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CNC Motion Setup/Testing Utility

P/N 70000634C

All rights reserved. Subject to change without notice.

November 2009

7

Balancing Motion Control Axes

To balance the outputs properly, all connections between the CNC and
the servo amplifiers must be complete.

Perform all adjustments on one axis at a time. Make the adjustments in
the following order:

1. Select 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

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Summary of Contents for 4200T

Page 1: ...www anilam com 4200T CNC Motion Setup Testing Utility...

Page 2: ......

Page 3: ...al Data Input Mode MDI 6 Balancing Motion Control Axes 7 Differential AC Systems and Single Ended DC Systems DSP2 Board 8 DC Systems 9 Servo Drive Test Board 9 Balancing the DSP2 Board F6 10 Balancing...

Page 4: ......

Page 5: ...ing motor step response is displayed in open loop If using amplifiers not provided by ANILAM follow the manufacturer s guidelines for balancing signal gain setting and overall adjustments The CNC prov...

Page 6: ...reen 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 t...

Page 7: ...4 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...

Page 8: ...s Z Activates Deactivates Z axis S or S Activates Deactivates Spindle Axis X Z S C The CNC displays the active axis in the upper left corner of the General Status area of the MST Screen Entering a Pas...

Page 9: ...mething 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...

Page 10: ...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...

Page 11: ...s To balance the outputs properly all connections between the CNC and the servo amplifiers must be complete Perform all adjustments on one axis at a time Make the adjustments in the following order 1...

Page 12: ...differential see Figure 4 The earliest AC systems were single ended DSP2 boards For DC systems the DSP2 board P N 33001102 is single ended see Figure 5 NOTE In the illustrations see the difference in...

Page 13: ...o critical signals for alignment and troubleshooting Refer to Figure 6 description NOTE The test board works only with amplifiers supplied by ANILAM Figure 6 ANILAM DC System Servo Drive Test Board P...

Page 14: ...at Pin 3 of J1 Jumpers While troubleshooting you can remove jumpers to isolate the Servo Drive from the DAC outputs of the Motion Control Board If you short Pin 2 of JMP1 and JMP2 together the Servo...

Page 15: ...output a zero voltage signal to the axis 2 Press START 3 Refer to Figure 7 Make adjustments for axis outputs 0 3 on the DSP2 Board at potentiometers R108 R111 respectively 4 Adjust the potentiometer f...

Page 16: ...ERTEMP 16 LOOP GAIN POT RESET SWITCH J1 COMMON SIGNAL TACH DIFF SIG GAIN SIG GAIN TACH GAIN COMP RUN OVER TEMP OVER VOLT LS ECB HS ECB J2 LEDS TEST POINTS DIFF GAIN SIG GAIN BAL TACH COMP IR COMP FLDB...

Page 17: ...D CONDITION OFF ON RUN 2 FLASHES ON LIMITS OFF OFF AMPLIFIER INHIBIT ON OFF RESET 1 FLASH OFF OVERTEMP 2 FLASHES OFF OVERVOLTAGE 3 FLASHES OFF LS ECB 4 FLASHES OFF HS ECB Figure 9 ANILAM Servo Amplifi...

Page 18: ...OFF PULL UP EXT FAULT OFF OFF OFF OFF OFF PULL UP UNDER VOLTAGE 15V OFF OFF OFF OFF OFF PULL UP HS ECB LATCHED OFF ON OFF OFF OFF PULL UP LS ECB LATCHED OFF OFF ON OFF OFF PULL UP OVER VOLTAGE B LATCH...

Page 19: ...d the amplifier is inhibited NOTE This is a latched condition For 1 LED amplifiers The Green LED turns off the Red LED displays 4 flashes a Fault Output is generated and the amplifier is inhibited NOT...

Page 20: ...ty cycle due to mechanical overload of motor or defective motor Over Voltage Fault When the DC Buss voltage reaches 250VDC For 5 LED amplifiers The Run LED turns off the OVER VOLTAGE LED turns on a Fa...

Page 21: ...9V output is used during this procedure The gain is adjusted at 10 of the machine s maximum Rapid speed using the fastest axis 1 Energize the servos and select an axis 2 Press SigGain F7 3 Refer to Fi...

Page 22: ...the signal gain pot until the displayed feedrate is at 10 of the machine s maximum Rapid speed using the fastest axis The machine builder sets the maximum Rapid speed in the Setup Utility 6 Press Man...

Page 23: ...liminates 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...

Page 24: ...Pin Signal TP1 1 Command Signal TP2 3 Common for all servo signals and potentiometers All readings are referenced to TP2 TP3 2 Command Signal P2 1 4 Motor Current output monitor The scale factor is 1V...

Page 25: ...can also be found on Pin 1 and Pin 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...

Page 26: ...tally through the communications cable and the CNC Parameter settings can be sent from the CNC to the amplifier and vice versa The parameter settings are saved on the CNC in C P4T under the filename D...

Page 27: ...NILAM follow the manufacturer s guidelines for balancing signal gain setting and overall adjustments 5 Verify the following Digital Amplifier Settings menu values as follows and change as required Bal...

Page 28: ...sting Utility P N 70000634C ACU RITE COMPANIES INC J7 J1 J2 J3 TB1 AMPLIFIERAC Figure 14 Digital Brushless AC Servo Amplifier P N 33001279 AC Systems All rights reserved Subject to change without noti...

Page 29: ...ect an axis to be tested 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 Refe...

Page 30: ...RROW keys to change the signal gain until FEED reads 20 0 or 10 of Rapid 4 To cancel the signal gain test press MANUAL F4 otherwise press Misc F9 to display the Miscellaneous Menu 5 Select Save Amp Se...

Page 31: ...orrect the cause of the fault before repeated recycling of power to the amplifier to prevent possible damage Table 9 Amplifier LED Indicators Red Green Condition Off Off No power Off On Enabled On Off...

Page 32: ...ound and CNC is calibrating Warning CNC lost a node and is actively searching for active nodes Bus off Fatal error The bus has turned itself off due to errors 1 Line 1 of the graphic area indicates th...

Page 33: ...ion link between the CNC and ANILAM AC Drive is enabled open the Parameter IAO Analog 1 Input Offset will be displayed and you will be able to modify it by using the up down arrow keys Use right left...

Page 34: ...equipped with an ANILAM AC Amplifier P N 33001279 and with the Servo Amplifier Communications Cable P N 33001389 connected This resets the AC Amplifier BackUp Amp Settings This feature is only for sys...

Page 35: ...mplifier Communications Cable P N 33001389 connected To restore amplifier parameters from backup 1 Select an axis i e X Z 2 Press Misc F9 to display the pop up menu 3 Highlight Restore from BackUp and...

Page 36: ...this test Refer to Figure 19 Tuning Parameters Test Results Screen The Tuning Test has a setup screen that enables you to configure the extent of the test Check the setup parameters run the test and t...

Page 37: ...elected The CNC will attempt to decrease the overshoot until the set value Kd overshoot is matched When this condition is not matched Kd is increased by 2 If you have chosen to test only one axis the...

Page 38: ...vershoot 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 proportional tuning Default 1 5 Press START The C...

Page 39: ...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 C...

Page 40: ...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 deact...

Page 41: ...reen illustration 26 test board installation 20 test points listed 20 accessing MST 1 activating MDI 6 MST screen 2 active digital amplifier to set AC systems 23 active status codes area illustration...

Page 42: ...heck screen illustration 5 troubleshooting tools listed 1 command amplifier test link description AC systems 30 compensation adjustment mV setting AC systems 23 configuration file back up 35 D DC syst...

Page 43: ...AC systems 26 29 F7 SigGain DC systems 17 F8 Tuning 3 32 35 F9 Misc 3 F9 Misc AC systems 27 fault conditions 1 LED servo amplifier table DC systems 14 5 LEDs servo amplifier table DC systems 14 HS ECB...

Page 44: ...ckup AC systems 31 save amp settings AC systems 29 monitor amplifier test link description AC systems 30 motion control axes balancing 7 Motion Setup Testing See MST MotionMaestro AC systems 30 MST ac...

Page 45: ...ts and jumpers listed DC systems 10 setting signal gain AC systems 26 DC systems 17 SigGain F7 3 SigGain F7 AC systems 26 29 SigGain F7 DC systems 17 signal gain adjustment setting AC systems 23 setti...

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Page 48: ...70000634C 1 11 2009 Printed in USA 333 East State Parkway Schaumburg IL 60173 5337 USA HEIDENHAIN CORPORATION 1 847 490 1191 1 847 490 3931 E Mail info heidenhain com www heidenhain com...

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