CKD AX0180 Instruction Manual Download Page 101 | Manualshive

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[SMB-66E]

－

93

－

PROCESS

FLOW

7

7.7 Tuning Mode

GAIN

SW

”

00

”

?

Friction load

entry

（

PRM87

）

TUNING

MODE

Oscillation

angle

（

PRM89

）

GAIN entry

（

PRM83

）

OK to Turn

Servo off?

OK to Turn

oscillate?

Oscillate

Checking “stop”

Adjust SW

to

”

00

”

is displayed

Excute

Tuning?

GAIN

Change?

GAIN

Change

ＣＷ

action

ＣＣＷ

action

Reset

GAIN

Change?

GAIN

Change

GAIN

entry

Does any

Alarm occur?

Servo on is

displayed

Reset

Alarm display

1

，

2

，

3

，

4

3

2

1

N

Y

N

Y

N

Y

N

Y

N

Y

N

Y

N

Y

N

Y

＜

TUNING

＞

＜

GAIN

＞

＜TEST＞

Alarm

display

MOVING TIME

MOVING

ANGLE entry

GAIN

entry

”

Cancelld

”

is displayed

Excute

Tuning?

＜ＣＷ＞

＜ＣＣＷ＞

＜

GAIN

＞

＜

RESET

＞

Error message

is displayed

The [TEST]

menu

is displayed

The [TUNING]

menu

is displayed

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Summary of Contents for AX0180

Page 1: ...r Common z Before operating the product read this instruction manual without fail z Among all carefully read the description related to safety z Keep this instruction manual in a safe place so that yo...

Page 2: ...injury WARNING Indicates a potentially hazardous situation if not avoided could result in death or serious injury CAUTION Indicates a potentially hazardous situation if not avoided may result in mino...

Page 3: ...applied for these operations after all safety aspects are confirmed z Keep hands away from the rotating part as sudden motion may take place during gain adjustments or trial run Make sure of the safet...

Page 4: ...with the driver only when it is used Leave it unconnected when it is not used z Do not give a large pressure or impact on the machine Otherwise failure will be caused z Do not press the displaying un...

Page 5: ...signated contractor Loss in our product assembled to your machine or equipment which would be avoided if your machine or equipment were provided with general functions structures or other features com...

Page 6: ...4 Program editing continuation procedure 12 2 4 5 Procedure for storing the editing program to the ABSODEX driver 13 2 4 5 1 If a program error is caused when the program is stored 14 2 4 6 Program nu...

Page 7: ...ase 34 2 7 Motion Mode 35 2 7 1 Program starting procedure 35 2 7 2 Program stopping procedure 35 2 7 3 Execution program selection procedure 36 2 7 4 Alarm resetting procedure 36 2 7 5 Single block p...

Page 8: ...e 50 2 9 3 Test Operation procedure 51 3 PROGRAM 3 1 Program Format 53 3 2 Cautionary Items 53 3 3 Code List 55 3 4 Sample Programs 59 3 5 Error Code List 62 4 PARAMETER 4 1 Parameters and Contents 63...

Page 9: ...the desired sample program to create the desired program b Display mode The input output statuses of input output signals at CN3 of the ABSODEX driver are displayed as well as the current actuator po...

Page 10: ...acters 256 Copy Program capacity 16KB Parameter Parameters 1 to 17 19 to 23 27 to 29 33 to 39 42 45 to 57 62 to 67 70 to72 Note2 Except for 49 and 55 Note1 The position displayed during actuator rotat...

Page 11: ...Use it as a semi colon key in the NC programming mode The key is invalid in the other instances DEL Delete key The character at the cursor is deleted If there is no character at the cursor the charac...

Page 12: ...re provided for the Teaching Pendant 1 Edit mode You can edit the program 2 Display mode You can monitor the status of input output signals or actuator position 3 Parameter mode You can change paramet...

Page 13: ...hanged 8 DEL The designated program is deleted from the ABSODEX driver 9 SAMPL Nine sample programs NC are loaded 2 4 1 Creation procedure of equal segment action program 1 Select 1 EQL SEG from the e...

Page 14: ...t also the time seconds can be entered Press SHIFT to change to seconds or press SHIFT to change to RPM Note1 The data will be deleted if the unit is changed after data entry Note2 A program that does...

Page 15: ...curve and indexing time Enter the MS curve 6 segments and traveling time 0 15 seconds The maximum rotation speed exceeds 100rpm and therefore the time is automatically corrected to 0 18 seconds Note F...

Page 16: ...o settle is rather longer The delay timer is inserted in the NC program in the dwell command Specify the time after brake release to rotation command issuance upon a travel command in parameter 27 del...

Page 17: ...menu is displayed After all settings are entered the program storage process starts Refer to Section 2 4 5 Procedure for storing the editing program to the ABSODEX driver Reference 1 You can always pr...

Page 18: ...ot move if is missing at the end of the current block DEL key One character at the cursor is deleted Single block delete Move the cursor to the N position at the start of the block and press the DEL k...

Page 19: ...river is entered the following error message is displayed If the number of characters of the loaded program exceeds 2000 the following message is displayed The program is displayed as in regular cases...

Page 20: ...has no program memory 2 4 4 Program editing continuation procedure 1 Select 4 CNT from the edit mode menu For the selection method follow the mode selection procedure If the Teaching Pendant has no p...

Page 21: ...f registration of a new program The program is stored in the ABSODEX driver If the program labeled with the same number already exists A message is displayed to indicate that the designated number is...

Page 22: ...rn to the previously designated number Designate the number if necessary Selecting N The mode selection menu is displayed again b If the stored program is NC program The mode selection menu is display...

Page 23: ...he edit mode menu For the selection method follow the mode selection procedure 2 A list of program numbers stored in the ABSODEX driver is displayed Press to view all numbers next to the number indica...

Page 24: ...EDIT from the following menu 3 The number of the program being edited is displayed at the upper right Enter the new number and press 4 The following message is displayed and the number changes The edi...

Page 25: ...umber again 4 Enter a new number one not registered in ABSODEX and press If a number found in the ABSODEX driver is entered the following error message is displayed Enter a new number 5 The following...

Page 26: ...ng error message is displayed Enter the number again To delete all programs from the ABSODEX driver enter 999 and press To delete all programs select Y Otherwise select N Press 3 The following message...

Page 27: ...Follow the NC program editing procedure to modify the program if necessary After editing press Change the program number if necessary before storing the edited program Refer to Section 2 4 7 Edit pro...

Page 28: ...e mode selection menu and press 6 The motion menu is displayed Press to select 3 NO 7 The number selection screen is displayed Enter the stored number and press 8 The motion menu is displayed again Pr...

Page 29: ...rding to the selected I O function For serial communication interface such as CC Link press ls to scroll down and display the status of TB3 emergency stop input 2 2 5 1 1 Program number selection disp...

Page 30: ...DEG Actuator temperature will display the temperature calculated by the electronic thermometer Press or to switch between the information to display 2 5 3 Alarm displaying procedure Alarm number Descr...

Page 31: ...2 5 4 1 Actuator information displaying procedure 1 Select 1 ACTU from the ABSODEX information menu 2 Then the actuator model number is displayed Following information can be displayed in the actuator...

Page 32: ...ersion of driver side CB 5 Gain switch settings 6 Stored program numbers 7 History of triggered alarms When there is an alarm above information may not be displayed correctly Press or to switch betwee...

Page 33: ...the RAM data and parameters in the driver are overwritten by the FLASH MEMORY parameters if the FLASH MEMORY is changed and the power is turned on again 2 6 1 Parameter data changing procedure To chan...

Page 34: ...er number and press b Pressing or to switch the display When the cursor is located at the parameter number press or to display the previous or next parameter 2 6 1 2 Changing the input unit of paramet...

Page 35: ...k to the parameter number Each parameter has the corresponding setting range If excessive data is entered an error message is displayed Even if this happens the entered value remains on the screen How...

Page 36: ...lue of the parameter setting range Press to return to the previous screen 2 6 1 5 Canceling entered data Press or MODE during data entry The entered data is canceled 2 6 1 6 After changing parameter d...

Page 37: ...ing Pendant the following message is displayed Load parameters from the ABSODEX driver to Teaching Pendant first before storing parameters If the teaching pendant which contains parameters for one typ...

Page 38: ...ng 1 Select 4 INITIA from the parameter menu and press 2 Parameters in the FLASH MEMORY and RAM of the driver are initialized Parameters kept in the Teaching Pendant are not deleted For the initial va...

Page 39: ...he regular data entry procedure to enter However the RAM changing process stores each parameter to the RAM so that the following screen is displayed after the data settles Select whether or not to sto...

Page 40: ...n number 2 Baud rate Press or to switch between the items that can be set Press during data entry to display the setting range for that item Press to return to the original screen When a value outside...

Page 41: ...return to the original screen When a value outside of the setting range is entered the message on the right is displayed Press MODE after configuring the settings 3 When MODE is pressed the message o...

Page 42: ...urn to the original screen When a value outside of the setting range is entered the message on the right is displayed Press MODE after configuring the settings 3 When MODE is pressed the message on th...

Page 43: ...ART menu option Automatic operation of the program currently selected in the ABSODEX driver begins Same function as communication code S1 The cursor blinks in the position of 1 If no program number is...

Page 44: ...2 Data about the current alarm is displayed Check If there are two or more alarms press or to scroll If there is an alarm you cannot execute START SINGLE or MDI The following message is displayed Dete...

Page 45: ...cuted immediately and the menu is displayed again For the NC code refer to Section 3 3 Code List If execution does not start press the MODE key The menu is displayed again 2 7 7 Brake application proc...

Page 46: ...lign the position in the servo on state 2 7 11 Home position offset entry procedure 1 Turn the servo off Refer to Section 2 7 10 Servo deactivation procedure 2 Turn the output shaft of the actuator ma...

Page 47: ...amount entry screen is displayed 4 Next press The cursor moves to the position of the setting Enter 0 and press 5 Press MODE to return to the menu and select 3 STORE and press The offset amount is res...

Page 48: ...moves to the upper line and the data sent back from the ABSODEX driver is displayed in the lower line in the received data indicates the end of data 4 After checking press The received data moves to t...

Page 49: ...s values are sent back in response to the code starting with L If there is no predetermined value 0 during normal operation is displayed If the entry format of the code is wrong is sent back At this t...

Page 50: ...a As an example the method for changing the cam curve parameter number 1 into a deformed trapezoid curve number 3 is described b For the description of the parameter use the following code L9 _ parame...

Page 51: ...SMB 66E 43 OPERATION 2 2 7 14 Home return procedure Press or until 1 HMERTN is displayed and press A home return is executed Same function as G code G28 The cursor blinks in the position of 1...

Page 52: ...e and release the brake 2 7 15 3 Jogging method 1 Press or until 2 JOG MODE is displayed and press 2 Enter the jogging speed parameter PRM14 Enter the jogging speed and press 3 Enter the jog accelerat...

Page 53: ...o Teaching Pendant Connect Teaching Pendant to the destination driver and execute the storage process The READ and STORE procedures are described 2 8 1 Procedure for loading from ABSODEX driver to Tea...

Page 54: ...before any parameters are stored Y to store the indicated parameters otherwise select N If data not found in Teaching Pendant is designated the following message is displayed If the teaching pendant w...

Page 55: ...motion may take place during gain adjustments or trial run Make sure of the safety in the full revolution of the actuator before turning it on to adjust Make sure that the safety is assured to operate...

Page 56: ...smaller value for smaller oscillation angle 5 The response is set 1 to 32 Normally 10 is entered The response changes according to the input value as follows 1 to 10 soft 11 to 22 medium 23 to 32 hard...

Page 57: ...auto tuning is finished the TUNING mode menu is displayed and the cursor moves to 3 TEST Refer to Section 2 9 3 TEST Procedure When an alarm is present data of an alarm currently in presence is displ...

Page 58: ...use the actuator to vibrate violently and pose a danger After all safety aspects are confirmed increase the value by 1 2 or 3 During gain adjustments the actuator may oscillate greatly or an alarm may...

Page 59: ...ed the gain is adjusted Refer to Section 2 9 2 GAIN Procedure When 4 RESET is selected the alarm is reset Press MODE to return to the menu In the TEST menu some G code is set by the MDI mode M3 Contro...

Page 60: ...SMB 66E 52 OPERATION 2 MEMO...

Page 61: ...d simultaneously Do not specify the M code in group D together with M codes in other groups in a single block 3 If two or more M codes in different groups other than group D are specified in a single...

Page 62: ...he M code output signal will not be issued 12 The maximum program length that can be entered is 3970 including the number of letters semi colons and numbers and the number of entered NC programs Examp...

Page 63: ...1 to 300 00 Note Unit rpm 0 01 to 100 00 Unit sec M Auxiliary function 0 to 99 Refer to Section 3 M Code P Dwell 0 01 to 99 99 Unit sec G4P Designation of sub program number 0 to 999 Program No M98P G...

Page 64: ...he next block Input Method G4 P G8 G08 Acceleration time for continuous rotation Acceleration takes place for the time specified by P for continuous rotation Input Method G8 P0 5 acceleration time 0 5...

Page 65: ...between 0 to 360 in the CW direction G90 3 CCW direction absolute dimension The actuator moves to the CCW direction with the value A as the one 1 rotation absolute value from the coordinate home posi...

Page 66: ...romagnetic brake for the brake and dose not make servo system integral control Turn off across the BK and BK terminals of the driver M69 Brake Releasing Electromagnetic brake for the brake and makes s...

Page 67: ...gram Explanation N1G90 1G105G11 Full revolution absolute angle time N2A90F1 5 Travel to the 90 absolute coordinate position in 1 5 sec on the shortest route N3M30 End of program 3 Full revolution incr...

Page 68: ...on speed N2A271 23F30 Travel to the 271 23 position at 30rpm N3M30 End of program If the rotation speed is high and the traveling amount is smaller the acceleration may become too large to cause alarm...

Page 69: ...ol the brake of ABSODEX equipped with a brake Issue an M code after an action to notify the external programmable logic controller of completion of the action Program Explanation N1G90 1G105G11 Full r...

Page 70: ...ion of error 0 Undefined 1 There is no program number The M30 code is missing 2 Codes in the same group simultaneous existence of which is prohibited are in the same block 3 The data exceeds the setti...

Page 71: ...tioning speed Sets the maximum home positioning speed Communication code S4 home positioning instruction input and NC code G28 will enable home positioning 1 0 to 100 0 2 0 rpm Note 6 Acceleration and...

Page 72: ...s Sets numbers of confirmation times when at in position Confirming in position for specified sampling times will output positioning completion and in position signals 1 to 2000 1 Time Note1 18 Positi...

Page 73: ...calculated by electronic thermal Setting not feasible Note2 25 Upper limit of actuator temperature rise Parameter 24 exceeding the set temperature will cause the alarm 4 Setting not feasible 70 Note4...

Page 74: ...ogram numbers 1 4 bit 2 times BCD No range 0 to 99 2 4 bit 2 times Binary No range 0 to 255 3 5 bit 1 time Binary No range 0 to 31 4 6 bit with start Binary Program number is not set after emergency s...

Page 75: ...d 0 to 1000 100 msec 48 Controlled stop upon alarm Select whether the controlled stop function is validated or invalidated upon an alarm 1 Valid 2 Invalid 1 to 2 2 50 Encoder output resolution Specify...

Page 76: ...n again to validate the setting 0 to 1 0 54 Function selection of I O input signal CN3 16 bit 11 0 Answer input 1 Position deviation counter reset input After setting turn the power off then on again...

Page 77: ...t load The best integration limiter setting varies according to gain adjustment 1 to 540672 100000 Pulse 70 Q value of notch filter 1 Sets the band width of notch filter 1 0 1 to 9 9 1 71 Q value of n...

Page 78: ...0 indicates no execution of auto tuning 1 to 32 0 87 Auto tuning torque Designate the torque of auto tuning action If the friction load is too large to cause alarm U increase the parameter in 100 inc...

Page 79: ...tion deviation amount is exceeded Speed limit over Setting of PRM 20 speed over limit is exceeded Encoder output max frequency over The maximum encoder output frequency is exceeded 2 Regenerative resi...

Page 80: ...y stop input has been supplied when the servo on after stop parameter PRM23 is set at 1 An emergency stop input is supplied when the servo on after stop parameter PRM23 is set at 1 An emergency stop i...

Page 81: ...after an M code output exceeds the PRM11 setting The no answer time at positioning completion output exceeds the PRM11 setting A start input is supplied while an answer is waited for A home return in...

Page 82: ...function The 7 segment LED on the left side shows an r and a dot without an alarm The 7 segment LED on the right side shows the operation mode For reduced wiring specification option U2 U3 or U4 is se...

Page 83: ...string input signal Disable motions by using the NC program and changing parameters To change switch to M1 to M5 2 Motion Instructions Code Description Input Data Type Remarks S1 Start S1 Same functi...

Page 84: ...utput Unit Pulse Coordinate G92 coordinate L5 Position Data 8 digit maximum 9999999 to 9999999 Example 4321 L6 Current Position Output Unit Degree Coordinate G92 coordinate L6 Position Data 9 digit ma...

Page 85: ...etting program number to 9999 will delete all programs Program number 12345 will initialize the system 0 L18 Change of Program Number L18_ Current Program Number _ New program number Example L18_100_2...

Page 86: ...ror 1 Reception data does not reach for 10 seconds from ABSODEX driver after data is sent 2 The reception action is not stopped for 60 seconds or over even after the storage buffer capacity is surpass...

Page 87: ...SMB 66E 79 PROCESS FLOW 7 7 PROCESS FLOW 7 1 Power on Power ON Opening Screen Mode Selection Screen MODE EDIT MODE DISPLAY MODE PARA MODE MOTION MODE COPY MODE TUNING MODE...

Page 88: ...SMB 66E 80 PROCESS FLOW 7 MEMO...

Page 89: ...ntry Interactive setting entry Parameter change 1 The STORE menu is displayed Program number list Program number list Program number entry NC program entry Program number entry Interactive setting ent...

Page 90: ...d program is stored in the ABSODEX driver RAM change in case of equal segmentation with parameter change Return to mode selection screen Cursor in edit mode position Motion mode process Program execut...

Page 91: ...SMB 66E 83 PROCESS FLOW 7 EDIT ABSODEX LIST NO 6 4 Program number list EDIT MODE Editing program change New number entry ABSODEX driver program number change Entry of old and new numbers 5...

Page 92: ...AMPL Interactive setting entry 6 5 Selection of edited sample program 7 Sample program editing 7 1 The entered number is deleted from the ABSODEX driver All programs are deleted from the ABSODEX drive...

Page 93: ...SMB 66E 85 PROCESS FLOW 7 7 3 Display Mode ALARM POSI I O status display DISPLAY MODE Motor position display MODE MODE Alarm data display MODE MODE AX INFO display...

Page 94: ...SMB 66E 86 PROCESS FLOW 7 MEMO...

Page 95: ...r FLASH MEMORY and displayed PARA MODE 2 Parameter change process The STORE menu is displayed Parameters kept in Dialogue Terminal are displayed Parameter change process 1 Parameters kept in Dialogue...

Page 96: ...er FLASH MEMORY and RAM are initialized The RAM menu is displayed The RAM menu is displayed Station NO entry Turn Off Message is displayed Registere Y N CCLink PROFI DVNet MODE The designated paramete...

Page 97: ...ram start 1 Menu screen 1 Menu screen 2 STOP Stop NO Program number entry RESET Alarm display Reset SINGLE 2 Single block execution MDI MDI data entry BRK ON Brake application BRK OFF Brake release 2...

Page 98: ...screen 4 SRV OFF Servo deactivation OFST Entry of current motor position as an offset TERM Transmission data input Reception data display HMERTN Home return CCW Jog speed entry Jog acceleration decel...

Page 99: ...a selection 2 3 PRGM All programs are loaded from the ABSODEX driver to Dialogue Terminal PARA Parameters are loaded from the ABSODEX driver EEPROM to Dialogue Terminal BOTH Both programs and paramete...

Page 100: ...on 3 PRGM All programs are stored from Dialogue Terminal to ABSODEX driver PARA Parameters are stored from Dialogue Terminal to the ABSODEX driver EEPROM and RAM BOTH Both programs and parameters are...

Page 101: ...s displayed Excute Tuning GAIN Change GAIN Change action action Reset GAIN Change GAIN Change GAIN entry Does any Alarm occur Servo on is displayed Reset Alarm display 1 2 3 4 3 2 1 N Y N Y N Y N Y N...

Page 102: ...SMB 66E 94 PROCESS FLOW 7 MEMO...

Page 103: ...REVISIONS Print Data Edition Chapter Revision 2010 12 1st First Edition 2011 6 2nd 2 2 5 The description in Display Mode is modified SMB 66E...

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