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TRT

TILTING ROTARY

TABLE

TRT

PERATOR’S

ANUAL

TILTING ROTARY

TABLE

96-5048 rev E

June 2002

7. PROGRAMMABLE PARAMETERS

There are 38 stored parameters associated with each servo axis. There is a battery in the controller which will

keep the parameters (and the stored program) saved for up to eight years. These parameters are used to

change the way the controller and servo loop operate. To change a parameter, go to the PROGRAM mode by

pressing the MODE button if not already in PROGRAM mode. Then press the

arrow and hold it at step 1 for

three seconds. After three seconds, the display will change to the parameter entry mode. The display will

indicate:

01 PP n

where

is the value of Parameter 1. Parameters are one to five digits in length and are decimal integers. If

changing parameters associated with the servo loop, it is safest to do this with the servo loop off. Turn the

servo loop off by pressing EMERGENCY STOP. To exit from parameter entry mode, either press the MODE

button to go to RUN mode or push the down arrow key until you return to step 1.

The

arrow key is used to select the next higher numbered parameter and the

down

arrow key is used to

select the next lower numbered parameter. The

right

arrow key is used to alternate between parameters for the

and

axes. Pressing the

arrow,

down

arrow,

right

arrow, or MODE keys will cause an entered param-

eter to be stored.

Some of the parameters are protected from being changed by the user. This is because they could result in

unstable or unsafe servo operation. If you need to change any of these parameters, call HAAS.

7.1 G

EAR

OMPENSATION

The control has the ability to store a compensation table to correct for small errors in the worm gear. The gear

compensation tables are part of the parameters. While parameters are displayed, press the

right

arrow button

to select the gear compensation tables. There is a separate plus direction table from the minus direction table.

Use the

right

arrow button to display the plus or minus table. The gear compensation data is displayed as:

gP Pnnn cc

for plus table

G- Pnnn cc

for minus table

The

nnn

value is the machine position in degrees and the

is the compensation value in encoder steps.

There is a table entry every two degrees starting at 001 and going to 359. If your control has non-zero values in

the gear compensation tables, it is recommended that you do not change them.

When the gear compensation tables are displayed, the

and

down

arrow button will select the next two

degree (2

) entry and the minus (-) and numeric buttons will enter a new value. In addition to this, the JOG

button may be used to adjust the compensation value. If the servo is on when changes are made, and the table

is at the position corresponding to the entry changed, the servo motor will move by the adjustment amount.

This is valuable in that the JOG button can be used to move the motor to a desired position.

Clearing of parameters will set all of the gear compensation tables to zero. To exit the gear compensation

display, press the MODE button; this returns the control to RUN mode.

When a table is using gear compensation, the values in Parameter 11, for the A axis, or parameter 57, for the

B-axis, must be set to "0".

PARAMETERS

Содержание TRT210

Страница 1: ...should do many repair procedures HAAS SERVICE AND OPERATOR MANUAL ARCHIVE WARNING Some mechanical and electrical service procedures can be extremely dangerous or life threatening Know your skill leve...

Страница 2: ...Haas Technical Publications Manual_Archive_Safety_Pages Rev A June 6 2013...

Страница 3: ...addressed DO NOT modify or alter this equipment in any way If modifications are necessary all such requests must be handled by Haas Automation Inc Any modification or alteration of any Haas Milling o...

Страница 4: ...shop owner s responsibility to set up the machines safely and use best practice machining techniques it is also their responsibility to manage the progress of these methods The machining process must...

Страница 5: ...factory Never alter or remove any safety decal or symbol Each hazard is defined and explained on the general safety decal located at the front of the machine Particular loca tions of hazards are marke...

Страница 6: ...MILL WARNING DECALS Haas Technical Publications Manual_Archive_Safety_Pages Rev A June 6 2013...

Страница 7: ...LATHE WARNING DECALS Haas Technical Publications Manual_Archive_Safety_Pages Rev A June 6 2013...

Страница 8: ...Other decals may be found on your machine depending on the model and options installed OTHER SAFETY DECALS Haas Technical Publications Manual_Archive_Safety_Pages Rev A June 6 2013...

Страница 9: ...pproximately 100 PSI is all that is needed to activate the brake CONTROL The tilting rotary table servo control incorporates the latest in high speed microprocessors and drive technology The control w...

Страница 10: ...100 PSI On the TRT 160 a built in air brake with 200 ft lbs Tilt Axis and 100 ft lbs Rotary Axis of holding torque 100 PSI AC SERVO DRIVE Closed loop 1 0 HP HRT160 HRT210 3 0 HP HRT310 75 HP HA5C DC...

Страница 11: ...when power is turned off It also remembers the current spindle position and step number INTERFACING Most CNC mills can be interfaced with the TRT Series quickly and easily by using a spare M function...

Страница 12: ...200 N A N A INDEXING Indexing Accuracy Sec 15 25 15 30 30 60 Repeatability Sec within 10 within 10 within 10 within 10 within 10 within 10 Resolution Deg 001 001 001 001 001 001 Max Resolution Deg 999...

Страница 13: ...TRT160B 19 08 25 84 TRT210B 24 34 B 6 00 8 48 C 1200 1200 D 2 000 1 000 E 7 750 9 000 F 1 18 0 40 G 12 39 15 90 H 14 14 17 65 J 4 25 6 00 K 26 15 TRT160B 26 15 33 36 TRT210B 31 10 6 000 12 39 10 20 2...

Страница 14: ...x swing diameter for B axis 23 5 596 9mm located 0 125 3 1mm below centerline of A axis Speed A axis 60 per sec B axis 60 per sec Spindle Torque A axis 300 ft lb B axis 210 ft lb Brake torque A axis 4...

Страница 15: ...for B axis 31 0 596 9mm located 0 125 3 1mm below centerline of A axis Speed A axis 50 per sec B axis 50 per sec Spindle Torque A axis 300 ft lb B axis 300 ft lb Brake torque A axis 1000 ft lb B axis...

Страница 16: ...CONTROL BRACKET Designed to work specifically with the Haas line of CNC mills This bracket keeps the Servo Control in easy reach of the operator allowing for easy programming between the Haas mill and...

Страница 17: ...ill fail prematurely Secure the TRT Rotary Table to your machine s T Slot table as shown below Toe Clamp Assembly 1 2 13UNC T Nuts Studs Flange nuts and Washers Standard stud mounting front and rear F...

Страница 18: ...ntr ol ZER O RET URN JOG JOG EME RGE NCY CYC LE STA RT STO P ON POW ER ZERO SET ZERO SET STEP SCAN STEP SCAN DISPL AY SCAN DISPL AY SCAN RUN PROG RUN PROG STEP DEG REE S SERVO ON SERVO ON RUNNI NG RUN...

Страница 19: ...e connected Power is 120VAC The power service must supply a minimum of 15 amps continuously Conduit wire must be 12 gauge or larger and fused for at least 20 amps If an extension cord is to be used us...

Страница 20: ...the wall and turning the switch on is really interfacing a 100 watt incandescent lamp up to a 15 Megawatt generating plant While there are hundreds of connections between your lamp and the power com...

Страница 21: ...rol is connected to the first controller s up line or RS 232 IN connector The RS 232 interface sends and receives seven data bits even parity and two stop bits The data rate can be between 110 and 192...

Страница 22: ...ed rate in units second xGnn Specify G code xLnnn Specify loop count xP Specify servo status or position This command causes the addressed controller to respond with the servo position if normal opera...

Страница 23: ...trigger the controller from any one of several sources The cable connector used is a male four pin DIN connector TheAmphenol part number is 703 91 T 3300 1 The part number of the panel receptacle in t...

Страница 24: ...ront panel This frees the operator from having to touch the control to start indexing For example using our optional remote quill switch Haas P N RQS for Bridgeport milling machines every time the qui...

Страница 25: ...other CNC in use today All data is sent and received in ASCII code Lines sent by the controller are terminated by a carriage return CR and line feed LF Lines sent to the controller may contain a LF b...

Страница 26: ...ect or Word 6 0 are not recommended as they will insert extra unnecessary information Upload Download functions do not need an axis select code as they are manually initiated by an operator at the fro...

Страница 27: ...and re number all required data The P code is the destination of a subroutine jump for G code 96 The controller will always end output with a and input to it is terminated by a N99 or G99 Spaces are o...

Страница 28: ...end using chucks that are 5 diameter or smaller and weigh less than 20 pounds Pay special attention when installing chucks Always make sure that the thread and the outside diameter of the spindle are...

Страница 29: ...ecessary to use two 1 8 pins and a screwdriver to break the spindle nut loose AC25 Collet Closer To install the AC25 install new spindle nut Item F locking pawl Item G and FHCS Item H Insert drawtube...

Страница 30: ...e valve sits on top of the HA5C casting and the slipring fits over the input diameter on the back of the AC125 body Install the snap ring and screw the valve to the top of the HA5C body using the 1 2...

Страница 31: ...due to lack of clearance Collet Installation Model AC125 All collets used with the AC125 must be clean and in good condition To install a collet in the AC125 align the collet keyway with the spindle k...

Страница 32: ...X axis the fingers of the right hand will point in the direction of tool movement for a positive A axis command Likewise when placing the thumb of the right hand along the positive Y axis the fingers...

Страница 33: ...ction indicated by no letters 3 feed rate indicated by a letter F 4 loop count indicated by a letter L 5 G code indicated by a letter G Successive pushes of the right arrow button will cause the displ...

Страница 34: ...Hi Curr alarms may occur if not corrected See Troubleshooting section OVERLOAD Indicates 2x overload level excessive load or workpiece misalignment Hi LoAd or Hi Curr alarms will occur if not correcte...

Страница 35: ...f no power is applied to the closed loop motor In addition the internal battery is checked at power on and if the battery is low the following message is displayed Lo bAt Pressing any key will allow y...

Страница 36: ...6 JOGGING Jogging of the motors can be done with the front panel JOG switch Select which axis you wish to jog using the right arrow button The selected axis A or B is shown by the two LED s on the fro...

Страница 37: ...EE Au in Auxiliary input shorted at power on Lo bAt Low battery voltage Get serviced Intermittent low voltage errors or power failures may be the result of inadequate power to the controller Use heav...

Страница 38: ...le Hi VoLt Line voltage is too high causing regen overheat FAiLEd Indicates communication problem between upper and lower controls This flashes up for only two seconds CAbLE Break detected in encoder...

Страница 39: ...e X axis the fingers of the right hand will point in the direction of tool movement for a positive A axis command Likewise when placing the thumb of the right hand along the positive Y axis the finger...

Страница 40: ...FEED RATE LOOP COUNT G CODE for the A axis continuing to push the right arrow button steps the control through the same registers for the B axis The control then repeats the A axis registers In RUN mo...

Страница 41: ...o on B JOG causes the servo to move in either the forward or backward direction at a rate defined by the last numeric key pressed C ZERO RETURN causes the servo to return to HOME position search for m...

Страница 42: ...mbers Those numbers should be used when describing problems to Haas If any other message is displayed refer to the Error Codes section of this manual The numbers only remain in the display for about o...

Страница 43: ...o the position which you want to use as zero and then press and hold the CLR key for 3 seconds Press the right arrow key to select the B rotary axis and repeat for that axis The displays will now show...

Страница 44: ...e are both positive and negative travel limits possible If a step is started which would have caused the control to exceed the travel limits the following message is shown 2 FAr and the control will n...

Страница 45: ...ervo is turned off a reason code is displayed along with the following codes Por On Power just applied or failed previously Ser Err Following error was too large see Parameter 22 or 68 E StoP Turned o...

Страница 46: ...are in by looking at the display IF THE DISPLAY IS STEADY YOU ARE IN THE RUN MODE IF IT IS FLASHING ON AND OFF YOU ARE IN THE PROGRAM MODE The RUN mode is where pre programmed commands may be execute...

Страница 47: ...data window Pushing the right arrow key moves the window to the right Pushing the up arrow or down arrow keys moves the window up or down Brushless Motor Step Number Step Size Feed Rate Loop Count G c...

Страница 48: ...xis light on To enter a feed rate of 80 degrees 80o per second press right arrow again and the following keys 8 0 0 0 0 The display should now indicate 01 F 80 000 To return the controller to the RUN...

Страница 49: ...ree 45o step by pressing the CYCLE START button The indexer should move to the new position and at the end of the step the display should indicate 01 A P045 000 B P090 000 For more details on operatin...

Страница 50: ...th the CNC relay function disabled Parameter 1 2 Enter your step size in degrees to three decimal places The decimal places must always be entered even if they are zero Enter a minus sign for opposite...

Страница 51: ...loops before proceeding to the next step When G97 is programed into both axes the amount of delay is the sum of both axis G97 delays 5 6 ABSOLUTE INCREMENTAL MOTION G90 and G91 can be used for absolu...

Страница 52: ...how many equal sized parts a circle is to be divided into After the L count steps the servo will be in the same position as it started Circle division is only available in the circular modes i e Param...

Страница 53: ...s and hold the CLR button for three seconds The displays will cycle through all 99 steps and set all but the first to G99 The first step is set to G91 step size of 0 maximum feed rate and a loop count...

Страница 54: ...OVER LOAD HIGH LOAD HIGH LOAD 7 4 1 0 2 3 5 6 9 8 MODE CLR DEGREES SERVO ON SERVO ON RUNNING OVER LOAD OVER LOAD HIGH LOAD HIGH LOAD A B 7 8 4 Example 1 You want the rotary table not the tilt axis to...

Страница 55: ...Displays blinking 11 Push the DOWN ARROW once You should be on step 2 12 Enter 9 1 on the key pad 13 Push the DISPLAY SCAN button The B LED will light up 14 Enter 4 5 0 0 0 on the key pad Use CLR if y...

Страница 56: ...4 We want to tilt the rotary table 37 9 degrees 37 9o index the rotary table 90 12 degrees 90 12o start a seven hole bolt pattern and then return to our zero position STEP G CODE STEP A SIZE STEP B S...

Страница 57: ...eight times you would save twelve program lines In the subroutine ex ample only the loop count in step 2 would be changed to increase the number of times you wish to repeat the pattern As an aid in pr...

Страница 58: ...CLEAR ZERO RETURN ZERO RETURN EMERGENCY STOP 2 9 3 5 6 4 8 7 Example 1 You want the rotary table not the tilt axis to index 90 degrees 90o 1 Turn POWER switch on 2 Push the CYCLE START switch 3 Push...

Страница 59: ...B is displayed 14 Enter 4 5 0 0 0 on the key pad Use CLR if you make a mistake 15 Push the UP ARROW button once You should be on step 1 16 Push the MODE button Steady displays 17 Push the CYCLE START...

Страница 60: ...NT 01 A 91 000 000 080 000 1 B 91 30 000 080 000 1 02 A 98 000 000 080 000 4 B 98 000 000 080 000 4 03 A 98 000 000 080 000 5 B 98 000 000 080 000 5 04 A 99 000 000 080 000 1 B 99 000 000 080 000 1 Ex...

Страница 61: ...000 000 080 000 1 05 A 91 15 00 25 000 1 B 91 000 000 080 000 1 06 A 91 90 00 080 000 1 B 91 000 000 080 000 1 07 A 91 15 00 25 000 1 B 91 000 000 080 000 1 08 A 88 000 000 080 000 1 B 88 000 000 080...

Страница 62: ...he subroutine as a separate program and write it on a separate piece of paper Program the control using g 96 when you want to invoke the previously written subroutine When finished end the program wit...

Страница 63: ...unsafe servo operation If you need to change any of these parameters call HAAS 7 1 GEAR COMPENSATION The control has the ability to store a compensation table to correct for small errors in the worm...

Страница 64: ...ity AUX Relay enable range 0 to 3 0 normally open 1 normally closed cycle finish relay 2 to pulse optional second relay at end of program Parameter 3 49 servo loop proportional gain range 0 to 255 PRO...

Страница 65: ...linear 2 inches to 1 100 linear 3 inches to 1 1000 linear 4 inches to 1 10000 linear 5 degrees to 1 100 circular Use this setting to program four digits of degrees up to 9999 and two digits of fracti...

Страница 66: ...cond X ratio parameter 9 ratio divider parameter 20 x 100 entered value in parameter 19 Parameter 20 66 gear ratio divider range 0 to 100 PROTECTED This parameter can be used to select non integer gea...

Страница 67: ...type When the control is shut down and restarted it will give a no home display requiring the user to press the zero return button The motor then operates slowly in a clockwise direction as viewed fr...

Страница 68: ...s can be used to synchronize communication See section 2 3 on RS 232 Interface Parameter 34 80 belt stretch adjustment range 0 to 99 PROTECTED This parameter is used to correct for stretching in a bel...

Страница 69: ...f 65536 or 0x8000 2 is 75 of 65536 or 0xC000 3 is 7 8 of 65536 or 0xE000 Parameter 43 89 EREV PER MREV 1 to 9 Number of electrical revolutions of the motor per one mechanical revolution Parameter 44 9...

Страница 70: ...ould come on and stay on Use the meter and check continuity across the cycle start pins pins 3 and 4 Try not to short your test leads and pins against the shield of the male plug NOTE On rare occasion...

Страница 71: ...See section 8 5 SYMPTOM Unit is turned on but the power switch is not illuminated Unit will not index Display reads AIR HOT Axis dependant Front panel START and ZERO RETURN buttons don t work ERROR di...

Страница 72: ...ter at a radius of 4 Mount an indicator on the body of the table and position the stylus on the magnet Use an aluminum bar to rock the platter back and forth apply approximately 10 ft lb while testing...

Страница 73: ...ass Do not over fill If the oil is dirty drain and refill with fresh oil SHC 630 If the rotary axis needs to be refilled with oil please contact HAAS for information Do not attempt to refill 9 5 CLEAN...

Страница 74: ...57 4134 GASKET AIR FITTINGS 55 2 58 16705 MALE ELBOW 1 8 MALE M 56 7 58 16708 1 4 MPT x 1 4 PLOYLINE 57 2 58 1677 1 4 NPT ANCHOR FITTING 58 2 58 2255 1 8 27 NPT MALE X FEMALE 59 1 58 2743 BRANCH T MA...

Страница 75: ...5 51 1 57 2223 O RING 2 242 V 1164 75 44 1 51 2026 BEARING DEEP GROOVE 6021 45 1 51 2027 BEARING DEEP GROOVE 6016 TITLE QTY ID DWG TITLE 8 DWG QTY ID 55 26 43 46 47 HRT210 ROTARY TABLE 25 11 62 60 10...

Страница 76: ...GASKET MOTOR ENCLOSURE 50 2 58 16705 MALE ELBOW 1 8 MALE TO MALE 51 5 58 16706 1 8 AIR FITTING STRAIGHT 53 2 58 1677 1 4 NPT ANCHOR FITTING 54 1 58 2743 BRANCH T MALE W 1 MALE 55 1 58 2744 MAGNETIC O...

Страница 77: ...X 1 30 1 40 1613 FHCS 4 40 X 3 8 31 4 40 1645 SHCS 10 32 X 5 8 32 4 40 16455 SHCS 10 32 X 7 8 33 4 40 1666 MC DR SCRW 2 X 1 4 RD HD 34 4 40 1798 SHCS 8 32 X 1 3 4 35 2 40 1632 SHCS 1 4 20 X 1 2 36 4...

Страница 78: ...TRT TILTING ROTARY TABLE TRT O M PERATOR S ANUAL TILTING ROTARY TABLE 96 5048 rev E 70 June 2002 ASSEMBLY DRAWINGS...

Страница 79: ...71 TRT TILTING ROTARY TABLE TRT O M PERATOR S ANUAL TILTING ROTARY TABLE 96 5048 rev E June 2002 ASSEMBLY DRAWINGS...

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