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CNC Motion Setup/Testing Utility

P/N 70000634A

All rights reserved. Subject to change without notice.

23-December-05

13

ACU-RITE COMPANIES INC.

+ -

J7 J1 J2 J3 TB1

AMPLIFIERAC

Figure 6, Digital Brushless AC Servo Amplifier, P/N 33001279

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Summary of Contents for 4200T CNC

Page 1: ...www anilam com ...

Page 2: ...cumstances will ANILAM any affiliate or related company assume any liability for loss of use or for any direct or consequential damages The foregoing warranties are in lieu of all other warranties expressed or implied including but not limited to the implied warranties of merchantability and fitness for a particular purpose The information in this manual has been thoroughly reviewed and is believe...

Page 3: ...ctivating Manual Data Input Mode MDI 6 Balancing Motion Control Axes 7 Servo Amplifier Test Board 7 Test Board Installation 8 Test Points 8 Jumpers 8 Balancing the DSP2 Board F6 9 ANILAM Amplifier Parameter Files 11 Balancing Servo Amplifier Outputs F6 11 Setup Parameter Verification 11 Motion Setup and Testing MST 14 Amplifier Faults 16 Tuning F8 16 Saving Final Values 19 Miscellaneous Tests F9 2...

Page 4: ...nicating to the amplifier using the Servo Amplifier Communications Cable P N 33001389 between the amplifier s J1 connector and the CNC s RS 232 port The digital amplifier eliminates the need for adjusting trim pots and provides overall better performance Make sure cable is connected when doing any amplifier adjustments disconnect cable when done If using amplifiers not provided by ANILAM follow th...

Page 5: ...t Keys 4MSTSCRN Figure 1 CNC Motion Setup Testing Screen Table 1 MST Screen Areas MST Screen Area Description General Status Shows Active Modes Machine Position for each axis RPM Dwell Spindle Speed and Feedrate Active Axis and other information regarding the status of the CNC Graphic Area Displays step responses for the Signal Gain and Tuning functions Prompt Area Displays messages regarding info...

Page 6: ...screen Troubleshooting tool F4 Manual Cancels active MDI or test command F5 MDI Activates an MDI prompt F6 Balance Sends out the signal needed to Balance the outputs of the system 0 0 VDC Used to balance the Motion Control Board and the Servo Amplifiers F7 SigGain Allows you to set the servo amplifier signal gain for the active axis F8 Tuning Activates the Tuning Pop Up menu which allows the CNC t...

Page 7: ...lect and activate the corresponding axes X Activates Deactivates X axis Z Activates Deactivates Z axis S or S Activates Deactivates Spindle Axis The CNC displays the active axis in the upper left corner of the General Status area of the MST Screen Entering a Password When you enter the MST Utility and press Balance F6 SigGain F7 or Tuning F8 the CNC prompts for the password Type the appropriate pa...

Page 8: ... number of encoder lines in the setup Errors An error indicates that something is wrong either in the setup parameters or in the hardware The actual number of encoder lines found by the test Encoder Lines The resolution and counts per revolution found Encoder Resolution NOTE Resolution should be four times the number of encoder lines Once this test is activated you must move the axis for at least ...

Page 9: ... pulse in the active X axis Refer to Figure 3 To detect an index pulse 1 Move the active axis to check for the presence of an index pulse 2 On systems with rotary encoders with index pulses the index pulse should be detected once per revolution 3 On systems having linear scales the index pulse should be detected where the linear scale specifies location of the index pulse Index Pulse Indicator I Z...

Page 10: ...ct an axis 2 Balance the Motion Control Board outputs 3 Balance the Servo Amplifier outputs 4 Set Servo Amplifier gain 5 Repeat for all axes Servo Amplifier Test Board Each CNC that uses ANILAM AC motors and amplifiers P N 33001279 includes a Servo Amplifier Test Board P N 33001399 During machine operation the board provides convenient access to critical signals for alignment and troubleshooting R...

Page 11: ...gnals and potentiometers All readings are referenced to TP2 P2 1 4 Motor Current output monitor The scale factor is 1V 7 5A P2 2 5 Analog Out P2 3 6 Limit In P2 4 7 Limit In P2 5 8 Clamp input from the SCB When pulled to chassis ground the servo s output is forced to 0 VDC P2 6 9 Fault output When the servo card is faulted the output is pulled low P2 7 3 Common JMP1 1 Signal If JMP1 is removed the...

Page 12: ...3 of the J2 input connector on the ANILAM Servo Amplifier Board All DSP2 Boards are adjusted at the factory and should be within limits Only balance the DSP2 Board if it is not at 0 VDC 0 001 V NOTE On 4200T systems the DSP2 Board is located inside the CNC console Open the CNC chassis by loosening the thumbscrews and opening the cover Balance the DSP2 Board with the servos off initially Next verif...

Page 13: ...etup Testing Utility P N 70000634A All rights reserved Subject to change without notice 23 December 05 10 33001102 Output Balance Pot Port 0 Port 1 Port 2 Port 3 Figure 5 ANILAM DSP2 Board Balance Pots P N 33001102 ...

Page 14: ...lename DIGAMP BK where corresponds to the specific axes It is recommended that after making any amplifier parameter settings that these settings be saved on the CNC for easy restore if needed To save the parameter settings on the CNC 1 Select the Axes 2 Press Misc F9 3 Select Backup Amp Settings For later restore of the saved parameter settings from the backup 1 Select the Axes 2 Press Misc F9 3 S...

Page 15: ...ment mV 0 5 Signal Gain adjustment 0 10 Compensation adjustment 0 02 6 Select Active digital amplifiers to display the Active Digital Amplifiers menu Press ENTER to toggle to Enable when using ANILAM AC amplifiers Toggle to Disable when using any other amplifier IMPORTANT For ANILAM AC Brushless Digital Servo Amplifiers set Active digital amplifiers to ENABLE If using amplifiers not provided by AN...

Page 16: ...tup Testing Utility P N 70000634A All rights reserved Subject to change without notice 23 December 05 13 ACU RITE COMPANIES INC J7 J1 J2 J3 TB1 AMPLIFIERAC Figure 6 Digital Brushless AC Servo Amplifier P N 33001279 ...

Page 17: ...by pressing the corresponding key on the keypad X Z or S 5 Press Balance F6 to perform the balance test on the selected amplifier axis and display the balance test screen Refer to Figure 7 4200BALANCE Figure 7 Balance Test Screen 6 Use the keypad up and down ARROW keys to change the axis offset until the selected axis reads 0000 Use the left and right ARROW keys to change the Offset value 7 To can...

Page 18: ... keypad up and down ARROW keys to change the signal gain until FEED reads 20 0 or 10 of Rapid 10 To cancel the signal gain test press MANUAL F4 otherwise press Misc F9 to display the Miscellaneous Menu 11 Select Save Amp Settings to save the amplifier settings to the amplifier 12 Press Misc F9 to display the Miscellaneous Menu 13 Select BackUp Amp Settings to backup the amplifier settings to a fil...

Page 19: ... Inhibit Tuning F8 NOTE ANILAM recommends that you set signal gain and balance the servo amplifier as discussed in previous text before tuning CAUTION Most machines will operate correctly with the default filter parameters Only qualified technicians who have knowledge of motion control tuning parameters should use this tool The Tuning function can determine optimum values within constraints you sp...

Page 20: ...st you must have at least 2 5 63 mm of travel in the positive direction Next the CNC calculates Kp proportional gain If the current overshoot is smaller than the set one Kp is increased by 1 If it is larger Kp is decreased by 0 1 If you have selected Ki integral gain the CNC then calculates Ki and Il integral limit If the lag between the commanded position and the actual position is not zero Il is...

Page 21: ...vershoot must be greater than Kd overshoot Table 7 Tuning Functions Values Parameter Function Kp Overshoot Determines amount of overshoot the CNC will seek before ending the Kp cycle 1 to 5 is a normal overshoot range for this test If detected overshoot exceeds the entered OvSht the cycle ends Default 5 Kd Overshoot Sets limit for Kd overshoot Default 2 Kp min Sets Kp to starting value during prop...

Page 22: ...F8 and highlight Save Results 2 A pop up is displayed with the following options No Motion Feed Rapid ALL Tables Highlight the table to which you wish to save the final values and press ENTER This overrides the values in the Setup Utility Normally choose All Tables 3 The CNC stores the new values in the configuration file 4 Or press Cancel F9 NOTE ANILAM recommends that you back up your configurat...

Page 23: ...ith the Servo Amplifier Test Board installed See Servo Amplifier Test Board The pop up does not display the notation CanBus Test Save Amp Settings Amplifier Test Link Reset Amplifier BackUp Amp Settings Restore from BackUp CanTest Refer to Figure 11 Press Misc F9 to display the Miscellaneous Test pop up window Select CanBus Test to display the graphic area and to troubleshoot the status of all inp...

Page 24: ... and their status 2 Line 2 of the graphic area indicates the basic machine I O status 3 Line 3 of the graphic area indicates The address of the active node Possible values are 0 to 5 The number of message packets lost between the node and the controller This should be 0 The number of times the node has signed on since the control started This should be 1 unless power was interrupted The node bus t...

Page 25: ...LAM AC Drive is enabled open the Parameter IAS 100 PWM RPM Value will be displayed and you will be able to modify it using the up down arrow keys Also the Compensation equivalent to Comp Pot parameter GVC Velocity Loop Master Gain will also be displayed you will be able to modify it by using right left arrow keys Every time you press the arrow keys the value will be incremented by the amount enter...

Page 26: ...the amplifier and creates a backup file named DIGAMP BK where is the selected axis name i e X Z This file is stored on the hard disk drive NOTE The backup file is compatible with the file generated by MotionMaestro When functions pertaining to ANILAM AC Drive are selected the user needs to have a RS 232 communication cable connected between the amplifier and the CNC Restore from BackUp This featur...

Page 27: ...xis and Z axis in the previous sections Substitute C axis whenever the procedures require you to select an axis Use M19 to enable C axis programming and M05 to disable C axis programming After you enable the C axis you can use the C key on the keypad to activate or deactivate the C axis For additional information on C axis programming refer to the 4200T CNC Programming and Operations Manual P N 70...

Page 28: ...ettings 11 settings backup 23 test board description 7 illustration 7 test points and jumpers listed 8 test link miscellaneous tests description 22 analog input offset 22 axis resolution checking 5 axis selecting 4 B backup amp settings description 23 procedure 11 select 15 backup file miscellaneous tests description 23 backup restore from amp parameters 23 Balance F6 3 9 11 22 balance adjustment ...

Page 29: ...llaneous tests 20 final step responses 18 G general status area illustration 2 graph area illustration 2 H Home SHIFT F4 3 homing sequence 3 I Il integral limit 17 index pulse detecting 6 indicator illustration 6 IndexP F3 3 6 installation test board 8 integral gain Ki 17 integral limit Il 17 introduction 1 invert DAC output to set 12 J jumpers description 8 K Kd derivative gain 17 Ki integral gai...

Page 30: ...ulse 6 S save amp settings description 22 select 15 saving tuning test values 19 24 screens balance test illustration 14 CanBus Test illustration 20 CNC Motion Setup Testing illustration 2 CNC Resolution Check ResCheck illustration 5 signal gain test illustration 15 Software Options 1 Tuning Parameters Test Results illustration 19 24 selecting an axis 4 servo amplifier See amplifier setting signal...

Page 31: ...NILAM Elettronica s r l 10043 Orbassano Strada Borgaretto 38 Torino Italy 39 011 900 2606 39 011 900 2466 info anilam it Taiwan ANILAM TW No 246 Chau Fu Road Taichung City 407 Taiwan R O C 886 4 225 87222 886 4 225 87260 anilamtw anilam com United Kingdom ACI UK Limited 16 Plover Close Interchange Park Newport Pagnell Buckinghamshire MK16 9PS England 44 0 1908 514 500 44 0 1908 610 111 sales aciuk...

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