Driver Gantry Rigid Control Function
Driver Gantry Rigid Control Function
文件资讯 文件履历
目录
• Applicable Products
• Function Description
• Purpose
• Operating condition
• Related alarms
• Compatible function
• Quick Guide
• Use Settings
• A.Related Parameters
• CNC Controller Parameters Settings
• Driver Parameters Settings
• B.Tuning Process and Settings
• Case Studies
• Q&A
文件资讯 文件履历
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伺服產品/Servo Products
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Driver Gantry Rigid Control Function
1 Applicable Products
Model Driver OpenGui Analysis Controller FPGA Remarks
Version de Platfor Version Versio
Version m n
Version
Applicable Products – 3
伺服產品/Servo Products
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Driver Gantry Rigid Control Function
2 Function Description
2.1 Purpose
Gantry rigid control uses the same torque command (without Notch Filter) to drive the dual-drive axis, and makes
the spindle follow the host position command to achieve the synchronous motion.
Thus, there is no Ineffective reaction force on the dual-drive axes, which reduces the occurrence of overcurrent and
provides better machining accuracy.
Note:Ineffective reaction force means the torque that wastes energy when the dual-drive axes do not thrust but
pull each other.
Function Description – 4
伺服產品/Servo Products
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Driver Gantry Rigid Control Function
AL-505 Control mode not set 1. Gantry control does not support related application functions
properly controlled by position
2. Turn on the gantry control but want to enter a mode other
than the controller position mode
AL-527 Gantry control position The position deviation of the two axes under gantry control
feedback critical deviation exceeds the limit threshold.
AL-528 No origin point for gantry Gantry control have no setting the origin coordinate
control
1. Absolute encoder needs to record the origin position of the
first home searching
2. The incremental encoder needs to re-record the origin position
every time it is powered on
AL-921 Power off pull-up function is Gantry Control does not support power off pull-up function
not supported
AL-947 Parameter Setting Error Parameter settings are not matched with the specification of
gantry control
AL-982 Gantry control position The position deviation of the two axes under the gantry control
feedback deviation is too exceeds the warning threshold
large
Function Description – 5
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Driver Gantry Rigid Control Function
Abbreviation Description:
1. SOB ( Speed Observer ) : Resonance compensation function, turn on the function by【Pn-340】Vibration
Suppression Function Select = 1 , Please refer to the detailed tuning SOP: 機床 150Hz-400Hz 之共振抑制功
能
2. VDC ( Vibration Damping Control ) : Vibration damping control function, turn on the function by【Pn-340】
Vibration Suppression Function Select = 2,Please refer to the detailed tuning SOP: Vibration Damping
Control Gain Tuning Function
3. N pulse ( Jitter Compenstation ) : Jitter compensation function, turn on the function by 【Pn-338】 Enable
Jitter Compensation = 1 , Please refer to the detailed tuning SOP: 抖动补偿功能SOP
4. DOB ( Disturbance Observer ) : Disturbance compensation function, turn on the function by 【Pn-430】
Enable Disturbance Compensation= 1 ,Please refer to the detailed tuning SOP: 扰动补偿功能SOP
5. Cogging Compensation: Cogging Compensation function, turn on the function by 【Pn-423】 Enable
Cogging Compensation = 1.
6. Position Notch:TCP(Tool Center Point) resonance suppression, turn on the function by 【Pn-250】
Position Notch Filter Enabling = 1 , Please refer to the detailed tuning SOP: End point resonance
suppression(Position Notch)Tuning Function
7. Axial dual feedback control:Turn on the function by 【Pn-22A】 Enable Pos Dual Feedback Control = 1 ,
Please refer to the detailed tuning SOP: "The Pos Dual Feedback Control Of The Linear Scales with Analysis
Platform"
Function Description – 6
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Driver Gantry Rigid Control Function
3 Quick Guide
Quick Guide – 7
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Driver Gantry Rigid Control Function
Quick Guide – 8
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Driver Gantry Rigid Control Function
4 Use Settings
4.1 A.Related Parameters
1. The two axes of gantry control need to set the same maximum acceleration and maximum jerk, so that the
acceleration of the dual-drive axis has the same performance.
2. When the gantry axis has some problems on mechanism(or motor) or the friction is too large, it might cause the
different acceleration performs with the same current feedback.
And this situation means that the greater speed deviation of two axes , the greater position deviation, which will
finally lead to the gantry control exceeding the position deviation warning check value.
Pr41~Pr60 Axial motor Set according to The dual-drive axis needs to be set the same
polarity actual usage
If the dual-drive axis movement is reversed, please adjust
the setting according to 【Pn-020】
Pr61~Pr80 Axial encoder Set according to The dual-drive axis needs to be set the same
resolution actual usage
Single feedback: the resolution of the first feedback
encoder / 4
Pr81~Pr100 Axial encoder 4 The dual-drive axis needs to be set the same
scaling factor
Single feedback: The result of multiplying this parameter
and the resolution of Syntec controller parameter (Axial
encoder resolution) must be equal to Syntec driver
parameter Pn-902
Pr121~Pr160 Axial screw Set according to The dual-drive axis needs to be set the same
side gear number/motor reduction ratio
side gear number
Pr161~Pr180 Axial pitch Set according to The dual-drive axis needs to be set the same
amount (BLU) actual usage
Use Settings – 9
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Driver Gantry Rigid Control Function
Pr201~Pr220 Axial sensor Absolute Encoder: The dual-drive axis needs to be set the same
type 3
Only supports absolute encoders
Pr441~Pr460 Axial rapid Set according to The dual-drive axis needs to be set the same
travel (G00) acceleration actual usage
time ~
Pr661~Pr680 Axial MPG
speed
Pr3828 耦合误差容许值 Set according to To avoid the position deviation of dual-drive axis too
(BLU)<沒有英文版> actual usage large.
Use Settings – 10
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Driver Gantry Rigid Control Function
【Pn-570】 1st gantry position Set on demand Set 100% means that the warning
difference warning bound will not be triggered in advance
Enter the correct 【Pn-700】Motor Type~ Set according to The dual-drive axis needs to be
motor 【Pn-72C】Motor Winding Mode motor set the same
parameters specifications
Encoder and 【Pn-020】Host Command Set according to If the movement of the dual-drive
other related Polarity encoder axis is reversed, just set one of
parameters specifications them to 1
【Pn-307】 Maximum Jerk Time Set on demand The dual-drive axis needs to be
set the same
Use Settings – 11
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Driver Gantry Rigid Control Function
Enter the 【Pn-100】 Proportional Speed Set by tuning The dual-drive axis needs to be
recommended Loop Gain result set the same
gain parameters
【Pn-101】 Speed Loop Set by tuning The dual-drive axis needs to be
Integration Time Constant result set the same
【Pn-103】 Ratio of Load Inertia Set by tuning The dual-drive axis needs to be
result set the same
【Pn-308】 Speed Filter Time Set by tuning The dual-drive axis needs to be
Constant result set the same
Use Settings – 12
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Driver Gantry Rigid Control Function
1 Finished the tuning process(without if using the package permanent magnet synchronous
load) for each axis motor can skip this step directly.
For linear motors please refer to 线马分析平台调适
手册 SOP
2 Verify the host polarity of the dual-drive Obtain the 【Pn-D22】Position Feedback (32 bit) of
axis the dual-drive axis through the oscilloscope.
Confirm whether the position feedback of the dual-
drive axis is in the same direction while moving in the
same direction (hand push table, OPG jog, or
handwheel movement);
If they are not in the same direction, modify
【Pn-020】Host Command Polarity of one axis(0 to 1,
1 to 0).
It is recommended to add a load (coupling axis) after
confirming the host polarity.
Notice: Pr41~Pr60 Axial motor polarity the dual-drive
axis needs to be set the same, not reversed
Use Settings – 13
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Driver Gantry Rigid Control Function
Use Settings – 14
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Driver Gantry Rigid Control Function
4 Load inertia ratio estimation Move the coupling axis to the middle point, use
Syntec Auto Servo APP of the analysis platform to
perform dual-drive tuning(refer to Syntec Auto Servo
5 Semi-automatic resonance suppression
App)。
tuning
Screen instructions
6 Speed loop automatic gain tuning Check the dual-drive axis, select all three tuning
functions, set the stroke limit and axis group
number, and press "Start Tuning".
After the tuning is completed, the analysis
platform will automatically write the tuning
parameters.
"One-Button Package " is designed for if the user
want to package the tuning data..
7 Controller peer-to-peer coupling trial Using the CNC controller to test jog for ensuring that
operation the operation of peer-to-peer coupling trial can jog
smoothly.
Use Settings – 15
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Driver Gantry Rigid Control Function
8 Set gantry control axis group Pn-830: *gantry control axis group。Set the master
axis to 10, and the slave axis to 11.
Reboot after power off
Note: After setting up the gantry control axis group,
power on again, the【Pn-102】 Proportional Position
Loop Gain, 【Pn-101】 Speed Loop Integration Time
Constant, 【Pn-401】 Torque Command Filtering
Time Constant of the master axis will be synchronized
to the slave axis. Therefore, the gain of the dual-drive
axis will be the same (only when the power is turned
on, it will be synchronized once).
9 Encoder reset & mechanical origin 1. Move the dual-drive axis to the origin position,
setting then press ServoOff.
2. Use the controller to reset the encoder of the
dual-drive axis (refer to 1. Serial Parameter
Screen (10.116.54L~) #1-2. Absolute Home Setup
and Encoder Reset Instructions).
3. Set the mechanical coordinate origin of the dual-
drive axis (refer to 1. Serial Parameter Screen
(10.116.54L~) #1-2. Absolute Home Setup and
Encoder Reset Instructions)。
Note: After encoder reset, 【Pn-880】Absolute
encoder singleturn zero offset will be set
automatically, the position feedback of the master
and slave axis will return to 0.
Use Settings – 16
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Driver Gantry Rigid Control Function
12 Gantry rigid control test run Using the CNC controller to test jog for ensuring that
the gantry can jog smoothly.
Note: For the description of PLC C bit, please refer to PLC Interface.
Use Settings – 17
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Driver Gantry Rigid Control Function
5 Case Studies
Case I : Coupling with the dynamometer
Experimental Settings
Driver Model:SMD-34A-50150-22
Motor Model:Mitsubishi HG-SR5024J-S230810 (Same motor on both sides)
Environment Driver
Motor nameplate
Driver nameplate
Tuning process
1. Single feedback tuning(Without load):Skip this step, because the experimental settings using the
package motor.
Case Studies – 18
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Driver Gantry Rigid Control Function
Rotate in the same direction by hand, the position feedback of the two axes will change reversely.
Therefore, choose the one(slave axis) of two axes and set Pn-020 = 1.
Master axis Slave axis
After finished tuning, the load inertia of the master and slave axis is separately obtained 0% and 2%.
As the different load inertia ratio obtained from experiment, the user needs to manually modify the load
inertia ratio as average value, for example, the average value of load inertia ratio is equal to 1% in this
case.
10. Reset electronic gear ratio:Skip this step in this case, because of the gantry without coupling axis.
11. Turn on the position compensation of the coupling axis:Skip this step in this case, because of the
gantry without coupling axis.
Case Studies – 19
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Driver Gantry Rigid Control Function
14. Gantry rigid control test run:Jog test normally, the tuning process is finished.
Case II: Suda Gantry Laser Cutting Machine
Experimental Settings
Driver Model:SMD-24A-2020-03
Motor Model:Difficult to query when installed in a mechanism
Environment Driver
Tuning process
1. Single feedback tuning(Without load):Skip this step, because the experimental settings using the
package motor.
Case Studies – 20
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Driver Gantry Rigid Control Function
After finished tuning, the load inertia of the master and slave axis is separately obtained 208% and
177%.
As the different load inertia ratio obtained from experiment, the user needs to manually modify the load
inertia ratio as average value, for example, the average value of load inertia ratio is equal to 192% in this
case.
10. Reset electronic gear ratio:Skip this step in this case, because the position feedback of the full stroke
coupling axis is not overflow.
11. Turn on the position compensation of the coupling axis:Finished settings. (This function is currently
not recommended to use)
14. Gantry rigid control test run:Jog test normally, the tuning process is finished.
Case Studies – 21
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Driver Gantry Rigid Control Function
6 Q&A
1. When MOT-008 Loss Pulse alarm occurred during operation ?
A: Gantry rigid control will make sure the position of the operating point follow the host command, but
cannot ensure that the position feedback of a single axis follows the host command. The MOT-8 alarm will
be triggered while the position deviation of a single axis exceeds the alarm threshold between the host
command and feedback.
The value of Pr561~Pr580 Axial loss pulse check window can be adjusted more larger to avoid the MOT-8
alarm.
2. Does the Ineffective reaction force of gantry control must be equal to 0 ?
(Note: Ineffective reaction force means the torque that wastes energy when the dual-drive axes do not
thrust but pull each other.)
A: The gantry rigid control will drive the dual-drive axis with the same torque command. the dual-drive axis
have the same settings of Notch filter, the ineffective reaction force must be 0.
3. Why does AL-527 Gantry control position feedback critical deviation alarm will be triggered during the
operation, even with the same experimental settings which equipped the same model of motor(with
the same parameter) and without mechanical coupling ?
A: The gantry rigid control will drive the dual-drive axis with the same torque command with the same
motor. However, even with the same model of motor, there are slightly different between the motor of
assembly error, friction and characteristics. Generally, the same two motors which is not coupled together
will have more position deviation than the coupled one, even with the same torque command. And the
AL-527 alarm will be triggered with the 【Pn-572】 1st gantry position difference alarm bound alarm
threshold is exceeded.
7. After the tuning process is completed, what if the user want to reset the mechanical origin ? And which
step need to execute ?
A: 1. To reset the origin of the dual-drive axis, firstly, turn off the gantry rigid control (【Pn-840】 = 0), cancel
the monitoring mode of the slave axis, turn on the peer-to-peer coupling of the controller, and then repeat
step 9. for the dual-drive axis (including step 9.).
Q&A – 22