text:
This action might not be possible to undo. Are you sure you want to continue?
• 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 be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as "impossible". This manual contains the program names or device names of other companies, some of which are registered trademarks of respective owners. However, these names are not followed by or in the main body.
2.1 RECOMMENDATION OF INITIAL SERVO PARAMETERS FOR HIGH SPEED AND HIGH PRECISION (Series 16i/18i/21i/0i) ................................ 8 OUTLINE OF GAIN TUNING BY TUNING NAVIGATOR ............................ 11 GAIN AND FILTER TUNING BY TUNING NAVIGATOR............................. 12 TUNING OF TIME CONSTANT FOR RAPID TRAVERSE .......................... 15 POSITION GAIN CHECK ............................................................................ 16 TUNING OF FEED FORWARD COEFFICIENT .......................................... 18 TUNING OF BACKLASH ACCELERATION ................................................ 20 SETTING OF CORNER DECELERATION .................................................. 22 TUNING OF TIME CONSTANT FOR CUTTING FEED............................... 23 TUNING OF VELOCITY FEED FORWARD ................................................ 25 SETTING OF ACCELERATION AT ARC .................................................... 27 BEFORE YOU SET HRV3 CONTROL ........................................................ 31 PARAMETERS FOR HRV3 CONTROL ...................................................... 32 HIGH SPEED HRV CURRENT CONTROL MODE IN HRV3 CONTROL .... 33 HOW TO CHECK THE STATE OF HRV3 CONTROL................................. 34 TORQUE COMMAND LIMITATION IN HIGH SPEED HRV CURRENT CONTROL MODE ....................................................................................... 35 ABOUT THE EFFECT IN HIGH SPEED HRV CURRENT CONTROL MODE.......................................................................................................... 36
3.1 3.2
4.1 4.2
5.1 5.2
6.1 6.2 6.3
7 8
7.1 8.1 8.2 8.3 8.4 8.5 8.6
9.3.1 9.3.2 9.3.3 9.3.4 Initial State .............................................................................................................40 When to Stop Tuning .............................................................................................41 The Effect of Gain Tuning .....................................................................................42 Override Function...................................................................................................44
9.4 9.5
This manual explains the basis of servo tuning by using SERVO GUIDE. Please try to do servo tuning according to this manual. Then you will get easily good performance.
For details. "AI Nano Contour Control" or "High-precision Contour Control" is effective and this much improves the performance of cutting machines. "AI Contour Control".INTRODUCTION B-65264EN/01 1.1 SERVO HRV CONTROL Servo HRV2 and HRV3 improves current loop performance and it leads higher performance of servo system. Followings explain the basis of servo tuning procedure using SERVO GUIDE. Higher velocity loop gain and position loop gain improve the response and rigidity of servo system.3. -2- . Employment of high-speed servo DSP ( Servo software 90B0 series ) Current loop response improvement ( HRV2 and HRV3 ) Higher velocity loop gain ( Support by SERVO GUIDE) Cutting figure improvement High-speed positioning Simplified servo adjustment ( Backlash Acc. higher gain makes servo adjustment easy. "Servo Parameter Adjustment Procedure for Achieving High-Speed and High Precision" in Parameter Manual ( B-65270 ). The i series CNC which is installed servo software 90B0 series can use SERVO HRV2 and HRV3. To use SERVO HRV2 and HRV3 with "Advanced Preview Control". Using SERVO HRV2 and HRV3 improves current loop response. This reduces the error of cutting figure and higher-speed positioning with machine tools. see section 3. etc. It is important to understand the rough structure of servo control and how to realize high performance by using HRV2 and HRV3. Thus it is necessary to use SERVO HRV2 and HRV3 control to realize high performance of servo system. In addition.) Achievements of SERVO HRV control Even after the servo system is tuned with SERVO HRV2 control.4. higher-cycle current control can be easily realized by additional setting of SERVO HRV3 and this enables higher-level precision cutting.1. Therefore higher velocity loop gain and position loop gain can be set.
INTRODUCTION Servo HRV1 control Servo HRV2 control Servo HRV3 control (R100 mm.B-65264EN/01 1. without quadrant protrusion compensation) Example of effects of SERVO HRV control -3- . 10000 mm/min.
Velocity loop gain setting (*3) To use "high-speed loop proportional high-speed processing function" which processes a part of the velocity loop at high speed(No. αi and βis motors in order to use HRV2 or HRV3 control. • -4- . 3 control (*1) (*7) SERVO HRV control adjustment • Setting of a current loop period and current loop gain (*1) The current control period is shortened from the conventional value 250 µs to 125 µs by setting HRV2 or HRV3. An improvement of current response makes the foundation of servo performance high. 3 control setting.INTRODUCTION B-65264EN/01 1.2017#7=1) is effective for a velocity loop gain adjustment. Please select Motor ID from 251 to 350 for αis.2 ADJUSTMENT PROCEDURE OUTLINE Use the procedure below for SERVO HRV2.1. Feed-forward (*5) Command from the NC Fine acceleration/ deceleration (*4) Position gain (*6) + + Highspeed velocity loop(*3) Resonance elimination filter (*2) Servo HRV2.
the use of a resonance elimination filter ( HRV Filter ) for removing vibration of a particular frequency is effective.Automatic tuning of HRV filters .INTRODUCTION • Resonance elimination filter adjustment (*2) Some machines may resonate at a particular frequency. a figure error dependent on the command distribution cycle of the CNC may occur.Automatic tuning of velocity gain setting . Please use this wizard with connecting to CNC. Following items are available.B-65264EN/01 1. This effect is eliminated by fine acceleration/ deceleration. In such a case. • -5- .Support for setting of High Speed and High Precision functions. Tuning Navigator of SERVO GUIDE is useful to adjust HRV Filter. . [ Tuning Navigator ] Tuning navigator supports you by step-by-step Wizard. Tuning Navigator of SERVO GUIDE is also useful to tune velocity loop gain. • Velocity loop gain tuning Overall servo performance can be improved by setting a velocity loop gain as high as possible. Fine acceleration/deceleration setting (*4) When the response of the servo system becomes high.
-6- . a servo delay is eliminated.1. • Setting and adjusting SERVO HRV3 control When a further improvement in performance is needed. a feed-forward coefficient of 97% to 100% is used. SERVO HRV3 control may be able to set a much higher velocity loop gain. Usually. • Position gain adjustment (*6) As the response of the velocity loop increases. A higher position gain is also useful for error reduction.INTRODUCTION • B-65264EN/01 Feed-forward coefficient adjustment (*5) By advanced preview feed-forward. and a figure error is minimized. a higher position gain can be set.
B-65264EN/01 2. These parameters are assumed that HRV2 control -7- .INITIAL SERVO PARAMETERS FOR HIGH-SPEED AND HIGH PRECISION OPERATIONS 2 INITIAL SERVO PARAMETERS FOR HIGH-SPEED AND HIGH PRECISION OPERATIONS Described below are the servo parameters that need setting and tuning for high-speed and high precision operations.
If you want to get higher performance.1µm) 3000 300 1 150 Description Current control cycle 125 µs Current integral gain Current proportional gain Enables PI function Enables velocity loop high cycle management function Uses the latest feedback data for velocity feedback. Velocity loop gain (%) = (1 + load inertia ratio/256) × 100 -8- .2041 = Standard parameter × 1. using standard parameters for HRV2 and HRV3 automatically sets up optimum values.1 RECOMMENDATION OF INITIAL SERVO PARAMETERS FOR HIGH SPEED AND HIGH PRECISION (Series 16i/18i/21i/0i) Following table shows recommendation of servo parameters that are to be set before starting servo tuning. you have to tune the values in gray boxes [Fundamental Parameters] Parameter No. For α series motors.6 2 Keep the bit indicated with X (bit 6) at the standard setting.2.2040 = Standard parameter × 0. 3 There is the following relationship between the load inertia ratio and velocity loop gain (%).8 No. No. Enables variable proportional gain in the stop state For variable proportional gain function in the stop state : judgment level for stop state (specified in detection units) Position gain Load Inertia ratio (Velocity Loop Gain) Cutting/rapid traverse velocity loop gain variable Velocity loop gain override at cutting traverse NOTE 1 For αi series motors. please change current loop gain according to following equation. These values will be enough to get good performance. 16i/18i/21i/0i 2004 2040 2041 2003 #3 2017 #7 2006 #4 2016 #3 2119 1825 2021 2202 #1 2107 Standard setting value 0X000011 (Note 1) (Note 2) Standard parameter (Note 1) Standard parameter (Note 1) 1 1 1 1 2 (detection unit of 1 µm) 20 (detection unit of 0.INITIAL SERVO PARAMETERS FOR HIGH-SPEED AND HIGH PRECISION OPERATIONS B-65264EN/01 2.
AI Nano) Time constant for bell-shape Maximum Cutting Speed Time(ms) 0.2G (AI HPCC.B-65264EN/01 2.1umdetection) 20 Description Backlash compensation Enables backlash acceleration 0 : Semi-close system 1 : Full-close system Backlash acceleration stop Backlash acceleration only at cutting feed (FF) Backlash acceleration only at cutting feed (G01) two-stage backlash acceleration Stage-2 backlash acceleration end timer Backlash acceleration amount Stop distance (detection unit) Backlash acceleration time [Time Constant] Parameter No./Dec. FAD time constant Enables feed-forward Feed forward at rapid traverse RISC feed-forward is improved RISC feed-forward is improved Advanced preview (position) feed-forward coefficient Velocity feed-forward coefficient [Backlash Acceleration] Parameter No./Dec. 16i/18i/21i/0i 1851 2003 #5 2006 #0 2009 #7 2009 #6 2223 #7 2015 #6 2146 2048 2082 2071 Standard setting value more than 1 1 0/1 1 1 1 0 50 50 5 (1um detection) 50(0. 16i/18i/21i/0i 1620 1621 1770 1771 1772 8400 19510 8416 1768 Standard setting value 200 200 10000 240 64 10000 240 64 24 Description Time constant(ms) for linear-shaped Acc.) Enables FAD of linear type.)] Parameter No.INITIAL SERVO PARAMETERS FOR HIGH-SPEED AND HIGH PRECISION OPERATIONS [Feed forward and FAD(Fine Acc.2G (AI./Dec. Time constant(ms) for bell-shaped Acc. Maximum Cutting Speed Time(ms) 0./Dec. 16i/18i/21i/0i 2007 #6 2209 #2 2109 2005 #1 1800 #3 2017#5 2200#5 2092 2069 Standard setting value 1 1 16 1 0 1 1 10000 50 Description Enables FAD (Fine Acc. AI Nano HPCC) Time constant for bell-shape Time constant for after interpolation -9- .
and the resonance of the machine becomes more clear. please select this menu first. This is the automatic tuning of HRV filters(Resonance elimination filters). The plural parameters. "Gain-Tuning" is used for final determination without any resonance. Next. The wizard. The square with 1/4 arc program is used for the evaluation.1 OUTLINE OF GAIN TUNING BY TUNING NAVIGATOR If you press the [Navigator] button in main bar . this wizard raise the gain more by automatic tuning. The following table shows the items and contents to tune. When you've not tune the gain yet. It determines the gain. you see the following dialog .B-65264EN/01 3. Filter-Tuning Gain-Tuning High speed & High precision Tuning . • • • In "Initial Gain-Tuning". After application of above filters. Please select "Initial Gain-Tuning" at first and tune servo loop gain according to following procedure. It determines the optimum filter setting by detecting resonance frequency with the gain which is determined Initial Gain-Tuning. moving the target axis and measuring frequency response.GAIN TUNING BY TUNING NAVIGATOR 3. the velocity gain is determined with large margin against the limit of vibration level. When you use this tuning. can be determined easily by only one slider.11 - . please select "Filter-Tuning" in order to suppress the resonance vibration. Initial Gain-Tuning This is the automatic tuning of velocity gain. the gain become a little larger than initial state. will start. which are related High speed & High precision function. This function realizes the higher velocity loop gain by reducing the gain margin. which makes the tuning for High speed & High precision easy.
This bode-plot shows that 0 level of gain line becomes wider and performance of velocity loop rises. please select "Initial Gain-Tuning".2 GAIN AND FILTER TUNING BY TUNING NAVIGATOR By using Tuning Navigator you can easily tune velocity loop gain.3. . it becomes wide.12 - . (About the details of bode-plot. [Initial Gain Tuning] At first. please execute Tuning Navigator before following servo tuning. Under 10dB Under -20dB Wide Tuning Navigator shows bode-plot of velocity loop and you can understand the performance of velocity loop. Important points of this figure that you should note are as follows. Gain level of resonance frequency has to be suppressed at least under -10dB.GAIN TUNING BY TUNING NAVIGATOR B-65264EN/01 3. As the tuning of velocity loop gain is most important for all of servo performance. By setting higher velocity loop gain. Gain level near 1000Hz has to be lower than -20dB. please refer to several books of basic control method) • • • • The width of 0dB level of gain line is important. Upper line in bode-plot shows gain characteristic and lower line shows phase characteristic. Gain level around cut-off frequency is less than 10dB.
B-65264EN/01 3. Please select "Filter Tuning".13 - . Please select "Gain Tuning". Following example shows that gain line at two resonance frequencies (250Hz and 530Hz) are suppressed by Filter Tuning.GAIN TUNING BY TUNING NAVIGATOR [Filter Tuning] Next. Tuning Navigator decides the final result of gain tuning. Under -10dB [Gain Tuning] Finally. .
Please set this time constant as small as possible.Current [Time Constant for Rapid Traverse] Parameter No. Following figure shows the effect of this tuning./Dec. Tuning of rapid traverse contributes to reduce cutting time .1 TUNING OF TIME CONSTANT FOR RAPID TRAVERSE Please rise time constant for rapid traverse by observing TCMD.Current Max.B-65264EN/01 4. . Bell shape acceleration/deceleration is effective in order to avoid the mechanical shock and to avoid TCMD limitation at high speed. Time constant(ms) for bell-shaped Acc. Normally TCMD has to be smaller than 100% when maximum weight is put on your machine./Dec. 16i/18i/21i/0i 1620 1620 Description Time constant(ms) for linear-shaped Acc.TUNING OF ACCELERATION AND DECELERATION 4.15 - . Velocity TCMD Velocity TCMD Max.
16 - .TUNING OF ACCELERATION AND DECELERATION B-65264EN/01 4.4. If there is no vibration please change position gain to 5000.2 POSITION GAIN CHECK Please set position gain 5000 and check TCMD and velocity at rapid traverse. .
Feed forward function reduces 250um error to 0um. Velocity feed-forward Variable ratio of velocity command (acceleration) is transformed to torque command compensation.18 - . which is mainly caused by the delay of position loop. This compensation reduces position error and contour error. This compensation reduces position error and contour error mainly caused by the delay of velocity loop.TUNING OF CIRCLE B-65264EN/01 5.1 TUNING OF FEED FORWARD COEFFICIENT To set feed forward function is necessary to realize higher performance.5. Feed forward coefficient 0% Feed forward coefficient 100% The error of radius is almost 250µm The error of radius is almost 0µm . α Position command Velocity feed-forward + - + Kp + Velocity loop + + Position feedback Following figure shows the effect of feed forward function. Feed-forward Position command from CNC is transformed to velocity command compensation. Feed forward function reduces position error and makes it 0 by setting 100% coefficient.
. But you have to note that we don't recommend to set feed forward coefficient over 100% because it indicates that the actual machine moves ahead of its motion command.B-65264EN/01 5.19 - . please adjust feed forward coefficient.TUNING OF CIRCLE If you want to adjust more.
[Backlash Acceleration] Parameter No. Please try to tune this value so as to make protrusion under 5um. please adjust backlash acceleration amount.TUNING OF CIRCLE B-65264EN/01 5. 16i/18i/21i/0i 2048 Standard setting value 50 Description Backlash acceleration amount .2 TUNING OF BACKLASH ACCELERATION If there is position error at the point that the axis turns.20 - . The step value of this is about 10. Please rise or reduce backlash acceleration amount step by step. please stop adjusting.5. If under cut occurs just after position tuning. Big protrusion and under cut make the result of cutting worse.
22 - .1 SETTING OF CORNER DECELERATION Corner deceleration is necessary to reduce position error at corner. 16i/18i/21i/0i 1783 AI High Precision Contour AI Nano High Precision Contour Parameter No. 20µm 20µm . 16i/18i/21i/0i 8410 Standard setting value 500 Following figure shows the effect of corner deceleration. Please set about 500mm/min at first. [Corner Deceleration (Allowable Speed Difference)] AI CONTOUR AI NANO CONTOUR Parameter No.6.TUNING OF SQUARE B-65264EN/01 6. You can see the position error becomes small.
please adjust time constant. D Y Contour X A C Straight Part:F3000 B Velocity of X axis F3000 A B C D A B C D Velocity of Y axis Corner Part:F500 Tangent velocity Velocity of each axis If you couldn't get good result by setting corner deceleration.2 TUNING OF TIME CONSTANT FOR CUTTING FEED You also have to note the value of time constant of corner deceleration and its shape when you tune the position error at the corner. Time constant before interpolation is applied to this deceleration.TUNING OF SQUARE 6. But you have to note that to set bigger time constant makes cutting time longer. As the changing rate of its deceleration is decided by time constant before interpolation.23 - .B-65264EN/01 6. to set large value to this time constant (to set small acceleration) leads better result at the corner. If you don't use bell time constant the shape of tangent velocity at the corner becomes "V" as you can see in following figure. . And to set bell-shape time constant is also effective not only to corner performance but also arc corner performance.
TUNING OF SQUARE B-65264EN/01 [Time Constant Before Interpolation] AI CONTOUR AI NANO CONTOUR Parameter No.6.24 - . 16i/18i/21i/0i 1770 1771 AI High Precision Contour AI Nano High Precision Contour Parameter No. 16i/18i/21i/0i 8400 19510 Description Maximum Cutting Feedrate Time Maximum Cutting Feedrate Time .
[Velocity Feed Forward] Parameter No. If you don't use Nano-Interpolation.3 TUNING OF VELOCITY FEED FORWARD Velocity feed forward can improve the shape at corner.B-65264EN/01 6. 16i/18i/21i/0i 2069 Standard setting value 50 Description Velocity feed-forward coefficient .TUNING OF SQUARE 6. Because it outputs ideal TCMD for acceleration and deceleration and helps the movement of integration in velocity control. please set this coefficient under 400.25 - . Please adjust this coefficient.
Following figure shows how velocity changes by using this function. In this example feed rate at the arc is reduced till F1000 and becomes F4000 again after the arc. Position error at the arc is reduced.27 - .1 SETTING OF ACCELERATION AT ARC At the arc part the acceleration quickly changes and it makes position error.B-65264EN/01 7. D Y Contour X C B A Straight Part:F4000 Velocity of X axis F4000 F4000 A A B C D Velocity of Y axis B C D Corner Part:F1000 Tangent Velocity Velocity of each axis Following figure shows the effect of applying this function. Deceleration rate before and after the arc is decided by time constant before interpolation. In order to avoid this problem.TUNING OF ARC SQUARE 7. please set the limitation of acceleration at the arc. F4000 F4000 F4000 F2000 10µm error 10µm error .
If you are using AI High Precision Contour Control or AI Nano High Precision Contour Control. you have to set by time constant or acceleration value. you can select radius and feed rate.28 - . [Allowable Acceleration] AI CONTOUR AI NANO CONTOUR Parameter No. you only have to set R=5000um and feed rate =F2000. As this example radius=5mm and feed rate at the arc is F2000. 16i/18i/21i/0i 8470 Description Feedrate (mm/min) Radius (um) Allowable Acceleration .TUNING OF ARC SQUARE B-65264EN/01 If you are using AI Contour Control or AI Nano Contour Control.7. 16i/18i/21i/0i 1730 1731 AI High Precision Contour AI Nano High Precision Contour Parameter No.
16i/18i/21i/0i 2069 Standard setting value 50 Description Velocity feed-forward coefficient .29 - . Position error caused by Y axis's delay Position error caused by X axis's delay Y Y X X Without Velocity Feed Forward With Velocity Feed Forward [Velocity Feed forward] Parameter No.B-65264EN/01 7.TUNING OF ARC SQUARE Adjusting velocity feed forward coefficient is also effective to this part. Position error is caused by a delay of velocity loop just after entering the arc and just after the end of the arc. Velocity feed forward compensates this delay and position error is reduced.
.4Q0 you can select "High Speed HRV Current Control Mode". cycle of current control becomes twice faster than HRV2 Control. This contributes to make motor current smooth and to make current response faster. HRV3 Control will help you. HRV3 Control manages current control twice faster than HRV2 Control.30 - . If your machine's precision is over your target by HRV2 Control.4Q1 and G5. cycle of current control equals to HRV2 Control. HRV3 Control has a current control mode. When it is off and rapid traverse.8.HRV3 CONTROL B-65264EN/01 8 HRV3 CONTROL HRV3 Control is effective to get higher performance at high-speed and high-precision machining center. By program code G5. When "High Speed HRV Current Control Mode" is on.
Servo Card HRV2 8 amplifiers and 1 module are available per one FSSB line Servo Card HRV3 HRV3 4 amplifiers and 1 module are available per one FSSB line .1 BEFORE YOU SET HRV3 CONTROL Before you set HRV3 Control you have to notice the number of amplifiers.31 - . When HRV3 is set the maximum number of amplifier per one FSSB line is 4. you have to use two FSSB line. So if the number of amplifier of your machine is over 4.HRV3 CONTROL 8.B-65264EN/01 8.
8. 16i/18i/21i/0i 2004 2040 2041 2003 #3 2017 #7 2006 #4 2202 #1 2107 Standard setting value 0X000011 Standard parameter Standard parameter 1 1 1 1 150 Description Current control cycle 125 µs Current integral gain Current proportional gain Enables PI function Enables velocity loop high cycle management function Uses the latest feedback data for velocity feedback. [HRV3 Parameters] Parameter No. No. HRV3 Control also needs these parameters.2013#0 is a function bit of HRV3 Control.32 - .2334 and No. [Fundamental Parameters] Parameter No.2335 are magnification of current gain and velocity gain in HRV3 mode. Cutting/rapid traverse velocity loop gain variable Velocity loop gain override at cutting traverse .2 PARAMETERS FOR HRV3 CONTROL To set HRV3 Control from fundamental parameters which we recommends you have to set only three parameters. 16i/18i/21i/0i 2013 #0 2334 2335 *1) Standard setting value 1 150 200 Description HRV3 (Current control cycle 62.5 µs) Current loop gain override in HRV3 mode Velocity loop gain override in HRV3 mode (*1) No. Please confirm these parameters too.2202#1 is needed to valid this parameter. Following table shows fundamental parameters for HRV2 Control. No.HRV3 CONTROL B-65264EN/01 8.
3 HIGH SPEED HRV CURRENT CONTROL MODE IN HRV3 CONTROL G5.HRV3 CONTROL 8.4Q0 are program codes to specify "High Speed HRV Current Control Mode".4Q1 and G5. High Speed HRV Current Control Mode ON . Program codes for cutting traverse between G5.33 - .4Q0 is in "High Speed HRV Current Control Mode" and cycle of current loop becomes faster and magnification for control gain is applied.4Q1 and G5.B-65264EN/01 8.
Bit0 of DGN700(HON) becomes 1 in cutting traverse. HOK becomes 1. When HRV3 Control is accepted to CNC. .4Q1 when HOK=1.2013#0) and power off/on. This means cycle of current loop becomes faster and magnification for control gain is applied. please check Bit1 of DGN700(HOK).HRV3 CONTROL B-65264EN/01 8.34 - . After you commands G5.8.4 HOW TO CHECK THE STATE OF HRV3 CONTROL Diagnose No.700 is available to check the state of HRV3. After you set HRV3 Control(No.
4Q0) Torque 70% HRV3 Cutting (G5. So torque command is easy to be saturated by torque limit.35 - .5 TORQUE COMMAND LIMITATION IN HIGH SPEED HRV CURRENT CONTROL MODE In "High Speed HRV Current Control Mode" torque command is automatically limited less than 70% of the maximum torque to protect transistor in amplifier.4Q1) Speed .HRV3 CONTROL 8. Normally this mode in HRV3 Control is used for final cutting and 70% limit doesn't become the reason of trouble. Please don't command high speed and high acceleration in "High Speed HRV Current Control Mode". Torque Curve in G5.B-65264EN/01 8.4Q1 HRV2 and HRV3 Rapid and HRV3 Cutting (G5.
There is no overshoot at the point of 10µm step.HRV3 CONTROL B-65264EN/01 8.6 ABOUT THE EFFECT IN HIGH SPEED HRV CURRENT CONTROL MODE Following result of circular shape and 10µm step are an actual result of a machining center which uses HRV3 Control. You can see the path error of circle is less than 2µm and smoothness is less than 1µm.8. 2µm/div 10µm .36 - .
2071 VCMD Basically you only have to think two parameters. No.1 ABOUT BACKLASH ACCELERATIONS The shape of backlash acceleration is simple as following figure. This acceleration value is added to VCMD for velocity loop integration and it helps the movement of the integration at its reverse point.38 - . (Standard Backlash Acceleration) Backlash Acceleration Amount No. .2048 No.9.2048 means amount of backlash acceleration.BACKLASH ACCELERATION B-65264EN/01 9.2071 means time width and its default value is 20. Normally you don't have to change this value. No. By this effect. Please set 100 at the start of tuning and change this value by watching circular shape. position error at the reverse point is reduced.
39 - .2 INITIAL PARAMETERS FOR BACKLASH ACCELERATION Before you start to tune backlash acceleration.BACKLASH ACCELERATION 9. . [Fundamental Parameters for Backlash Acceleration] Parameter No. please set the initial parameters as follows.1µm detection) 20 Backlash compensation Enables backlash acceleration 0 : Semi-close system 1 : Full-close system Backlash acceleration stop Backlash acceleration only at cutting feed (FF) Backlash acceleration only at cutting feed (G01) two-stage backlash acceleration Stage-2 backlash acceleration end timer Backlash acceleration amount Stop distance (detection unit) Backlash acceleration time You can set almost all of these parameters from parameter window. 16i/18i/21i/0i Standard setting value Description 1851 2003 #5 2006 #0 2009 #7 2009 #6 2223 #7 2015 #6 2146 2048 2082 2071 more than 1 1 0/1 1 1 1 0 50 100 5 (1µm detection) 50 (0.B-65264EN/01 9.
2.3.1 TUNING OF BACKLASH ACCELERATION Initial State Following figure shows initial state of circular shape with no servo tuning. By setting the initial parameters quadrant protrusion is suppressed well.BACKLASH ACCELERATION B-65264EN/01 9.9. Following figure shows the result after setting the initial parameters for backlash acceleration in Section 9.3 9.40 - . You can see about 2µm quadrant protrusion at the reverse point of X axis and Y axis. .
41 - . By enlarging the error at the reverse point it becomes easier to judge if "under cut" occurs or not. By pushing "z" the error becomes wide and by pushing "Z" it becomes narrow.BACKLASH ACCELERATION 9. Following figure shows the result of No. This figure shows "under cut" is occurred at reverse points.2048 just before "under cut" appears.3. So we have to stop tuning No. By pushing "u" the grid of the error becomes small and by pushing "d" it becomes big. Under cut Under cut . Following figure is the result after pushing "z" and "u". We have to avoid "under cut" because this cirtainly makes scratch on a surface of cutting work.2 When to Stop Tuning At first we have to know when to stop tuning of backlash acceleration amount.B-65264EN/01 9.2048=200.
There is no protrusion by the effect of high gain and a little support by backlash acceleration.2 we have to judge No.9. The power of suppressing protrusion by position gain and velocity loop gain is strong and stable.2048=100 is final value. Following figure is the result after applying the initial parameters for backlash acceleration in Section 9. But a little protrusion is still at the reverse point.3. .42 - . Following figure is the result after gain tuning with no backlash acceleration. (Tuning Item) • "High Speed HRV Current Control" is applied • Velocity loop gain is 600% (In upper result velocity loop gain is 200%) • Position loop gain is 100/s (In upper result position gain is 30/s) The tuning of backlash acceleration becomes easier after sufficient gain tuning. Protrusion is almost dissapired without backlash acceleration and you can recognize how important gain tuning is. In this example the reason of this is insufficient gain tuning.3 The Effect of Gain Tuning From Section 9. We have to do sufficient gain tuning before all tuning items.BACKLASH ACCELERATION B-65264EN/01 9.2.
the tuning of backlash acceleration becomes easy.B-65264EN/01 9. After you success to do gain tuning.43 - .BACKLASH ACCELERATION As this figure shows the most important thing to remove quadrant protrusion is to do gain tuning. . So please consider backlash acceleration is not the main function to suppress quadrant protrusion.
9. F500mm/min F5000mm/min No.2114 is a coefficient of override and No.2048=100 is big for F500mm/min No.2048=100) is used.BACKLASH ACCELERATION B-65264EN/01 9. As this figures show.2339 is a limit value. Therefore "Override Function" which changes the acceleration value according to the acceleration is needed. but the result is opposite. Velocity Gain=400% Override function has two parameters.3. Actually optimum acceleration amount is almost proportional to acceleration. [Parameters for Override Function] Parameter No. small backlash acceleration amount is needed at low speed and big amount is needed at high speed. No.4 Override Function Following two figure shows the difference by feed rate. 16i/18i/21i/0i Standard setting value Description 2048 2114 2338 100 0 0 Backlash acceleration amount Backlash acceleration override coefficient Backlash acceleration limit . Tuning process of these parameters is not difficult if you do it by following method from (1) to (3). So we have to change backlash acceleration amount by feed rate. In these results same acceleration amount (No.2048=100 is small for F5000mm/min (*) In this chapter we use Position Gain=50.44 - .
2048.B-65264EN/01 9.2114 No.2048 In order to decide No.2048 Acceleration (1) Decision of No.2338 No.2048 here. . Following figure is the result of No.2048 you have to tune No.45 - .BACKLASH ACCELERATION Backlash Acceleration Amount No. Please deside optimum value of No.2048 at low speed and set the result in No.2048=30 and we set 30 in No.2048 at low speed. In this example we used F500mm/min and Radius 10mm.
No.2114 has to set after tuning No. Override coefficient decided at middle speed outputs big acceleration amount for high speed as following figure.2338 Finally you have to set No. If you increase No. Quadrant protrusion is well suppressed. (3) Decision of No. Following figure shows the result of tuning No. In this example we used F2500mm/min.2114 is decided at middle of maximum cutting feed rate.2114.9. Please increase No.BACKLASH ACCELERATION B-65264EN/01 (2) Decision of No.2048. In this example we used F5000mm/min.2114.2114 and decide optimum value of it not to occur "under cut".2338.2114 No. actual amount of backlash acceleration increases. .46 - . So we have to decide limit value at high speed.
47 - .2338 at high speed.B-65264EN/01 9.BACKLASH ACCELERATION Following figure shows the result of tuning No. Quadrant protrusion is well suppressed. .
4 ACCELERATION AMOUNT BY EACH DIRECTION Sometimes we meet a circular shape that protrusion of top and bottom.9.to + ) Backlash acceleration limit ( .48 - .2094 No.2114 No.2338 No.2094 is not 0 No. 16i/18i/21i/0i Standard setting value Description 2048 2114 2338 2094 2340 2341 50 0 0 0 0 0 Backlash acceleration amount Backlash acceleration override coefficient Backlash acceleration limit Backlash acceleration amount ( . And No.2340 No.2094 is applied to the reverse point of left and bottom. In this case we have to set acceleration amount separately.2094.2340 is a coefficient of override function and No.to + ) No.2341 is a limit value for No. If No.2048 No. or protrusion of left and right are different. [Parameters for Separate Backlash Acceleration] Parameter No.2341 .to + ) Backlash acceleration override coefficient ( .BACKLASH ACCELERATION B-65264EN/01 9.
the function of "Backlash Acceleration Off after Stop" is available.5 BACKLASH ACCELERATION OFF AFTER STOP Sometimes the optimum value of acceleration for long time stop is a little different from the value which is decided by circular shape. As a countermeasure for this problem. This function is OFF This function is ON overshoot no overshoot 10µm 10µm .49 - . Following figure shows the bad influence from backlash acceleration at the case of 10µm step movement.BACKLASH ACCELERATION 9. backlash or mechanical torsion at stop.B-65264EN/01 9. You can see about 3µm overshoot occurs. 16i/18i/21i/0i Standard setting value Description 2005#7 2283#7 2073 2071 2072 1 1 5 0 0 The static friction compensation Backlash acceleration off after stop Stop state judgement (ITP) Static friction compensation count Static friction compensation (*) This function uses same parameter for "static friction compensation". The phenomenon is caused by the difference of friction. [Parameters for Backlash Acceleration Off after Stop] Parameter No.
...................................4 Allowable Acceleration................... 48 ADJUSTMENT PROCEDURE OUTLINE .................................................. 13 GAIN TUNING BY TUNING NAVIGATOR .. 8......22 <T> The Effect of Gain Tuning ..........B-65264EN/01 INDEX INDEX <A> ABOUT BACKLASH ACCELERATIONS ........................................................7 Initial State ............ 38 ABOUT THE EFFECT IN HIGH SPEED HRV CURRENT CONTROL MODE.................................................................42 Time Constant ............................................................................ 12 Gain Tuning ............................................................................................................... 36 ACCELERATION AMOUNT BY EACH DIRECTION ................... 28 INTRODUCTION............................................... 39 <S> SERVO HRV CONTROL..........................................................................48 POSITION GAIN CHECK ...8 <C> Corner Deceleration (Allowable Speed Difference)...27 SETTING OF CORNER DECELERATION ........................................................................................................................................) .44 <P> Parameters for Backlash Acceleration Off after Stop................... 20 BACKLASH ACCELERATION.................... 40 TUNING OF CIRCLE .................................................................................................................................. 39 INITIAL SERVO PARAMETERS FOR HIGH-SPEED AND HIGH PRECISION OPERATIONS ...................17 TUNING OF FEED FORWARD COEFFICIENT................ 12 INITIAL PARAMETERS FOR BACKLASH ACCELERATION ...............................15 TORQUE COMMAND LIMITATION IN HIGH SPEED HRV CURRENT CONTROL MODE .................24 Time Constant for Rapid Traverse ..............................................................................16 <B> Backlash Acceleration............................................................................................49 PARAMETERS FOR HRV3 CONTROL............. 9...................................................................................15 TUNING OF VELOCITY FEED FORWARD ....9 Time Constant Before Interpolation.................23 TUNING OF TIME CONSTANT FOR RAPID TRAVERSE................. 40 i-1 ................... 10 <H> HIGH SPEED HRV CURRENT CONTROL MODE IN HRV3 CONTROL ..... 22 <F> Feed forward and FAD(Fine Acc........................................................................ 13 Fundamental Parameters ....................................35 TUNING OF ACCELERATION AND DECELERATION ............. 49 BEFORE YOU SET HRV3 CONTROL........................................... 34 HRV3 CONTROL ...........................................14 TUNING OF ARC SQUARE ............. 30 HRV3 Parameters...................................................26 TUNING OF BACKLASH ACCELERATION....................................................../Dec...........9 Filter Tuning .....................11 Override Function ...................... 31 <R> RECOMMENDATION OF INITIAL SERVO PARAMETERS FOR HIGH SPEED AND HIGH PRECISION (Series 16i/18i/21i/0i) .........2 SETTING OF ACCELERATION AT ARC .1 <O> OUTLINE OF GAIN TUNING BY TUNING NAVIGATOR.......44 Parameters for Separate Backlash Acceleration ................. 37 BACKLASH ACCELERATION OFF AFTER STOP....... 32 Fundamental Parameters for Backlash Acceleration..................................................................... 32 <I> Initial Gain Tuning......................................................32 Parameters for Override Function ...... 33 HOW TO CHECK THE STATE OF HRV3 CONTROL.......................................................20..........................18 TUNING OF SQUARE................25 <G> GAIN AND FILTER TUNING BY TUNING NAVIGATOR..........................21 TUNING OF TIME CONSTANT FOR CUTTING FEED .......................
............................. 29 Velocity Feed Forward.............................................................................. 25 B-65264EN/01 <W> When to Stop Tuning . 41 i-2 ...........INDEX <V> Velocity Feed forward.........................................
. 2005 Edition Date Contents Edition Date Contents .Revision Record FANUC AC SERVO MOTOR αis/αi/βis series SERVO TUNING PROCEDURE (BASIC) (B-65264EN) 01 Mar.
This action might not be possible to undo. Are you sure you want to continue?
We've moved you to where you read on your other device.
Get the full title to continue listening from where you left off, or restart the preview.


text:
Business News
Kanye West rants about Tidal-Apple 'beef'
Kanye West apparently really, really wants Apple to buy Tidal.On Saturday, the prodigious rapper …
The Top 1% haven't captured all income gains
Hillary Clinton went after the nation's richest residents in her nomination acceptance speech …
Bud-Miller $105 billion deal is back on track
Cheers! It looks like the Bud-Miller mega merger is finally going to happen. It's been nearly a …
Microsoft to cut about 2,850 more jobs
Microsoft's costly bet on Nokia will mean more job losses than previously expected.The software …
Facebook may owe $5 billion in taxes
Forget Snapchat. Facebook's biggest threat right now may be Uncle Sam.
Facebook could owe $5 billion in taxes
Forget Snapchat. Facebook's biggest threat right now may be Uncle Sam.Facebook disclosed on …
Spring slump: U.S. economy only grows 1.2%
America's economy didn't bounce back in the spring after a sluggish winter. The U.S. economy grew a…
Amazon posts its fifth straight quarter of profits
Amazon learns to stop worrying and love the profits.Amazon posted a record profit in the quarter …
IBT Media's fired workers say company has no 'human decency'
Fired IBT Media workers are rallying against the company, saying recent layoffs came without notice…
Whole Foods is struggling to get back on its feet
Whole Foods still can't catch a break.
How Amazon may solve the glaring weakness of noise-canceling headphones
Headphone wearers may one day have the best of both worlds.Anyone seeking to tune out the world …
How Uber punishes drivers who refuse to use UberPool
Uber has adopted a tactic with its drivers that parents use on misbehaving children: timeouts.Uber …

subset: commoncrawl


text:
Please select the correct Member Type.
Vendor Advisory Council (VAC) REGIONAL ONLY
Associate Consultant
Associate (second from Company)
Associate (multi-member)
Consultant (second from Company)
Consultant (third from Company)
Consultant - Multi-Member
CTCA Guest (consultants only)
Guest (consultants only)
Vendor Advisory Council (VAC) FULL Membership
VAC Primary
VAC Contact 2
VAC Contact 3
Remember Me
Forgot your password?
Haven't registered yet?
10/17/2016 » 10/20/2016SCTC Fall 2016 Conference
11/17/2016SCTC-CRG UCaaS Hackathon


text:
Need Money for College..Then GRAB A CHAIR (HOURLY PAY + TIPS POSSIBLE)
quality services moving
Fredericksburg, VA
Senior Living Advisor - Fredericksburg
A Place for Mom
Fredericksburg, VA
Electrical Engineer -- Ready to work with new and interesting products? Ready to solve problems and grow? Check out this opport
Fredericksburg, VA
Hard Working Skilled Person
Tradesmen International
Fredericksburg, VA
Yard Attendant
Insurance Auto Auctions
Ashland, VA
Food Bar Attendant
Country Cookin
Fredericksburg, VA
Client Services/Receptionist
H&R Block
Fredericksburg, VA
Miembro del Personal(Crew Member)
Fredericksburg, VA
Laser Personalization and Bindery Operations Manager
Print Mail Communications
Fredericksburg, VA
Bus Person
Bob Evans
Fredericksburg, VA
Server/Sales Person
Olive Garden
Fredericksburg, VA
Night Shift Primary Plant Maintenance Utility Person
Martin Marietta
Doswell, VA
Parts Counter Person
Ashland, VA
AVON Independent Sales Representative (Full-Time)
Woodford, VA
OTR CDL A Tractor-Trailer Truckload Driver (HazMat REQ) Dedicated
Fredericksburg, VA
Branch Manager Sr (MLO)
PNC Bank
Fredericksburg, VA
CDL-A OTR Company Truck Driver - Solo and Teams
Cargo Transporters
Fredericksburg, VA
Civil Engineer
Cameron Craig Group
Woodford, VA
Class A CDL Truck Driver - Glass Division
Maverick Transportation
Fredericksburg, VA
Travel Sales Professional -Work at Home Position!
World Travel Holdings
Woodford, VA
Truck Driver - Company Over The Road. We Train Veterans!
C.R. England - Veterans
Colonial Beach, VA
Experienced CDL Truck Driver - Dedicated Lane
C.R. England
Woodford, VA
Director, Preop/PACU
CTL Consulting, LLC
Woodford, VA
Local Contract - ICU Nurse - 13 weeks - 7P-7A
MedHealth Recruiting
Fredericksburg, VA
Truck Driver Job - Newest Trucks and up to $8,000 Sign On Bonus!
U.S Xpress
Fredericksburg, VA
Find the career you've been looking for.
Did you mean ?


text:
Report: Apple TV to stream 99 cent TV show rentalsApple is reportedly in talks with TV studios to sell them on the idea of renting TV episodes for 99 cents rather than selling downloads for $1.99.
According to a report by NewTeeVee, the rental program Apple is promoting would work just like existing movie rentals: users would have 30 days to start watching the show, and would then need to finish within 24 hours of starting playback.
Unlike movie rentals and other iTunes sales however, the TV programming would be streamed from Apple's cloud servers. Such a service would seemingly be ideal for the rumored iOS-based replacement to today's Apple TV, which is expected to lack a conventional hard drive and instead reply upon on-demand cloud streaming and local wireless sharing.
The recently unveiled Hulu Plus is similarly seeking to determine what customers will pay to access TV shows. It now charges $9.99 per month for access to shows on ABC, Fox and NBC.
Apple has previously dragged hesitant TV and movie studios to the iTunes market and forced them to drink, typically starting with its closest ally, Disney, and slowly winning over other companies, selling them on the merits of direct downloads and rentals.
On Topic: iTunes
- Apple buys out cloud music provider Omnifone [u]
- Rapper Travis Scott confirms Apple Music deal ahead of new album release
- Apple releases iTunes 12.4.2 with fix for Apple Music short song playback issues
- Apple Music shifting to iTunes Match 'acoustic fingerprinting' method of song ID
- Katy Perry debuts new single exclusive to Apple Music & iTunes


text:
Select Local Merchants
Paintball ParkRead MoreTo put it plainly, Splat Tag is massive. Twenty-two paintball fields sprawl across its 600 acres. Woods, brush, and felled trees make for strategic cover, and through every patch of forest could be something unexpected. A helicopter, a bunker, or perhaps an enemy base, right there for the taking—provided players have enough paint. The high number of play areas encourages players to linger, as does Splat Tag's policies. Open admission grants unlimited access for the day, with referees setting up 15- to 20-minute games. The fields admit up to 200 players per day, ensuring everyone can find those of similar skill levels. Splat Tag also hosts private and special events, including an annual gathering with enough paintballs to blot out murals of of the sun.200 South 5th StreetMinneapolis, MN US
Great River Water ParkRead MoreAwarded the title of "Best Indoor Pool" by StarTribune in 2013, Great River Water Park is less of a pool, more of an aquatic wonderland. Families soar down its water slides, play atop its large floats, and splash around with their youngsters at the children's activity zone. Playful decor, from a pirate ship's mast to a waterfall flowing from a faux mountain cliff, encourage visitors to swim with a sense of adventure. The park also focuses on serious swimming, however: it's equipped with a 25-yard, 8-lane lap pool, a 1-meter diving board, and talented instructors who lead lessons. When their fingers start to prune and gills begin to form beneath their rubs, guests can always head to the saunas or concession stand for a break.270 Lexington Pkwy. NSaint Paul, MN US
Hawkins RichardRead MoreWhen it's time to make a furniture upgrade, head on over to Hawkins Richard in Rochester and browse the latest furniture inventory. Here you can find the most on-trend bedroom furniture items, such as dressers, bed frames, and bedroom furniture. At Hawkins Richard, you won't have to worry about forgetting where you parked. There are plenty of parking spaces nearby for you to choose from. Visit Hawkins Richard in Rochester and browse the great selection of furniture items, from living room sets to kitchen sets.2207 7th Street NorthwestRochester, MN US
Adventure ZoneRead MoreBe a kid for the day and putt a round on an easy course at Adventure Zone in Duluth. Make the trip to this course even more savory with a visit to their fine restaurant. Don't leave the kids at home — youngsters will love the family-friendly activities at this course just as much as mom and dad. At Adventure Zone, you can park your car in seconds with the nearby street and lot parking options.329 South Lake AvenueDuluth, MN US
Amazing Mirror MazeRead MoreNestled within the third floor of Mall of America, the Amazing Mirror Maze's twisting, reflective paths wind through a 2,500-square-foot labyrinth brimming with disorienting mirrors arranged beneath archways flecked with colorful diamonds. These endless passageways fade into the distance, reflected eternally to befuddle guests and throw off internal navigation systems. Visitors snake their way through these gargantuan halls and attempt to defeat the maze and shake the oddly familiar-looking people that have been following them since they arrived.353 N GardenBloomington, MN US
Grand Casino HinckleyRead MoreGrab your friends and head on over to Grand Casino Hinckley in Minneapolis for a funtastic day of rides and excitement. Parking is plentiful, so patrons can feel free to bring their vehicles. When you have a free weekend, come enjoy a thrill of a lifetime with a trip to this fun and entertaining amusement park.7308 Aspen LnMinneapolis, MN US


text:
The international oil shipping services provider, which paid Bretta Tanker Holdings $15.1 million in the second quarter of 2016, saw profits for the first half of 2016 slip 11.3 percent year-over-year to $153.7 million.
The Port of New York and New Jersey, which experienced the second busiest June ever for box volumes, was called by a 10,077-TEU containership at the GCT Bayonne Terminal.
The U.S. gross domestic product increased 1.2 percent in the second quarter of 2016, according to the "advance" estimate from the Department of Commerce, following a revised increase of just 0.8 percent in the first quarter.
Registration takes less than 1 minute.
Transportation and logistics companies cut 9,400 positions last month, following revised increases of 3,600 in May and 10,100 in April, according to recent preliminary data from the U.S. Department of Labor.
The Honolulu-based shipping company has entered into an agreement to acquire Span Alaska, which has doubled in size during the past year through the acquisition of Pacific Alaska Freightways.
Terminal operators at the Ports of Los Angeles and Long Beach announced an increase to the Traffic Mitigation Fee, which is collected on cargo moving through terminals during peak hours.


text:
Portable Dust Collectors for Tough Environments
Trailer and skid-mounted models in numerous sizes, powered by electric and/or diesel. Sloped roofs, multiple dust inlets, high static, dampered fans. Lockable power & drive compartments.
Safeguard Assets. Ensure Productivity. HAKI®
Protect assets and equipment. Keep facilities open and operational. Maintain schedules regardless of weather. Ensure smooth and continuous production. Easy to erect. Safway is the primary distributor of HAKI® products including HAKISPAN and HAKITEC® 750 – in North America.
Profession Overspray Removal Services
The Finest Name in Safe Overspray Removal. We specialize in removing all contaminants from any surface. Family Owned and Operated for 33 years! Fully insured. Satisfaction is guaranteed.
Robotic Blast Cleaning
Replace manual blasting with new Blastman robot models. Contact us to boost your production and save costs!
Refresh Your CP Skills
With this 12-station, interactive program, practice your CP skills online by working through step-by-step, real-life testing scenarios.
Novatek Corporation, Dustless Coatings Removal
Strip, clean and profile all dust free!
Comply with new lead standards.
Contact today: (866) 563-7800
The ADI HD40 Dust Collector is a smaller, more
economical way to meet/ exceed Industry standards.
Watch the video for details on our website.
Polyurea & Polyurethane Spray Foam Training
SPI is committed to industry leading technical training for polyurea & polyurethane spray foam professionals. Attendees receive hands-on, in-depth training for using and troubleshooting plural-component equipment, spray guns, machine hoses & parts.
W Abrasives - Surf Prep Pack
Experts in surface preparation are not working only on greens. To discover the SURF PREP PACK dedicated to experts. Visit our website, www.wabrasives.com.
KTA Analyzes Coating Failures
• Field Diagnosis
• Lab Diagnosis
• Determination of Cause
• Recommendations
Call 1-800-245-6379
The Technology Publishing Network
© Copyright 2000-2016,
Technology Publishing / PaintSquare, All rights reserved
2100 Wharton Street, Suite 310, Pittsburgh PA 15203-1951; Tel 1-412-431-8300; Fax 1-412-431-5428;
E-mail firstname.lastname@example.com


text:
Vintage Inn, Napa Valley
- Free buffet breakfast, free WiFi, and free parking
Main amenities
- 80 guestrooms
- Restaurant
- Full-service spa
- Outdoor pool
- 11 meeting rooms
- Coffee/tea in a common area
- Conference space
- Concierge services
- Wedding services
What's around
- V Marketplace (0 mi / 0 km)
- Gordon Gallery (0.2 mi / 0.4 km)
- Maisonry Napa Valley (0.3 mi / 0.5 km)
- Napa Valley Performing Arts Center at Lincoln Theater (0.5 mi / 0.8 km)
- Vintner's Golf Club (0.5 mi / 0.8 km)
Vintage Inn, Napa Valley
Hotel Info: 020 3027 9803from £280
- Premium King
- Deluxe 2 Queen
- Deluxe King
Also popular with travellers from the UK
At a glance
Key facts
Hotel size
- This hotel has 80 rooms
- This hotel is arranged over 2 floors
- Check-out time is noon
- Express check-out
Required at check in
- Credit card or cash deposit required
- Government-issued photo ID required
Travelling with others
- No cribs (infant beds)
- Pets allowed *
- 1 per room (up to 40 lb)
- Free WiFi in public areas
- Free WiFi and wired Internet access in rooms
- Free self parking
Nearby Four Star Napa Valley hotels
In the hotel
- Free buffet breakfast
- Restaurant
- Coffee/tea in a common area
- Outdoor pool
- Full-service spa
- Spa treatment room(s)
- Golfing nearby
- Spa tub
- Number of meeting rooms - 11
- Conference space
- Conference space size (feet) - 30,000
- Conference space size (meters) - 2787
- One meeting room
- Concierge services
- Wedding services
In the room
- Coffee/tea maker
- Bathrobes
- Turndown service
- Premium bedding
- Fireplace
- Balcony
- Partially open bathroom
- Shower only
- Free toiletries
- 42-inch TV
- Free newspaper
- Free WiFi
- Refrigerator
- In-room safe
Top Napa Valley hotels
Recently reviewed hotels in Napa Valley
- Inn MarinFrom
"Clean well presented rooms, good shower, comfy beds, all value for money. Lovely pool area. Breakfast very disappointing, not my idea of a continental breakfast. But would…"Jul 24, 2016
- Suiteoaks EstateFrom
"Is a number of holiday cottages, can self-cater if you wish. Well equipped and very comfortable with own parking and patio. Peaceful and relaxing. Very helpful and welcoming…"Jul 15, 2016
- Best Western Plus Stevenson ManorFrom
"Very good hotel for price Good quality furnishings Decent pool and breakfast Good Best Western as always"Jul 14, 2016
- Vintners Inn
"We booked this inn on a special deal and were extremely pleased with our stay. Friendly staff, comfortable bedroom and amazing bathroom with jacuzzi bath and strong shower. We…"Jul 9, 2016
Nearby hotels
Special features
Spa Villagio has 16 treatment rooms. Services include massages, facials, body wraps, and body scrubs. The spa is equipped with a sauna, a spa tub, and a steam room. A variety of treatment therapies are provided, including aromatherapy, Ayurvedic, and hydrotherapy.
Vintage Inn, Napa Valley's small print
Also known as
- Vintage Inn Yountville
- Vintage Inn
- Vintage Yountville
- Vintage Inn Yountville, Napa Valley, CA
- Vintage Hotel Yountville
Optional extras
Pets are allowed for an extra charge of USD 75.00 per accommodation, per stay
We have included all charges provided to us by this hotel. However, charges can vary, for example, based on length of stay or the room you book.
Is the description of this hotel not correct? Tell us


text:
Call our experts: 888.808.FINE
Fall Wedding Favorites $10 off order $75+ | Code: SUNNY10 Back to School Stationery
Select a quantity and printing method. Changes are easily made later.
Use this classic top fold ecru card to write notes to family and friends. Add your name in the typestyle and ink color of your choice to customize the stationery. Shown with optional monogram MON202C.


text:
Neurotically Yours
The immensely popular series about Germaine and her squirrel Foamy!
Answer strange trivia questions to survive the matches!
Epic Kiss
Some Piconjo Yaoi for all the Piconjo fan girls.
Good game
simple yet fun
altho the chain bonus seems to be broken now
I like this game because it's so fun to play. I was at first surprised that this had such a high rating, but was pleasantly surprised to find out it really was great. The best part is probably how the graphics are so good. You would be surprised at how much variety each level has. While it could have been a little more detailed, it's still great to look at. The sounds are nice and authentic too.
There's not much else to say, because it works so well in its simplicity. It's nice to know that people don't need to make stuff that's really flashy to make it enjoyable. It's so satisfying when you get through the rings. It's even funny when the plane crashes into the road! You have a lot of control over everything.
Lol XD
I fly a plan like a drunk! XD
i love this game its the best


text:
Phone: (919) 549-8411
The International Society of Automation (www.isa.org) is a nonprofit professional association that sets the standard for those who apply engineering and technology to improve the management, safety, and cybersecurity of modern automation and control systems used across industry and critical infrastructure. Founded in 1945, ISA develops widely used global standards; certifies industry professionals; provides education and training; publishes books and technical articles; hosts conferences and exhibits; and provides networking and career development programs for its 40,000 members and 400,000 customers around the world.
ISA owns Automation.com, a leading online publisher of automation-related content, and is the founding sponsor of The Automation Federation (www.automationfederation.org), an association of non-profit organizations serving as "The Voice of Automation." Through a wholly owned subsidiary, ISA bridges the gap between standards and their implementation with the ISA Security Compliance Institute (www.isasecure.org) and the ISA Wireless Compliance Institute (www.isa100wci.org).
Membership Benefits
Full ISA Membership
Automation Affiliate Membership
Student Membership
Earned Membership Grades & Reciprocal Memberships
Monday, 01 Aug - Thursday, 04 Aug, 2016
Lake Buena Vista, FL,
Thursday, 18 Aug 2016
Houston, TX,
Saturday, 24 Sep - Monday, 26 Sep, 2016
Newport Beach, CA,
Wednesday, 12 Oct 2016
Research Triangle Park, NC,
Monday, 07 Nov - Friday, 11 Nov, 2016
Houston, TX,
ISA members have access to dozens of unique benefits. Update your member profile, set your communications preferences, find products and services that are right for you, and more – all from the convenience of your ISA website.
Featured Training: ISA Boot Camps
ISA System Wide Awareness Training (S.W.A.T.)
ISA IACS Cybersecurity Training Camp (I.C.T.C.)
Featured Whitepaper: Addressing the Workforce Demands of Modern Industry
ISA to develop a new certification program as part of a $23 million grant to fund degree programs and prepare workers for careers in "Mission Critical Operations"
Cover story: Industry 4.0: Intelligent and flexible production
Monday, 01 Aug - Thursday, 04 Aug, 2016
Wyndham Lake Buena Vista Resort,
Thursday, 18 Aug 2016
Space Center Houston,
Saturday, 24 Sep - Monday, 26 Sep, 2016
Newport Beach Marriott Hotel & Spa,
Wednesday, 12 Oct 2016
ISA - International Society of Automation,
Automation Federation welcomes SANS Institute as its seventh working group
ISA publishes second edition of its best-selling book on industrial automation and control system security
ISA and ISACA to co-host 20 July webinar on the importance of integrating information technology and operational technology in industrial cybersecurity
MAVERICK Technologies, ISA's Premier Strategic Partner for Systems Integration, named one of 2016's 50 Best Companies to Watch
ISA salutes 2016 Fellows and Celebrating Excellence Award honorees
More than 130 Experion Orion Systems Improving Safety and Efficiency at Facilities Worldwide
Honeywell's Latest Experion PKS Orion Release Further Optimizes Project Execution and Performance
Ultra Electronics, 3eTI Receives ISO 9001 Accreditation for Enhanced Customer Satisfaction
Honeywell Process Controls Improving Operator Efficiency and Productivity at Russian Refinery
41st Annual Honeywell User Conference Highlights Bottom-Line Benefits of Industrial Internet Of Things
Configurable Embedded Vision System Provides Reliable Image Capture
Honeywell Launches ControlEdge Programmable Logic Controller
Honeywell Introduces Uniformance Suite as Industrial Internet of Things (IIoT) Analytics Platform
ISA has the resources and expert networks that you need – no matter what position you hold in our industries. Browse the products and services designed to meet the needs of these common industry roles:
ISA gives me the chance to work with science and engineering students in my community. Each year, my section presents an award to a middle school team in the area who compete in a national engineering competition. I feel it's my responsibility to encourage young people to explore careers in automation and engineering.
-Peter Baker, ISA Twin Cities Section member
ISA's products and services are organized by technical topic – a selection of technologies, trends, and areas of focus that are relevant to your on-the-job performance:
Jump to:
Youth engage at USA Science & Engineering Festival
AMT tells Congress to shape up
New Industrial Internet Consortium
Representatives and volunteer members of ISA and its umbrella organization, The Automation Federation, demonstrated fundamental processes of industrial automation to young people at the third USA Science & Engineering Festival, conducted 25–27 April 2014 in Washington, D.C.
More than 325,000 people—mostly primary and secondary students and their families—attended the event, the U.S.'s only national science festival, at the Walter E. Washington Convention Center. This year's festival marked the largest event ever in the history of the city's convention center.
The USA Science & Engineering Festival plays an important role in encouraging young people to pursue learning in science, technology, engineering, and mathematics (STEM) and in expanding awareness about the virtues of STEM-related career fields, including automation. Through their participation and exhibition at the festival and other events like it, ISA and the Automation Federation broaden awareness and understanding of the automation field—a foundational step in cultivating the next generation of automation professionals.
The board of directors of the Association for Manufacturing Technology (AMT) sent a letter to the U.S. congressional leadership requesting action on a bipartisan manufacturing agenda in 2014. The letter urges House and Senate leaders to consider legislation where there is common ground. It points to several initiatives with bipartisan support that would strengthen U.S. manufacturing if enacted into law, including reauthorization of the America COMPETES Act, renewal of trade promotion authority, and passage of tax, regulatory and immigration reforms.
The Revitalize American Manufacturing and Innovation Act (RAMI) recently passed the Senate Commerce, Science, and Transportation Committee. The bipartisan bill, introduced by Senators Sherrod Brown (D-OH) and Roy Blunt (R-MO), would establish a national network of regional manufacturing institutes modeled after America Makes, the pilot institute in Youngstown, Ohio that is focused on additive manufacturing (also known as 3-D printing). The Senate RAMI bill includes an amendment requiring the President to submit an updated National Strategic Plan for Advanced Manufacturing to Congress every four years.
The administration announced three new institutes earlier this year, including the Digital Manufacturing and Design Institute (DMDI) in Chicago. AMT is a partner in both America Makes and the DMDI.
AT&T, Cisco, GE, IBM, and Intel have formed the Industrial Internet Consortium (IIC), an open membership group focused on breaking down the barriers of technology silos to support better access to big data with improved integration of the physical and digital worlds. The consortium will enable organizations to more easily connect and optimize assets, operations, and data.
An ecosystem of companies, researchers, and public agencies is emerging to drive adoption of industrial Internet applications, a foundational element for accelerating the Internet of Things. The IIC is a not-for-profit group that will take the lead in establishing interoperability across various industrial environments for a more connected world. Specifically, the IIC's charter will be to encourage innovation by:
The IIC is open to any business, organization, or entity with an interest in accelerating the industrial Internet. In addition to gaining an immediate, visible platform for their opinions, consortium members will join in developing critical relationships with leaders in technology, manufacturing, academia, and the government on working committees. The IIC will be managed by Object Management Group, a nonprofit trade association in Boston, Mass. The fee structure and membership application forms are available at www.iiconsortium.org.
More from Automation Update
Manufacturers Moving to Mexico
ISA introduces cybersecurity certificate program
See all Automation Update Articles
Reader Feedback
We want to hear from you! Please send us your comments and questions about this topic to