TUNING . 121HIGH-SPEED AND HIGH-PRECISION TUNING . 122II. CONCRETE EXAMPLES1CONCRETE EXAMPLES . 1311.11.21.31.41.5TUNING OF THE TIME CONSTANT OFACCELERATION/DECELERATION IN RAPID TRAVERSE . 1321.1.1Test Program .1321.1.2Preparation for Measurement .1341.1.3Measurement .1371.1.4Tuning of Parameters .139CONTOUR ERROR TUNING BY CIRCLE PATH MEASUREMENT . 1401.2.1Test Program .1401.2.2Preparation for Measurement .1421.2.3Measurement .1441.2.4Tuning of Parameters .146CIRCLE MEASUREMENT FOR AN ANGULAR AXIS . 1481.3.1Test Program .1481.3.2Preparation for Measurement .1511.3.3Measurement .153TUNING OF OVERSHOOTS BY MEASURING A SQUARE PATH . 1551.4.1Test Program .1551.4.2Preparation for Measurement .1581.4.3Measurement .1601.4.4Tuning of Parameters .162TUNING OF OVERSHOOTS BY MEASURING A SQUARE PATH WITHROUNDED CORNERS. 1641.5.1Test Program .164c-3

TABLE OF ration for Measurement .1671.5.3Measurement .1691.5.4Tuning of Parameters .172TUNING OF RIGID TAPPING SYNCHRONOUS ERROR . 1741.6.1Preparation on NC .1741.6.2Test Program .1751.6.3Preparation for Measurement .1771.6.4Measurement .1791.6.5Tuning of Parameters .181TUNING OF CONTOUR ERROR BY MEASURING A Cs CONTOURCONTROL PATH. 1831.7.1Test Program .1831.7.2Preparation for Measurement .1861.7.3Measurement .1881.7.4Tuning of Parameters .192ANALYSIS OF VIBRATION FREQUENCY DURING FEED ATCONSTANT FEEDRATE . 1941.8.1Test Program .1941.8.2Preparation for Measurement .1971.8.3Measurement .199MEASUREMENT OF THE VELOCITY LOOP FREQUENCYRESPONSE OF A SERVO AXIS. 2011.9.1Preparation for Measurement .2011.9.2Measurement .202MEASUREMENT OF THE VELOCITY LOOP FREQUENCYRESPONSE OF A SPINDLE AXIS . 2031.10.1Parameter Setting .2031.10.2Preparation for Measurement .2051.10.3Measurement .207LINEAR MOTOR SMOOTHING COMPENSATION . 2091.11.1Test Program .2091.11.2Preparation for Measurement .2121.11.3Measurement and Parameter setting.214APPENDIXATROUBLESHOOTING . 219A.1GENERAL TROUBLE SHOOTING. 220c-4

TABLE OF CONTENTSB-65404EN/01A.2A.3A.4A.5PARAMETER WINDOW. 221GRAPH WINDOW . 222PROGRAM WINDOW . 224TUNING NAVIGATOR. 225c-5

I. USAGE

USAGEB-65404EN/0111.SETUPSETUPThis chapter explains how to set up the operating environment ofSERVO GUIDE and how to prepare SERV

FANUC Series 21i-MODEL B Series 21i FANUC Series 20i-MODEL B Series 20i FANUC Series 0i-MODEL B FANUC Series 0i-MODEL C Series 0i FANUC Series 0i Mate-MODEL B FANUC Series 0i Mate-MODEL C Series 0i Mate FANUC Power Mate i-MODEL D FANUC Power Mate i-MODEL H Power Mate i FS16i. B-65404EN/01 PREFACE p-5