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Summary of Contents for MOTIONPACK-110

Page 1: ...I DESCRIPT IVE INFORMATION MOTIONPACK 110 YASKAWA MOTION CONTROLLER FOR FA FMS FOR UP TO 3 AXIS DRIVE V YASKAWA...

Page 2: ...Operation Mode DNC 24 3 1 8 MDI Operation Mode MDI 24 3 2 MANUAL RETURN TO REFERENCE POINT 24 3 3 FEEDRATE 26 3 3 1 Rapid Traverse Rate 26 3 3 2 Interpolation Feedrate Setting F FUNCTION 27 3 4 FEEDR...

Page 3: ...r Interpolation G01 48 4 2 5 Circular Interpolation G02 G03 48 4 2 6 Dwell G04 51 4 2 7 Offset Value Input G10 51 4 2 8 Plane Designation G17 G18 G19 53 4 2 9 Automatic Return to Reference Point G28 5...

Page 4: ...97 5 5 9 Combined Operation Command G83 Setting Data 1202 99 5 6 SERVO RELATED PARAMETERS 99 5 6 1 Acceleration Deceleration Constant 1407 1607 1807 1501 to 1503 1701 to 1703 1901 to 1903 99 5 6 2 In...

Page 5: ...rm Codes 737 7 2 5 Displaying State of I 0 Signals 738 7 2 6 Display of Registered Program Number 139 7 3 DISPLAYING AND WRITING PARAMETERS 739 7 4 DISPLAYING AND WRITING OFFSET DATA I4 7 5 EDITING PR...

Page 6: ...MOTION MODULE AND AXIS MODULES 189 9 5 CONNECTION BETWEEN AXIS MODULES AND Servopack TG AND PG 190 9 5 1 Connection between Axis Modules and Servopack 190 9 5 2 Connection between Axis Modules and TG...

Page 7: ...6 Setting Parameters 225 11 1 7 Manual operation and Confirmation of Moving Direction 227 11 1 8 Confirmation of Stroke Limit 228 11 1 9 Confirmation of Return to Reference Point Operation 229 11 1 1...

Page 8: ...2 Axis Module Type JEFMC B011 9 9 2 199 Axis Omission 3 5 5 32 B Backlash Compensation Value Setting 1405 1605 1805 5 5 7 97 Block Preread 3 5 8 32 C Cable Specifications 9 10 2 203 CAUTIONS ON ALLOCA...

Page 9: ...Control Station Type JEFMC H011 9 9 3 199 Cursor Keys 7 I 7 131 D DATA INPUT OUTPUT BETWEEN CRT CONTROL STATION AND PERSONAL COMPUTER 8 3 155 Data Keys 7 1 4 _ 130 Decimal Point Movement 4 1 4 42 Dec...

Page 10: ...NCTIONS 3 22 FUNCTIONS AND OPERATION OF MODULES 2 3 11 G G FUNCTION 4 2 45 GENERAL 2 1 6 General Display 7 2 1 133 GENERAL SPECIFICATIONS OF MODULES 2 4 15 Grounding Method 9 11 4 206 I I O ALLOCATION...

Page 11: ...G Codes 4 2 1 45 LIST OF Motionpack 110 APPENDIX 4 261 LIST OF SERVOMOTORS APPENDIX 2 255 LIST OF Servopack UNITS APPENDIX 3 258 M Machine Lock Operation 3 5 4 31 M Codes for Internal Processing M90...

Page 12: ...tput of Parameters to Personal Computer 8 3 5 158 Output of Program to Personal Computer 8 3 2 156 P Page Keys 7 1 6 131 PARAMETERS 5 84 PARAMETER PROGRAM PROTECT FUNCTION 3 14 37 PERSONAL COMPUTER 8...

Page 13: ...TO REFERENCE POINT 5 7 104 Return to Reference Point Approach Distance 1556 1756 1956 5 7 4 105 Return to Reference Point Approach Feedrate Setting 1504 1704 1904 5 7 2 105 Return to Reference Point C...

Page 14: ...Distance Setting 1122 1123 1124 5 5 5 96 Step Operation Mode STEP 3 1 4 23 Subprogram M98 M99 4 4 5 80 SYSTEM 2 6 SYSTEM CONFIGURATION AND SPECIFICATIONS 2 2 7 SYSTEM SPECIFICATION PARAMETERS 5 3 86 S...

Page 15: ...CONTENTS 1 INTRODUCTION 2 _L...

Page 16: ...mponents and spindle speed are automatically controlled in combination Diverse motion types such as involved in FA and FMS can be programmed easily The motions can be controlled by personal computers...

Page 17: ...f OMICRO PC MODULE MOTION MODULE _ AXIS MODULE Servopack UNITS CRT CONTROL 585 183 STATION 586 147 583 34 583 34 SERVOMOTOR SERVOMOTOR Simple Motion Control System Simple 2 Axis Positioning System _ 3...

Page 18: ...cannot be performed or must not be attempted are virtually limitless Therefore things which are not explicitly described as possible should be considered to be impossible 2 In this manual one pulse is...

Page 19: ...AND SPECIFICATIONS 7 2 3 FUNCTIONS AND oPERATION OF MODULES 11 2 3 1 Operation Of Motion Modules 11 2 3 2 Operation of Axis Modules 12 2 3 3 Operation of Micro PC Modules 14 2 3 4 Operation of CRT Con...

Page 20: ...station or by a personal computer It uses the established machine tool NC language supplemented by general industrial application functions It can be connected to a host computer with RS422 transmissi...

Page 21: ..._ Motionpack 1 10 MOTION 588 309 MODULE CRT CONTROL 585 18 STATION FA BUS tx x i xsiz xsis xst AXIS MICRO PC MODULE MODULE 586 154 586 154 _ 586 154 _ 586 154 586 152 I 1 t SERVOMOTOR SPINDLE CONTROL...

Page 22: ...tioning O O O Deceleration and manual feed Exponential for interpolation O O Operation Mode Edit Motiondata programming O O O Automatic MEM Automatic operation by program stored in memory O O O DNC Au...

Page 23: ...O Calling in Programming Calling and execution from any blocks of programming O O O Motion Control Positioning Max simultaneous 3 axes Error detect ON mode G 00 O O O Error detect OFF mode point to po...

Page 24: ...hed during O O O positioning operation an 8 point signals is output at low speed G68 Notch signal output reset by G68 G69 O O O Specifications B A 1 point high speed notch single G66 O O O A 1 point l...

Page 25: ...ation and personal computer for display They also process input output signals The motion module is communicated with a micro PC module via the FA bus as well The control block diagram of motion modul...

Page 26: ...The position error signals are converted into pulse width in the PWM circuit luther converted into analog voltage signals by the D A conversion circuit and output to the Servopack as speed command vo...

Page 27: ...ODULE JANSW AC 7 PROCESSING PROCESSlNG I FA BUS IANALOG OUTPUT 1 COMMAND JPROCESSING L _ l SPINDLE J ANALYSIS I FUNCTION 1 POSITION DATA PROCESSING 1 REFERENCED P0S TION POSITION REFERENCE _ POSITION...

Page 28: ...unit of 1 bit is available For programming a ladder diagram or monitoring connect a personal computer PC8201 to RS 422 port of the micro PC module I EXPANSION I O I 64 INPUTS I I 32 OUTPUTS I MICRO P...

Page 29: ...d Micro PC Module Table 2 2 General Specifications of Motion Axis and Micro PC Modules Items Specifications Power Supply 4 75 to 5 25 VDC Motion module 3 A including lithium battery Consumed Current A...

Page 30: ...on condensing Vibration Resistance In compliance with JIS C 0911 excluding peripheral devices Shock Resistance In compliance with JIS C 0912 10G max excluding peripheral devices Environmental Conditio...

Page 31: ...215 93 MR CONNECTOR 50P 95 RECEPTACLE TYPE MR50F 3 M3 DIA EXTERNAL CASE MR50L TERMINALS 5V 0V FG Note 1 This drawing shows a motion module type JEFMC C027 Differences between above module and other mo...

Page 32: ..._ _i 86 3 TERMINALS EV 0V FG IT0 _ i 128 3 Fig 2 7 Axis Module c Micro PC Module Type JEFMC Bll0 METAL FITTING FOR METAL FITTING FOR RACK MOUNTING BASE MOUNTING t_ _ _ _ CONN C O o_ RECEPTACLE TYPE MR...

Page 33: ...i _ 2 20P CONNECTORS i J _ X _l 2 CASES _ r _ _ _ 8 M3 D A _ 1 _ _ _m_TAPPED HOLE S Drilling Planfor Panel I 8 4 DIA MTG HOLES GROUND _ TERMINAL 9 CRT _ _ _ _ _ _ _ l _ _ _ _ _J i _ _41_ M4 O_A SCREW...

Page 34: ...leration During Interpolation Feed 30 3 5 MEMORY OPERATION 30 3 5 1 Program Designation and Starting 30 3 5 2 Temporary Stop 31 3 5 3 Single Block Operation 3i 3 5 4 Machine Lock Operation 31 3 5 5 Ax...

Page 35: ...Operation Mode MDI Automatic operation with CRT control station Type H012 These modes are selected by externalinputsignalsEDIT MEM JOG STEP RAPID HANDLE DNC and MDI MOTION MACHINE MODULE EDIT MEM JOG...

Page 36: ...STEP OPERATION STEP levels by step multiplier signals MP1 MP2 JOG SIGNAL EX I JX MOVED _I 1 and parameters 1122 1123 1124 DISTANCE l _4 The feedrate isthe same as for jogging DISTANCE ISSET BY PARAME...

Page 37: ...T control station The specified programs are not stored in the memory of Motion module NOTE This mode is available for Motionpack 100 with CRT control station on and after type JEFMC H012 3 2 MANUAL R...

Page 38: ...ETURN TO REFERENCE reeorate wnentherlrst reference I_ REFERENCE 7 7 7 n nl_ pt_ POINT point pulse is oeTecTeo after the aog I POINT PULSE J I I El I_J l J Ig _ I i disengages from deceleration LS I __...

Page 39: ...rn correctly In this case as overrun may occur it must be moved into area A before starting the return motion 2 The dog width must be at least long enough for the feedrate to decelerate to the approac...

Page 40: ...tem and machine system In this case the upper limit is set by parameter 1102 so that even when an F command specifies a value above this limit the feedrate is fixed at the set upper limit 4 The F comm...

Page 41: ...he motion path Y Example Where G01X Y Z F400 i ENDPOINT I F mm min 400 Jfx 2 fy2 fz z _ 0 _ I _ 4OOmm mln STARTPOINT I I _ I X z Fig 3 7 6 The feedrates specified by an F command can be executed at th...

Page 42: ...n are applied Positioning G00 Rapid traverse RAPID Jogging JOG Step feeding STEP The linear feedrate acceleration and deceleration may be specified in two different rates as shown in Fig 3 8 different...

Page 43: ...t the optimum values for the respective machines 3 5 MEMORY OPERATION In this mode one program is selected among the stored programs and is started for automatic operation by a start signal The follow...

Page 44: ...he system stops When the single block signal is turned off and subsequently a start signal is input the operation will be executed in the continuous mode ON SINGLE BLOCK I SBK OFF START STR A A i i J...

Page 45: ...ion it becomes effective from the block to be read after the signal 3 5 7 MANUAL INTERRUPTION OF AUTOMATIC OPERATION When a manual operation JOG mode STEP mode RAPID mode or HANDLE mode intervenes dur...

Page 46: ...in the same direction infinitely Normally unrestricted length feed can be made in manual operation JOG RAPID STEP or HANDLE but requires that an incremental movement command G91 from the current posi...

Page 47: ...X H87 Axis Position Y H88 Z H89 3 10 MECHANICAL HANDLE When the servo subsystem power is off and the machine is moved with the mechanical handle the current value position display follows it However g...

Page 48: ...spindle stop signal SSTP and parameter 2004 in combination when the spindle rotation speed is programmed with S A standard Servopack is used for spindle without adjustment When the drive unit only for...

Page 49: ...est display goes out and is displayed again above the line NOTE If wrong data are input begin again from 3 _ key need not be depressed 3 12 2 OPERATION IN MDI MODE 1 Input block data are executed at c...

Page 50: ...red through the keyboard will be compared with those in the part program memory When searching a program number leading zeros may be omitted Commands encountered during search will be disregarded even...

Page 51: ...nd 45077 If there is no alarm 0 is output If two or more alarms are detected the first alarm is given priority Example Code 1 EXTERNAL ERROR 049 2 SERVO ALARM Z 062 Port 4707 128 64 32 16 8 4 2 1 D7 D...

Page 52: ...Automatic Return to Reference Point G28 53 4 2 10 Skip Function G31 54 4 2 11 Position Offset in Z Axes G43 G44 G49 55 4 2 12 Position Offset in X and Y Axes G45 to G48 57 4 2 13 Return to Machine Co...

Page 53: ...e Fig 4 1 As shown above a program is written with alphabetical codes A through Z and digits At the end of a block CR appears and a program consists of several blocks 4 1 INPUT FORMAT 4 1 1 INPUT FORM...

Page 54: ...ith the CRT control station the end of block EOB code is represented by With a personal computer it is represented by CR ASCII code 4 1 2 ADDRESS CHARACTERS Table 4 2 shows the address codes and their...

Page 55: ...00 mm y20 5 Y20 50 mm X45 X0 45 mm Y01 Y0 01 mm 1 The decimal point movement range is as follows _ The number of decimal places is three in standard setting 0 001 mm command pulse in handling the mini...

Page 56: ...ing Parameters 1550 1750 1950 Soft limit boundary value in positive direction Parameters 1551 1751 1951 Soft limit boundary value in negative direction Example When decimal point movement is used by s...

Page 57: ...execution sequence Therefore the digits may be selected in sequence but they can just as well be any numbers such as numbers out of sequence duplicate numbers or no numbers at all Using sequential num...

Page 58: ...17 X Y plane G18 Z X plane G19 Y Z plane Return to Reference G28 G28X Y Z Return to reference point after moving to X Point Y Z However when the power is first turned on it returns to the reference po...

Page 59: ...and Boring F Combined Operation G86 G86X Y Z R L Spindle stops at Z point in boring Command Boring F Combined Operation G89 G89X Y Z R P Dwell at Z point in boring Command Boring L F Combined Operatio...

Page 60: ...TECT OFF POSITIONING G06 0o6 x Y z With this command the same positioning motions take place as with G00 commands with the following differences 1 A G00 command is executed in the error detect on mode...

Page 61: ...the moving slides become the command feedrate F 400 _F_ Fy 2 Fz 2 mm min Fx Fy Fz denote feedrates in X Y or Z direction 4 If no F code is programmed in the block of G01 or in the preceding block the...

Page 62: ...erpolation with G17 G18 or G19 beforehand G17 XY plane G18 ZX plane G19 YZ plane Immediately after turning on the power the XY plane G17 is automatically selected if not otherwise programmed Program e...

Page 63: ...e value of the end point of a circular interpolation motion is not on the correct circular path due to errors in calculation etc corrections are made as shown in Fig 4 9 When the end point is programm...

Page 64: ...0 001 to 99999 999 s Note The values a2 e not affected by metric or inch I O units Program example G04 P2500 Dwell time 2 5 seconds or G04 P2 5 4 2 7 OFFSET VALUE INPUT G10 Offset value data can be d...

Page 65: ...005 _ _D6 I D5 D4 D3_ I D2 D1 DO I Two digit designation 1 byte or 8 bits Four digit designation 2 bytes or 16 bits Six digit designation 3 bytes or 24 bits Eight digit designation 4 bytes or 32 bits...

Page 66: ...irectly to the reference point without first moving to X Y Z a The machine moves along the three axes simultaneously but any axis not commanded does not move D Program example G28 X20 Y10 Y AXIS START...

Page 67: ...starting position is beyond the area where reference point return is enabled 4 2 10 SKIP FUNCTION G31 1 IG31 X Y Z F I With this command a special linear interpolation is executed as follows When a sk...

Page 68: ...and is for adding or subtracting the contents of the offset memory to or from the Z axis command value for correcting the Z position See Par 7 4 DISPLAYING AND WRITING OFFSET DATA 1 G codes for Z Offs...

Page 69: ...e 01 group G code must be G00 or G01 When G02 or G03 is programmed the alarm state occurs NOTE If a G92 command involving Z axis is commanded while a Z axis offset is under execution the offset is can...

Page 70: ...Double extension 2 G45 to G48 extend or reduce the motions along the axis designated by these blocks The extension or reduction is effective only in the block in which G45 to G48 are programm ed and...

Page 71: ...OINT START POINT END POINT AXIS MOTION OFFSET BY PREVIOUS BLOCK AXIS MOTION Fig 4 16 Fog 4 17 NOTE When the offset is larger than the motion G46 X1000 D10 D10 2000 distance programmed in a block the 1...

Page 72: ...D10 in both the X and Y axes directions G91 G00 G46 X0 Dll The machine moves only in the X direction through the offset of Dll in the minus direction Giving a sign to 0 is meaningless NOTE 1 When G45...

Page 73: ..._G45_ a b Fig 4 21 Program example 30 30 50 I 70 I 1__1 _ _o_ Xo k_POINT I J T 4o 14o x OG91 G01 Z 25 F150 _ G47 X70 _ G46 X40 Y40 D10 F300 _ G47 Y 60 G45Y70 _ G47 X0 QG45 G02 X30 Y30 I30 _G46 G03 X 4...

Page 74: ...When G53 command is given while a position offset is on the offset is temporarily cancelled Generally cancel any offset before giving a G53 command 3 If the machine lock function is ON when a G53 com...

Page 75: ...ior to a positioning command block it is output at the position where the offset value data indicated by offset value number H is passed through from the positioning start point _ The outpqt ignal is...

Page 76: ...d ON and output at the previously programmed position by the time the positioning point is reached after positioning starts the same as for notch signal commands A Whether or not the notch signal is u...

Page 77: ...NAL T28 I l OUTPUT I I I I i NOTCH SIGNAL T22 i II OUTPUT I I ____1 NOTCH SIGNAL Tll I r OUTPUT I I I _ I I MSTCOMPLETION FIN I i I I I I A A G66 G67 RESET COMMAND COMMAND Fig 4 25 2 Output Signal and...

Page 78: ...he combined operation command in a block Eight types of combined operation commands are available G80 is used to cancel these commands Initial point level return and R point level return can be specif...

Page 79: ...R I O Rapid traverse to R point I Drilling to Z point I Return to R point or to initial point r I __ POSITION Z Note Rapid traverse HOLEBOTTOM Interpolation traverse Fig 4 26 Number of repeats is spec...

Page 80: ...R POINT I R POINT I I I I I I I I 1 L Z POINT 1 ZPOINT G82 OS2X Y Z R P L F X Y ___ X Y INITIAL _ __ POINT 1 P I Spot Facing I_R POINT I R POINT I I I I I I I I I I _k_ Z POINT _ Z POINT DWELL P DWEL...

Page 81: ...tial value _ POINT I j Reducing value I I I Drilling Deep K Finelvalue I _ ___ I 1 I I I I I I I 2 I x 2j I I T I e 1 4 e K d Setting data 1202 Z POINT 6 Setting data 1202 _ Z POINT G84 G84 X Y Z R P...

Page 82: ...03 M03 i I i I I I i I I Z POINT _ I Z POINT SPINDLE STOP M05 SPINDLE STOP M05 G89 G89 X Y Z R P L F __NTL PONT I f Boring RPOINT _ R POINT TZ POINT Z POINT 1 DWELL P DWELL P Program example G98 G90 G...

Page 83: ...ddresses the positions programmed in the earlier blocks are maintained NOTE I Since symbols P Q I J and K are modal in combined operation command mode if once commanded they are effective until the co...

Page 84: ...4 mm 8th plunge 4 mm 9th plunge 2 mm K Total 55 00 mm Z 5500 b When the combined operations are executed by turning on the SINGLE BLOCK switch a temporary stop is made in an intermediate position and...

Page 85: ...ly switching the spindle between forward and reverse i Execution of subprogram M98 in combined operation command mode In a combined operation command mode M98P L can be programmed to call up subprogra...

Page 86: ...R 2000 Z 3000 F 200 Drilling cycle N13 M98 P400 Jump to subprogram N14 G00 X0 Y0 N15 T05 Tapper selection N16 M06 Tool change N17 G84 X3000 Y4000 R 2000 Z 3000 F2000 Tapping cycle N18 M98 P400 Jump to...

Page 87: ...absolute values IG90 G00 X Y Z 1 _ Absolute command 2 G91 Incremental Designation Fig 4 29 In all the blocks subsequent to a block containing G91 motion data are treated as incremental I G91 G01 X Y Z...

Page 88: ...ordinate directions from a desired coordinate zero point 0 0 0 designating zero point in this way See Fig 4 30 2 G92 cannot be programmed with other G codes F M or T codes in the same block NOTE 1 In...

Page 89: ...ing that the program contains I G01 XH10 YH20 and _ the offset value contents are H10 50 0 ram H20 5 0 mm the program in _ becomes equivalent to G01 X50 0 Y5 0 when the offset value contents are chang...

Page 90: ...hine reads the T BCD code output and returns and MT completion signal FIN to Motionpack Then the T code read signal is cleared It is also cleared by a resetting operation or a mode change operation 4...

Page 91: ...Except for special M codes the definitions of M03 to M89 are left to the user ME l M designation number 2 Output Where a movement command and an M command are programmed in the same block a BCD 2 dig...

Page 92: ...peration must be interrupted at a certain position When MOO is read the system stops the execution of the program after that block and at the same time outputs an MOO signal To restart the program a s...

Page 93: ...cuted only once M98 P L J J L ___ NUMBER OF REPETITIONS OF SUBPROGRAMS SUBPROGRAM NO TO BE INITIATE 2 Subprogram End M99 M99 is written at the end of a subprogram in a separate block When M99 comes at...

Page 94: ...block the main pro gram returns to its leading end and will be re executed endlessly NOTE 1 If the subprogram No specified by P is not found an alarm state occurs 2 Attempt to next subprograms over 4...

Page 95: ...speed indicated by the S signal on the spindle drive unit and MST finish signal FIN is returned to the Motionpack program execution shifts to the next block If the S code is programmed in the block wi...

Page 96: ...f Return to Reference point PARAMETERS 94 1403 1603 1803 104 5 5 1 Max Feedrate Setting at Manual Feed 5 7 2 Return to Reference Point Approach 1101 94 Feedrate Setting 1504 1704 1904 105 5 5 2 Interp...

Page 97: ...e used 0 or 1 in a bit 1001 Function selection expansion memory 0 or 1 in a bit 1002 Function selection program No designation 0 or 1 in a bit 1003 Function selection notch signal 0 or 1 in a bit 1004...

Page 98: ...mit value setting 100to 99999999 0 001 mm 1552 1752 1952 iPitch error correction interval 500 to 99999999 0 001 mm 1553 1753 1953 Pitch error correction start point 2000000 to 2000000 1554 1754 1954 I...

Page 99: ...Axis 3 Z designated Axis 4 S designeted Micro PC module Communication function DNC Set 1 for use and 0 for non use Set 0 for no designation Example Using one axis X 1000 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0...

Page 100: ...Step feedrate override _i Simultaneous 3 axis HANDLE operation Simultaneous 1 axis HANDLE operation Whether program No designation by external signal 1 If 1002 D6 is set to 0 the simultaneous 1 axis h...

Page 101: ...specify transmission items in the communica tion function DNC If the communication function is not set set the bits to 0 1004 D7 I D6 D5 D4 D3 D2 D1 DO I OlO IO IO o o o o 1005 D7 D6 I D5 D4 D3 D2 I...

Page 102: ...n function data length 8 bits Communication function data length 7 bits _ Communication function parity ON Communication function parity OFF 1 ODD communication function parity 0 EVEN communication fu...

Page 103: ...1958 1 Generally the position detection unit distance per pulse is determined by the drive system and the position detector Witn Motionpack 110 two coefficients B A and A B are used to match the posi...

Page 104: ...re set in the position detection units Thus if the parameters are set based on the position detection units 0 001 mm each must be multiplied by A B for conversion Integer values are set in the paramet...

Page 105: ...pulses of ball screw side _ fpcx4 Expression _ P 1 U R 4 Examples of Position Command Unit Parameter Setting a First select a detector Select a pulse generator so that the motor shaft pulse generator...

Page 106: ...set 16777216 in X axis position command parameters B A 1557 A B 1558 7 Example 2 Assuming that deceleration ratio R N _ Nm 5 in example 1 1 x 6 x 1 f_c T 0 00 T _ x 1 00 5 1071 428 pulses rev Therefo...

Page 107: ...means 10m min 5 5 3 JOGGING FEEDRATE SETTING 1104 TO 1118 1 SET VALUE 24000 Parameters 1104 to 1118 respectively set 16 level jogging or step feedrates The designated feedrates are selectively initia...

Page 108: ...the feedrates are given below Table 5 3 ROV1 ROY2 ROV3 Feedrate High ON ON OFF Parameter setting Middle OFF ON OFF 50 _ of high Low ON OFF OFF 25 of high High ON Parameter setting The rapid traverse...

Page 109: ...ction is a function of storing motion limit positions in the motion modules which have the same effect on the machine movement as actual limit switches LS positioned along the movement path Generally...

Page 110: ...tual move distance x T 5 5 7 BACKLASH COMPENSATION VALUE SETTING 1405 1605 1805 0 __ SET VALUE __ 127 Parameters 1405 1605 and 1805 are for setting the backlash compensation values for the ball screws...

Page 111: ...10 and 1810 set the pitch error compensation amounts at each com pensation start point in incremental value and thereafter set the compen sation values for 64 points 1411 1412 1611 1612 1811 1812 in t...

Page 112: ...t 2 mm is actually set for details see Par 4 2 15 5 6 SERVe RELATED PARAMETERS 5 6 1 ACCELERATION DECELERATION CONSTANT 1407 1607 1807 1501 TO 1503 1701 TO 1703 1901 TO 1903 For rapid traverse jogging...

Page 113: ...re the acceleration deceleration time of the machine system and adopt an acceleration deceleration constant that does not give acceleration deceleration time shorter than the measured time 2 When acce...

Page 114: ...can be obtained 5 6 2 INTERPOLATION FEEDRATE BIAS 1475 1675 1875 These parameters are for setting the exponential acceleration deceleration feedrate bias for interpolation Table 5 9 Parameter No Desc...

Page 115: ...s e Kp 4 fpc _ RPM 4 fpGRPM x Expression _ Kp 60Kp Where fPc Output per revolution of pulse generator pulses rev _ k RPMox Motor speed during rapid feed rpm Expression _ is assigned to expression _ 3...

Page 116: ...completion judgement Where the movement command for positioning completion hold such as G00 is executed after the assignment of motion pulses it holds until the position pulse lag caused by servo del...

Page 117: ...ERENCE POINT 1403 1603 1803 These parameters are for setting the direction of returning to the reference point To return in the direction set it to 0 and to return in the direction set it to 1 Paramet...

Page 118: ...s are for setting the final distance from the detection of the first reference point pulse after the dog trips the slowing LS during the reference return process The setting unit 1 represents 1 pulse...

Page 119: ...ion com mand 0 _ _ _ Negative voltage is output during reverse rotation command Note Be sure to set 1 or 3 5 8 2 MAXIMUM ROTATION SPEED ON EACH GEAR 2150 2151 2152 The maximum rotation speed of the sp...

Page 120: ...MAT 112 6 3 CAUTIONS ON ALLOCATION 112 6 4 I O SIGNAL DETERMINATION PREPARATION FOR ALLOCATION 113 6 5 ALLOCATION METHOD 114 6 5 1 Allocation Operation Use of Personal Computer 115 6 5 2 Explanation o...

Page 121: ...n or micro PC module is used new I O allocation must be made 6 I OSIGNAL TYPES AND ALLOCATION AREA The input output signals are specified with the addresses according to the application as shown in Fi...

Page 122: ...I COMMUNICATION INPUT I 4509 6000 I _ I I TO I L 6007 _ COMMUNICATION OUTPUT l I _ TO 6507 z O n I I CONNECTED WITH c oPCMODU __ EXPANSION _ I q I I CONTROL INTERNAL DOUBLE PRECISION KEEP INPUT I 1 I...

Page 123: ...nected to external connector 2CN In standard allocation the output contacts are output to the machine Output contact signal example M30 ZPX RST etc 4 3504 8 Points Table 6 4 This is a motion module de...

Page 124: ...able 6 8 These are addresses to output the sequence ladder analysis results made by the micro PC module program execution block to the motion module Protocols for the signals used in the micro PC modu...

Page 125: ...ponds to one bit An example of signal addressing for each point is given below D7 D6 D1 Do _ BIT NO tt4ooo EDIT MEM Jo RAPID L E SIGNAL NAME I 0 NO 4000 D7 EDIT is addressed by 40007 NOTE Sometimes th...

Page 126: ...ation Disable 6 4 I O SIGNAL DETERMINATION PREPARATION FOR ALLOCATION To prepare allocation the signal allocation destinations are determined conforming to the machine specifications The necessary inp...

Page 127: ..._i_ R_ g _e Example 2 _ _ _ 4 50 3 1 _ 5 0 0 D 7 I _ i Z _ _ q i_ Lpg s i tJg _r_ 6 5 ALLOCATION METHOD i After completion of preparation for allocation in Par 6 4 allocation data is created on a pers...

Page 128: ...After completion of command entry turn off Motionpack ll0 _ Disconnect the personal computer when the CRT control station is included _ Connect the CRT control station when it is included Restore the...

Page 129: ...cation data in the format of input data output data CR Enter as many data pieces as necessary in the format for change Finally enter CR WIO CR_ 45031 35000 CR_ 30011 40011 CR_ CR_ 5 RIO Data Check Fir...

Page 130: ...40006 MEM 1CN 36 30007 40007 EDIT 1CN 5 30010 40010 OV1 1CN 21 30011 40011 OV2 1CN 37 30012 40012 OV4 1CN 6 30013 40013 OV8 1CN 22 30014 40014 OV16 1CN 38 30015 40015 ROV1 1CN 7 30016 40016 ROV2 1CN...

Page 131: ...077 PRT 2CN 5 30070 40080 SK1 2CN 21 30071 40081 SK2 2CN 37 30072 40082 SK3 2CN 6 30073 40083 SK4 2CN 22 30074 40084 SK5 2CN 38 30075 40085 SK6 2CN 7 30076 40086 SK7 2CN 23 30077 40087 SK8 1CN 25 3002...

Page 132: ...N 5 30084 40150 SVOK 40151 30086 40152 _ V A L M i 30087 40153 BATALM 1CN 16 30051 40154 ER 1CN 50 30057 40155 ESP 40156 40157 2CN 2 30060 40160 Wll 2CN 34 30061 40161 W12 2CN 3 30062 40162 W14 2CN 19...

Page 133: ...5017 MF 45020 35010 2CN 26 SF 45021 35012 2CN 11 TF 45022 35011 2CN 42 45023 45024 45025 45026 45027 ZPX 45030 35014 2CN 43 ZPY 45031 35015 2CN 12 ZPZ 45032 35016 2CN 28 35017 2CN 44 45034 45035 45036...

Page 134: ...d Allocated Side Signal Name Control Output Signal Address Output Signal Address Connector Pin No A14 45072 A18 45073 A21 45074 A22 45075 A24 45076 A28 45077 Sll 45080 S12 45081 S14 45082 S18 45083 21...

Page 135: ...et by user 2CN 36 2CN 20 2CN 4 2CN 3512CN 19 2CN 3 2CN 34 2CN 2 _ 3006 Set byuser 2CN 23 2CN 7 2CN 38 2CN 22 2CN 6 2CN 37 2CN 21 2CN 5 i 3007 Set by user 5CN 6 5CN 5 5CN 4 5CN 3 5CN 2 5CN 1 3008 BA_ S...

Page 136: ...Z HY HX _4oo_ _______ MP 2 MP 1 ZRN SKIP STP STR 007 _ __ _____ PRT MLK EINV NEG ACR PMEM S_ oo_ ___ ___ _ __ SK8 SK7 SK6 SK5 SK4 SK3 SK2 SKI oo9 _____ __ f_ GR2 GR1 SSTP FRN RRN _ o o _ _ __ _____ TB...

Page 137: ...F ZPS ZPZ ZPY ZPX M28 M24 M22 M21 M18 M14 M12 Mll T28 T24 T22 T21 T18 TI4 T12 TII _4_o_ ________ A28 A24 A22 A2I A18 A14 A12 All _4_o_ ________ 28 24 22 21 S18 S14 S12 Sll Table 6 7 Micro PC Module Co...

Page 138: ...le Communication Input Address D4 D3 D2 D1 DO Remarks D7 D6 D5 _6ooo________ Set by user _6oo1_______ _ Set by user _6002 _______ Set by user _6oo3 _______ _ _ Set by user Set by user _6oo5________ _S...

Page 139: ...SPLAY AND WRITING OPERATION 133 7 2 1 General Display 133 7 2 2 Command Data Display 135 7 2 3 Display of Current Position Values 135 7 2 4 Display of Alarm Codes 137 7 2 5 Displaying State of I O Sig...

Page 140: ..._ Fig 7 1 CRT Control Station 7 1 1 CRT CHARACTER DISPLAY According to each operation this display indicates alpha numerical data in regular size 1 1 or exp4nded size 3 3 CRT size 9 i3ches _ 32CHARACT...

Page 141: ...tatus 3 _ Parameter key This key is for displaying and writing in parameters 4 _ Auxiliary key This is an auxiliary key 5 _ Command key This key is displaying command data for automatic operation 6 _...

Page 142: ...7 5 1 _ to _ _ Minus keys For input of numeral data 2 _ Decimal Point key For input of decimal point 3 _ Cancellation key For cancellation of the numeric value or address data erroneously keyed 4 _ Wr...

Page 143: ...e cursor control key is used to move the cursor forward or backward on CRT screen For example if _ parameter has been selected and a group of parameter data is being displayed this key can be used to...

Page 144: ...ine and compare data in the memory with data in files of personal computers 7 1 10 RESET KEY This key is to reset the internal status 585 92 Fig 7 9 1 The following operations can be executed by depre...

Page 145: ...ISPLAY M T DWELL D Fig 7 10 1 Function Message Any one of the following seven function messages corresponding to the applicable function key is displayed at the top of the CRT screen ALARM COMMAND DIA...

Page 146: ...g 8 Display of Alarm Alarm is continuously displayed until the cause is removed and reset operation is made ALM Indicates an alame state BAT Indicates battery alarm A B Indicates both the alarm and ba...

Page 147: ...ock are displayed DISPLAY OF G CODE UNDER EXECUTION Fig 7 11 Example of Display of Command Data 7 2 3 DISPLAY OF CURRENT POSITION VALUES _ Current position values can be displayed at any time irrespec...

Page 148: ...isplayed up to this time Operate the keys as follows Depress _ _ successively X 0 000 is displayed Depress _ _ _ successively Y 0 000 is displayed Depress _ _ successively Z 0 000 is displayed I 585_2...

Page 149: ...D If an alarm state occurs ALM for alarm BAT for battery alarm or A B for alarm and battery alarm is displayed on the lowest line of the CRT screen regardless of mode or function In this case the deta...

Page 150: ...ated diagnosis number is displayed in a 16 place digit consisting of 1 or 0 2 Enter the diagnosis number to be displayed and then depress _ or _ key Then the display is switched to the page including...

Page 151: ...the registered programs Registration of program numbers can be made in EDIT mode Registration up to 99 programs is possible 7 3 DISPLAYING AND WRITING PARAMETERS In this system various parameters are...

Page 152: ...ameter number and depress key or key However keying of is not required A maximum of ten sets of parameter numbers and the contents can be displayed simultaneously N b Designation of parameter number c...

Page 153: ...depress _ key then the writing to the parameter number shown by the cursor is performed 3 The parameter number designation or screen can be updated by _or _ _ key or _Jor _ _ key NOTE When parameters...

Page 154: ...17 0 000 H D IB 0 000 H D 19 0 000 RDY 585 221 Fig 7 21 2 Writing Offset Data To write offset data in the internal memory use increment values That is arithmetically add the increments to the offset...

Page 155: ...TE If the registering operation is executed for an already registered program number again ALREDY IN is displayed at the bottom of the CRT This display can be deleted by depressing _ key on the CRT co...

Page 156: ...data will be inserted immediately after the worddesignatedby the cursor i I The above insertion can be made for multiple words entered less than 32 characters astone group Y 25OO RDY L 585 201 585 202...

Page 157: ...character string entered by the keys on the NC operator s station with CRT are collated with data character string in the memory and displayed on the CRT 1 Method of Operation 1 Select EDIT mode 2 De...

Page 158: ...e memory operation or edit mode 2 Depress function key Depress key 3 lF lr Tr _ 4 Enter the program number L_JL_JL_JL J 5 Depress the _ key The desired program number can be searched Results of the se...

Page 159: ...omputer 157 8 3 4 Input of Parameters from Personal Computer 157 8 3 5 Output of Parameters to Personal Computer 158 8 3 6 Input of Offset Data from Personal Computer 158 8 3 7 Output of Offset Data t...

Page 160: ...art stop synchronism is employed Word length 8 bit length personal computer _ _ motion module I 7 bit length personal computer _ operator s station with CRT Parity Even parity Stop bit 1 stop bit Tran...

Page 161: ...nected to the motion module or the CRT contro station by changing the wiring as follows 5v MOTION MODULE PERSONAL COMPUTER CRT CONTROL STATION SN75189AN OR EOUIV_I EN _ SN75174 ROUT_ _ h R IN_ _ O_J R...

Page 162: ...RXD 4 5V 12 DSR 1o RTS II CTS 16 RTS 17 CTS 4 7kfl 18 8 TXD I TXD 2 9 RXD i FG 1 _ 20 FG Fig 8 5 When the personal computer contains an RS 232C interface port the motion module and personal computer...

Page 163: ...the power switch to ON 2 Display on the screen is made in the MENU mode as shown below 1986 01 05 14 26 37 C Microsoft 1 _ _fI _ TEXT TELCOM Load Save Name List 12239 D Fig 8 6 3 Shift the cursor by u...

Page 164: ...ion module SES1XS For personal computer through operator s station 8E71XS 5 If the parameter of transmission method shown on the screen is not correct depress the _ key Stat enter a correct value of p...

Page 165: ...twice in succession Editing Method for Existing Files 1 Shift the cursor to the existing file name on the MENU screen and depress the _ key 2 Then the file contents are displayed on the screen and TEX...

Page 166: ...in accordance with the command from personal computer DOWNLOAD _ command should be as follows I When the _ key is depressed File to Download is asked and the system waits for the input of file name 8...

Page 167: ...he CRT control station as shown in Fig 8 12 Thus set the status Stat to 8E71XS and perform the operations listed below Various data programs parameters offset data are input output and collated with e...

Page 168: ...this case erase the relevant program number already registered and then repeat Steps 3to7 8 3 2 OUTPUT OF PROGRAM TO PERSONAL COMPUTER Procedures for output operation for programs to personal computer...

Page 169: ...ACE WITH Motionpack ll0 For PC 8201 use the UPLOAD command of terminal mode Collate the contents of the program with those of the file in the computer VER is displayed at the bottom of the CRT during...

Page 170: ...for parameter output operation to personal computer are as follows 1 Select the edit mode 2 Depress the key 3 Depressthe _ key 4 Make preparations for receiving and accepting at the personal computer...

Page 171: ...R Offset data set in the current system can be output to the files in personal computer Proce dures for offset data output to personal computer are as follows 1 Select the edit mode 2 Depress the _ ke...

Page 172: ...y 0 in Table 8 1 Table 8 List of Command _ _od Quick e Memory Step Jog Feed Contents 3ommand_ Edit Operation Operation Operation Operation _DWL O Batch input of file program _UPL O Batch output of UPL...

Page 173: ...rom to Therefore the omission of first and last is not permitted 8 5 3 EXAMPLES OF PROGRAMS HEAD OF PROGRAM Required when creating a program _or personal computer END OF BLOCK IO 1 3 4 S CR is used fo...

Page 174: ...topped for 1 second at point C Dwell N4 X60 F100 _ N5 X30 Y30 F150 N6 M30 3O B l Ad k 30 40 6o X Fig 8 19 Program Example B Programmed by G91 Incremental Y 03456 4_ O G91 G01 X30 Y40 F100 _ _ X90 _ _...

Page 175: ...Connection between Axis Modules and TG and PG 19 9 6 CONNECTION BETWEEN AXIS MODULES AND SPINDLE DRIVES 193 9 7 CONNECTION BETWEEN MICRO PC MODULE AND MOTION MODULE PERSONAL COMPUTER 194 9 7 1 Connect...

Page 176: ...Type Connector 20P MODULE I SAMEAS JEFMC 5 X AXIS B011 I MODuLEMICRO PC 4 5v _ _ _ MR Type Connector 50P JEFMC 0v 2c _ _g 1 10 I B _ Screw Terminal Connection I EXPANSION ICN SPINDLE ZCN I Flat Cable...

Page 177: ...e user These power units must have enough power capacity for the system see par 2 4 providing the required functions within the working temperature range 0 to 55 C of the Motionpack ll0 Examples of mo...

Page 178: ...Hz RatedVoltage _ 15V RatedCurrent _ 20mA OutlSut Stability Less than 5 RippleNoise Less than 300mVp p LeakCurrent Lessthan0 5mA Overcurrent Protection Provided Working Temperature 0 to 55 C Storing T...

Page 179: ...Current Less than 0 5 mA Overcurrent Protection Provided Working Temperature 0 to 55 C Storing Temperature 20 C to 80 C Relative Humidity 30 to 90 non condensing t Input Withstand voltage 1 500 VAC 1...

Page 180: ...tive Humidity 30 to 90 non condensing Input Frame Withstand voltage 1 500 VAC 1 minute Insulation Input Output Resistance More than 100 MD at 500 VDC Output Frame din Example ofmodel Type BY242R5 Manu...

Page 181: ...e measures as explained below 1 Output capacity is less than 24 VDC and 80 mA 2 Non contact output 3 The following measures are necessary to protect non contact output When connecting an inductive loa...

Page 182: ...istor so as to use the lamp below the rated capacity including rush current Motionpack 110 MACHINE SIDE 24 V __ 24 t R R 0 2to 0 3 x I 024V I Rated current of lamp Fig 9 5 Reduce the current through t...

Page 183: ...SINGLEBLOCK __o MLK ICN 18 MACHINE LOCK o PRT ICN 27 PARAMETER PROTECT o FIN ICN 49 MST COMPLETED o l ER 1CN 16 EXTERNAL ERROR ZFOINrrORACR 1CN 32 REE POSITIONMEMORYOR ALARM CLEAR NEG ICN 48 AXIS OMIS...

Page 184: ...2 SK6 2CN 38 OPTIONAL BLOCK SKIP 6 o o SK7 I 2CN 7 OPTIONALBLOCKSKIP 7 0 _ SK8 i _ 2CN 23 OPTIONAL BLOCKSKIP 8 _ i 2CN 2 Wll I _ F_ 4 W12 i I 2CN 34 UNIT I _ DIGIT I 5 6 wt4 t _2CN 3 I 2CN 19 WI8 I PR...

Page 185: ...utput signal ALM is reset When the reset signal is turned on and off the external reset signal RST is turned on and off at the same time This signal has the same functions as_key of CRT control statio...

Page 186: ...begins Mode Manual operation by manual pulse generator is possible DNC Operation DNC When this signal is turned on the DNC operation mode is entered Mode DNC operation can be performed while movement...

Page 187: ...ce ZRN When this signal is turned on the return to reference poin t mode Point begins Operation of return to reference point for each axis is started by the signals listed below __ 1SignalI JX Jr JY i...

Page 188: ...y does not change either The axis is specified in parame ter 1006 Alarm Clear ACR When this signal is turned on beforehand even if the servo ready signal SVOK is turned off no alarm occurs Normally tu...

Page 189: ...OFF OFF ON OFF 80 9 ON OFF OFF ON OFF 90 10 OFF ON OFF ON OFF 100 11 ON ON OFF ON OFF 10 12 OFF OFF ON ON OFF 120 13 ON OFF ON ON OFF 130 I 14 OFF ON ON ON OFF 140 15 ON ON ON ON OFF 150 16 OFF OFF OF...

Page 190: ...F Parameter setting 1109 7 ON ON ON OFF Parameter setting 1110 8 OFF OFF OFF ON Parameter setting 1111 9 ON OFF OFF ON Parameter setting 1112 10 OFF ON OFF ON Parameter setting 1113 11 ON ON OFF ON Pa...

Page 191: ...his signal is input when the spindle rotation speed is programmed Spindle with the S code in memory operation spindle axis module D A output is controlled according to combination with parameter 2004...

Page 192: ...r setting 2152 Optional Block SK1 This signal determines whether the data of a block containing Skip 1 SK2 slash are to be ignored or not in memory operation mode to SK3 When this signal is turned on...

Page 193: ..._ EXTERNAL RESET zpx i _ X AXIS REFERENCE POINT ZCN Ij_ _ ZPY _ Y AXIS REFERENCE POINT ZCN 7 zpz Z AXIS REFERENCE POINT ZCN ZV MIz _ UNI I S 2CN 4 M14 2CN II M18 _ DIG IT cx MZl L_ OUTPuTM BCD CODE 00...

Page 194: ...during memory or single block operation Under the following conditions the signal is turned off The current block executed for single block I signal Reset operation executed Program ended MOO M02 M30...

Page 195: ...t o utput in MOO M02 M30 or internal processing M symbols M90 to M99 MOVE OPERATION I M MBCDI M28 Jl I CODE OUTPUT t ms I I MSYMBOL j 1 i READING _ I ME I I M S T COMPLETED FIN T Symbol Reading TF Thi...

Page 196: ...mbol M BCDcode output is 2 digit Output M14 M24 released when M and Tcompletion signal FIN is returned to M18 M28 Motionpack ll0 It is also released by reset operation or mode switch mg operation M BC...

Page 197: ...9 3 1 CONNECTION BETWEEN CRT CONTROL STATION AND MOTION MODULE CRT CONTROLSTATION STANDARD CABLEO MOTIONMODULE TYPE JEFMC H011 TYPE JEFMC W0117 TYPE JEFMC C02F D OV CNC I _ WIRING DISTANCE_lSmMAX_X I...

Page 198: ...2 1 Personal Computer Motion Module PERSONAL COMPUTER STANDARD CABLE _ MOTION MODULE MODEL PC8201 NEC TYPE HEFNC W020 _ TYPE JEFMC C02 _ I_ lm 7 0V _ 3CN I OV 3CN 2 OV E i I 3CN 18 DS R 3CN 3 0V C 3C...

Page 199: ...CNB i 5V _ 3CN 4 5V CNB 12 DSR 3CN 12 3CN 1o RTS CTS RTS _4 _ E CNB I IiRTS E 5 CNB II CTS 3CN II CTS _ 16 RTS 3CN 16 RTS RXD 3 341_ _ _ _ __B_ 7 C _ i E 3CN 7 C T _ JUNCTION 18 s_fCNB 8 TX2D RXID CN...

Page 200: ...MODEL PC8201 NEC lira t OV 7 OV I _ _ 8CN I OV 8CN 2 0V _ 8CN 18 8CN 3 0V 8CN 15 RXDA 8CN 4 _ SV I 8CN 12 RTS _4 _ K 8CN 1 RTSA 5 8CN ll CTSA CTS RXD 3 2 8CN 16 fRTSA Tk F 8cN 7 CT A JUNCTION 18 1 8CN...

Page 201: ...CN 20_ t DATA I 6 CN 9 t Osv I _SCN 1_ I I 0_ I tCX 19 6CN 3 CK I 1 CN 3 6CN 18 I I C K I 7 1CN 18 6CN 4 y I 05v I I _ _ CN 4 6CN 17 _ I I O5 I A1CN 17 I SEL I FL_CN 16 oct 16 _ l c _ 6 _6CN _ r o_ I...

Page 202: ...ielded twisted pair cables AXIS MODULE STANDARD CABLE _ TYPE JEFMC B011 TYPE JEFMC W14LJ Servopack WIRING DISTANCE 3m MAX r _ DAS 1 I REFERENCE 3CN II I P I 0V INPUT i I 1 i EXTERNAL I I 0D POWER SUPP...

Page 203: ...in the AC Servopack 9 5 2 1 For DC Servomotor 5V Line Driver Output PG As an IC for 5 V line driver it is recommended that type SN75174 or equivalent be usedf CABLE FEEDBACK UNIT STANDARD AXIS MODULE...

Page 204: ..._ o _ 0 v _ ___ IFOR IZVl sv _CN 4 r _ l C I 12v __ E _ I_IIov I I I2c_ l_ c i I Vov J i 4 i I JUNCTION TERMINAL 12V _ _ 2 12VDC I For only feedback unit type TFUE _ SAB POWERSUPPLY I 2 Arrange PG wir...

Page 205: ...nual Fig 9 16 Connection between Axis Module and PG for AC Servomotor 9 6 CONNECTION BETWEEN AXIS MODULES AND SPINDLE DRIVES For transmission of speed reference signal from AC adjustable speed drives...

Page 206: ...able _ MICRO PC MODULE STANDARD CABLE MOTION MODULE TYPE JEFMC B110 TYPE JEFMC Wl00 TYPE JEFMC C02 _ I _ _o_ _ _7 4CN 7 I t E I 4CN 14 II II DATA 4CN 14 I I DATA L 4CN I5 4CN 15 I I I I 4CN 16 I I C K...

Page 207: ...2 0V I L 3CN 18 3CN 3 0V E 3CN 15 RXD 3CN 4 SV E 3CN 12 RTS _4_ 1 E 3CN 10 RTS CTS 5 _CN II CTS 7kfl 3CN 17 CTS JUNCTION 1 3CN 8 TXD I I 2 3CN 9 RXD TX 6 I FG I 3CN 20 FC FG 6 D Resistor 4 7 kQ may n...

Page 208: ...AXIS 7CN 9 XHA 1 I _ONLY B 4 I XHB 7CN 14 XHB I I i 7CN 15 XHB 1i _ 5V F 7CN 5 5V I 0V 7CN 2 05V YHA 7CN IO YHA Y AXIS _ _ _ i I 7CN 11 YHA _ YHB 7CN 16 YHB I 7CN 17 YHB 1 I I 1 i I t I SV _ 7CN 6 5V...

Page 209: ...0 SIr ZPY i MII M18 M24 T12 T21 T24 19 20 21 22 23 24 2_ 26 27 28 29 I 30 31 32 w18 w24 SK2 SK5 SK8 OP MF RST I ZPZ M12 M21 M28 T14 46 47 48 49 50 i SK6 STL OEN I ZPX iZ S M M 22 i T T18T22 IT28 1 CON...

Page 210: ...XHA XHA YHA YHA ZHA ZHA 14 15 16 17 18 19 20 XHB XHB YHB YHB ZHB ZHB FG For only Motion Module Type JEFMC C027 CONNECTOR 8CN MR 20RMA 1 2 3 _4 5 6 7 OaV 05V OsV 5V 5VI 5V din 8 9 10 ll 12 13 1 TXDA RX...

Page 211: ...NAL 8 9 10 11 12 13 TG OV OVR OVF I 14 15 16 17 18 19V24 20 586 256 VD VD I TG DAS DEC D Fig 9 22 Connector Terminals Pins and Signal Names of Axis Module 9 9 3 CRT CONTROL STATION TYPE JEFMC H011 Con...

Page 212: ..._5206 _5207 t 5207 5207 _ 5300 5300 5300 g5301 5301 5302 _5302 _ 5302 5303 5303 _5303 02 V DO D 2 D 5 DO D 3 D 6 D 1 D 4 D 7 D 2 D 5 DO D 3 D 6 D 1 D4 D 6 19 20 21 22 23 24 25 26 27 28 29 30 31 32 g5...

Page 213: ......

Page 214: ...W020 computer Motion module M 3CN M 8CN Micro PC or P 3CN module _ TG PG signal MRP 20F MR 20L KQVV SB lOP 0 2 L Type JEFMC k oi i Axis module Packaged W070 10 m Servomotor shield W071 15 m A 2CN W072...

Page 215: ...25 m D 9 10 2 CABLE SPECIFICATIONS Signal lines of Motionpack ll0 should be connected with MR connectors Cables should be selected in accordance with Tables 9 8 and 9 9 Twisted cable should be KQVV S...

Page 216: ...Tin plated soft copper wire braid Material and Color Vinyl black I Sheath qm Thickness mm 1 2 Approx Finished Outer Dia mm 10 0 Approx Weight kg km 130 9 10 3 CONNECTOR 9 10 3 1 External Dimensions i...

Page 217: ...nduced in the signal tines resulting in an erroneous operation I It is important to prevent interference between wires Wiring can be roughly divided into three kinds as shown in Table 9 11 Table 9 1 C...

Page 218: ...e to connect insulating transformers and line filters to control power supply lines In this case the following precautions should be taken Separate the primary side or the secondary side of insulating...

Page 219: ...d be carefully made and large diameter wires larger than 2 mm z should be used POWER SUPPLY MICRO PC MOTION AXIS AXIS AXIS AXIS MODULE MODULE MODULE MODULE MODULE MODULE I _T_ _ _ 1 I 1 5v__ _v l J 1...

Page 220: ...210 10 2 1 Indications of Input Signal Monitor 210 10 2 2 Status Indications 211 10 3 AXIS MODULE ADDRESSING AXIS SETTING 212 10 4 INDICATIONS FOR AXIS MODULES 213 10 5 MICRO PC MODULE ADDRESSING 213...

Page 221: ...tem Setting d Set the system with a screwdriver through the square hole of 2SW on the motion I module as shown in Fig 10 1 10 2 INDICATIONS FOR MOTION MODULES 10 2 1 INDICATIONS OF INPUT SIGNAL MONITO...

Page 222: ...CN 34 2CN 2 6 30067 30066 30065 _ 30064 30063 30062 _30061 30060 W28 W24 W22 W21 Wl8 W14 W12 Wll 2CN 23 2CN 7 2CN 38 2CN 22 2CN 6 2CN 37 2CN 21 2CN 5 7 30077 1530076 30075 30074 _30073 30072 30071 300...

Page 223: ...p between the axis names and axis selection switch 1SW setting Do not set the switch to any position other than l t o Axis Designation 1SW Setting Axis Module X Axis 1 Axis Module Y Axis 2 q Axis Modu...

Page 224: ...r RUN ALM ALM Servo alarm Servo on INDICATIONS _ status status 586 256 D Fig 10 7 Indications of Axis Module 10 5 MICRO PC MODULE ADDRESSING Data is transferred between the motion and micro PC modules...

Page 225: ...into the input connectors 1CN 2CN 5CN of micro PC module There are eight indicator lamps but the I O signals on machine side can be checked since the lamps are combined with the d indication changeove...

Page 226: ...16 ICN 47 5 52057 52056 52055 52054 52053 52052 52051 52050 2CN 3 2CN 36 2CN 20 2CN 4 2CN 35 2CN 19 _5206 2CN 34 2CN 2 6 52067 52066 52065 52064 52063 52061 52060 2CN 23 2CN 7 2CN 38 2CN 22 2CN 6 2CN...

Page 227: ...nd motion module Under execution of the logic program of micro PC module If a transmission error occurs lamp _ red lights In normal ON status green is lit Table 10 5 Indications of RUN and ALM Lamp ON...

Page 228: ...umber List 220 11 1 6 Setting Parameters 225 11 1 7 Manual Operation and Confirmation of Moving Direction 227 11 1 8 Confirmation of Stroke Limit 228 11 1 9 Confirmation of Return to Reference Point O...

Page 229: ...basis of carrying out the trial run adjustment smoothly In the wiring check it is necessary to confirm not only the proper I connections of circuits but also to check wiring route size and kind of wi...

Page 230: ...ontrol power supply voltage 100 VAC_ 10 5 VDC 5 24 VDC_ 10 D 3 PG voltage 5 VDC_ 5 or 12 VDC_ 5 4 Servo power supply voltage Varies depending on the model of Servopack Refer to technical sheets for Se...

Page 231: ...Manual OperationAxis 1 _ I I M 2 I M I _R I S_ P I _ I S_R I Return to Skip Stop Start Step Multiplier Reference Point 40071 PRT MLK ABSO I EINV i NEG I ACR I PMEM I SBK Protect Machine Absolute Exter...

Page 232: ...991 _ 50 I _28I 2 I 22I 2 t 8 I I 2 I 11 T BCD Code Output 0 99 Alarm Code Hexa t4508I 28 I 24 I 22 I 211 S18 I 14 I 12 I 11 I 50 I I I I I I I I D NOTE 1 Signal name with a bar e x STP shows a revers...

Page 233: ...will be specified at I O allocation D7 D6 D5 D4 D3 D2 DI DO Address PUT _o I c 3 I c ol c I _ 3sl c 91 c 3I _ _1 _ 2I SIGNAL 30011 ION 23 I ICN I I CN 381 1CN 22 I 1CN 6 I I CN 37 I l CN 2I I l CN 5...

Page 234: ...I I I n i i _31 i 1 i i i i I i b _1 i n i i i i I i UP 0_1 I I I I I I I I _1 1 I I 1 I I I I _ 1 I I I I I I I I D _1 I I I I I I I I _1 I I I I I I I I outPUT _1 I I I I I I I I SIGNAL B o I I I I...

Page 235: ...i I I I I _ i I i I I I 1 I I _2t i i I i I I I I _1 I I I i I i I i _l I I i i 1 l i i I qu _l i t I I i i I i _ 1 I I I I I I I _ 1 I I I I i i I dn _1 I I I I I I I q _1 I I I I I 1 I OUTPUT S GNA...

Page 236: ...the setting procedure for parameters 11 1 6 1 For Setting Parameters on theCRT Control Station I Turn power on I I Se oeO moO I b t 1100 or more I 1000 to 1009 I Enterparameter numbers I I Depress th...

Page 237: ...ne Turnoff the power of personal computer t Set to TELCOM mode I t I Depress thel _ key 1 4 f l Key inthe commands L_ l Key in tile parameter number and parameter values r_ _ I t 4 Completion of Param...

Page 238: ...xis direction t 1 I Confirmthat X axis canmove t Confirm the operation in 1 and I I I directions for each axis and all axes YES reverse direction I Confirm that jog feedrate changes I I NO Recheck and...

Page 239: ...s 1602 Y axis 1802 Zaxis Move the system in direction and operate the over travel limit switch in direction Confirmthat the systemcan stopped by dynamic brake Depress the _ key I f Confirm that the sy...

Page 240: ...e turn on JX signal in the case of x axis direction D YES Reexamine and alter if necessary the setting of the following parameters 1403 X axis ff 1603 Y axis and I 1803 Z axis T ap0roac speed dooelera...

Page 241: ...executeM30 I Set to single block Turnon SBK signal I I Turn off the single block and operate continuously Designatethe programnumber Designate a program number and turn 1 on the start signal I I Turn...

Page 242: ...nd of the dog of decelera tion LS comes near the e Increase or decrease by value of A the parameters 1556 for x axis _ 1756 for y axis and _t 1956 for z axis of final distance of return to reference p...

Page 243: ...of Position Loop Gain I Set the rapid teed override to H high w I speed and repeat the operation and stop IOn I_ 1 Observe the input signal wavetorm Ofthe tachometer generator of Servopack J I I 1 t t...

Page 244: ...vopack 234 12 1 1 Confirmation of Machine Specifications 234 12 1 2 Selection of Servomotors 234 12 1 3 Examination of Servo Preformances 236 12 1 4 Selection of Detector 237 12 1 5 Selection of Servo...

Page 245: ...Load torque converted to motor shaft TL kg m Duty cycle Moreover the following specifications are needed as positioning characteristics Detecting resolution _ 0 ram pulse Stopping accuracy _ mm rev 4...

Page 246: ...ust be selected power rating is obtained by dividing the equare value of the rated torque of motor by motor inertia servo performance becomes better as the power rating increases As reference the load...

Page 247: ...ation pulse _ and maximum command pulse f i Kp f pulse s i s 7 pulse i Servo performance is enhanced as the Kp value increases The largest possible Kp value largest possible Kp value can be calculated...

Page 248: ...10 is other then those shown in Table 9 1 then it is necessary to select a PG having the number of output pulses larger than the calculated value of FaG and then correct it by the setting of special...

Page 249: ...300 250 200 3000rpm 150 125 120 100 75 60 50 I 1000 500 400 250 200 100 80 50 40 1500 1000 750 600 500 375 300 250 200 C Series 150 125 120 100 75 60 50 3000 rpm 1000 500 400 250 200 100 80 50 40 Sem...

Page 250: ...1 _ o v s L _S AX S__i R S AXIS I S T 200 100 v _ I 1_ EMERGENCY STOP POWER POWER MCI r_6 N_L I _ F q OFF ON 2 POWER 1 _ av L MCI I _ t__ _ l_ vl _ x s TLR TIMER I I i POWER I __24VDCj 4_ O F TLR XTHR...

Page 251: ...I I _ C N _ FEEDBACK UNIT I I IIII H L _ cN _ _OE_ jE E ZD J _ _ lllIF I_ _ _ Y AXIS _ CNC IIIl k I _ L J 7 V I I I rz t MACHINE _ _ q _H t Ji _ _ _ 24_ SIDE 3CN I i_o v FDBY I I Ill I _ _ Y AXiS FWD...

Page 252: ...Pt TG _ _ 0 _ I_ I o c_ 2CN N i7 _16 J_ pI I I PA r _ I I I _JTEAFTM_ NHOI I CRI CONTROL I DEI _ 2CN 17 I I _ I I o o EL LS 2CN IS I_ _l_ i PB C _ i G 1 2CN 6 AXIS MODULE ZCN _ I I 0V __ JEFMC B011 ZC...

Page 253: ...D White Yellow GFC I IIIII 1 I i sv _ D Green I tllllli i v _L c S White Gr JI PML I_UII 2CN 2 __L H Red I IIIII I I _c J_o_ G_ _ G S eck I I IIIIII _Y A_ L___JII_H _ _ v IIIII lEaF q_ OVERT A _ JJlCN...

Page 254: ..._F _ _ SAL 7 _CX _ I I 24VDC I J 3 _N 7 _ i I 124V I CN 2 E I I I l l Ii I T I 1 T II I 3CN IgOE 24V P _ IL Ill I I L II FOBX i2CN IO _ TG II I I t _ll I CN _ _ O O _ _ V I IM L_ 11 I I _I FG _ 1 Ill...

Page 255: ...PB L c 1 I I F _ _c_ _ 7ti _ _D t I I _ r A BUS I _ _ I PC _R _Ec I 2 L______J _cN _ I _ _ I A I CN 6 I I I I XSMODULE Bx_ _ ov LC_ l __ J_ JEFMC B011 __ _ I I _ _ J _ue ZZT_ L I L Y AXIS CNC__l SV 1...

Page 256: ...6 I I I _c_co zaZ IIII _qYEcT7 I _ I r_ STAT ON I _ l _ _O_ r F L _ L PB i I I eT c 0 IIII I f o O_OECE LSI_c _ _ 5_ _ I iP _ PB D i 2CN 19 _ pc I I ii IIIll r c l _CN 5 I _ _ _ IIIIit i I cJ_ 7 I I I...

Page 257: ..._ _ j See a IEu_n for ill I AC servo series L_ L L__ TS_E S__ L_ _ L _ _ Y A S MACHINE sDE I c _ _tttr _ _ 24 vIm _ _ JV I J IIIl i r CN _ _ I N d Y AXIS FWD RU MOTION I _ L _ OVERTRAVEL I MODULE IIII...

Page 258: ...I II I I _C _ V I I I STATION I FDBX I I I I I JEFMC H012 I 3CN 13_ o_02 V I _ 3 CN 12 _a_x t I I I I I f II 2CN I6_ PA LS _ICN_ l z _ PI oo 1 CN CN 7 1 CN 34 I 2CN 1 OV 0V 1CN 1 I 11 i I 2CN 2 I I I...

Page 259: ...l_N CN 17 _ PI _ 33 _I FG I tllll l t eCN 8 PB I _ _2eCN I I I I i i 2CN 9 P_ p _ oo 2 PC Gt_ 36 I CN 14 Ilttl t t t 2CN 1 _ 0V CN 20 _ PG I l Ill i 2CN 2_ ov _ cN t i 2CN 3 _ _ I l Ill I 9r vgnj r_ I...

Page 260: ...I l 3LN IIJ 7 I II BSX L _ I_ V FG 0V _ l CRT CONTROL I I 24v STATION FDBX I JEFMC H011 I I __ IIGN FC 2CN _ 2 CN 15 IL_ SeeaLbu_ erieTi6 c i J_S E__ _S 8N_ 2 5_ _ _ CN _C 2 _ _2E2 _ _ _ _ 2__ _ Y AX...

Page 261: ...r c MZ PDr LOSE AT R a I I I i I _c_ u T _ a_ _1 q _ 1V NI ET SPEEDDETECTINGSIGNAL I r I I 1 __ CLOSED AT SET SPEED 0R BELOW _ iOVE oE SET_I_ _c_ _R _ REEC_I_ SPEEDCOINCIDENCE SIGNAL 1 I I _c u I 2CX...

Page 262: ...CONTENTS D APPENDIX 1 LIST OF ALARM CODES 250 APPENDIX 2 LIST OF SERVOMOTORS 255 APPENDIX 3 LIST OF Servopack UNITS 258 APPENDIX 4 LIST OF Motionpack 110 261 251...

Page 263: ...in Correct the program 015 UNUSE CH significant information section is programmed PROG ERROR Input data digits overflow more Correct the numbez of digits in 016 8 DIGITS than8 theprogram I 1 PROG ERR...

Page 264: ...031 M98 M99 number is not found PROG ERROR Subprograms are nested exceeding Nest the subprograms in a D 032 M98 NEST five levels maximum of four levels PROG ERROR Axis designation is made in G04 Delet...

Page 265: ...he position error pulse parametez s 1806 1874 exceeds the allowable value Z axis EXTERNAL Error caused by external error ER Examine the external error ER 049 ERROR signal input signal MACH External si...

Page 266: ...tsink etc Z axis 063 064 065 COMM ERROR Transmission error between motion 066 X and axis modules X axis COMM ERROR Transmission error between motion 067 Y and axis modules Y axis Check the setting of...

Page 267: ...83647 Y axis Y axis ABSO POSITION Reference value for ref unit system Check the reference 095 OVERFLOW or pulse system exceeds value or parameter ERROR Z 2147483647 Z axis Z axis DNC ERROR Machining p...

Page 268: ...3000 580 56 Rotor GD_ 4 kg em _ 0 567 1 41 2 83 9 00 25 2 52 5 Inertia D I De Servo I Minertia Motor RM Series Type UGRMLMUGRMEM UGRM_ UGRMEM IUGP MEM UGRMEM Item _ 02SA2 02MA2 04SA2 04MA2 08SA2 08MB...

Page 269: ...1 8 2 6 Rated Torque kg cm 9 7 15 6 24 4 44 83 107 175 255 Rated Speed rpm 1000 1000 1000 1000 1000 000 1000 1000 580 53 Rotor nn_l_ kg cm 2 6 16 20 44 63 140 245 35 Inertia _v_ I ACServo M Series 00...

Page 270: ...pm 4000 Inst Max rpm I 231 Torque 30 41 75 147 5 S6 3 1 Inertia GO 4 kg cm 0 5 0 76 2 85 3 3 5 74 AC Servo C Series 3000rpm Type USACEM USACEM USACEM USACEM USACEM I Item _ _ _ _ 45A A2 IA _2 02AA2 03...

Page 271: ...rtem Output kW_l 0 t 02 0 5 0 7 0 8 1 5 2 2 3 7 5 5 7 5 11 Single phase full wave rec Three phase full wave rectifying tran Control Method tifying transistorized PWM sistorized PWM control 1 control S...

Page 272: ...8 6 2 9 7 15 0 20 0 3 0 IW urrent p flax Output rmsA Ii 0 17 0 27 6 35 7 56 5 77 0 urrent i AC Servo Servopack S Series 3000rpm CACR SR BB SPEED CONTROL TYPE _ i_ _ Type SRIOB 1 S sRo3BB sR0sBB B SR15...

Page 273: ...9 9 2 12 7 16 3 rmsA POWER UNIT 585 342 _Type JUSP ACP07AA ACP15AA ACP20AA Specifications Voltage Single phase 100 110 VAC 15_ 0 _ at 50 60 Hz Power Supply i Capacity Rated Output 1 5 kVA 3 kVA 5 kVA...

Page 274: ...084 Motion Module_ Axis Module for up to 4 axes For FA Bus W 100 Motion Module_Micro PC Module W 110 lm For I O Signals W 111 2m Cable I O Devices_ Motion Module 5CN W 112 5m W 120 lm W 121 2m For I...

Page 275: ...1028 Los Angeles Office 7341 Lincoln Way Garden Grove California 92641 U S A Phone 714 894 5911 Telex 230 678396 YASKAWAUS TSTN Fax 714 894 3258 New Jersey Office 30 Two Bridges Road Fairfield New Je...

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