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Anilam 4200T Manual

Cnc motion setup/testing utility
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4200T
CNC Motion Setup/Testing
Utility
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Summary of Contents for Anilam 4200T

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

  • Page 3: Table Of Contents

    AC Systems ............................19 Servo Amplifier Test Board ......................19 Balancing the DSP Board (F6) ..................... 21 ANILAM Amplifier Parameter Files ....................22 Balancing Servo Amplifier Outputs (F6) ..................23 Amplifier Faults ..........................27 Miscellaneous Tests (F9) ......................27 AC and DC Systems ......................... 32 Tuning (F8) ............................

  • Page 5: Introduction

    CNC Motion Setup/Testing Utility P/N 70000634C Introduction This section describes how to use the ANILAM Motion Setup/Testing (MST) Utility. The MST provides commands that carry out motion-specific setup and testing in order to tune the servo system and the Proportional, Integral, and Derivative (PID) filter parameters of a CNC.

  • Page 6: Activating The Mst Screen

    CNC Motion Setup/Testing Utility P/N 70000634C Activating the MST Screen The axis positions displayed in Figure 1 correspond to the current position. The Graphic Area displays step responses for the Signal Gain and Tuning functions. Refer to Figure 1 and Table 1. General Status Graphics Area Prompt Area...

  • Page 7: Mst Soft Keys

    CNC Motion Setup/Testing Utility P/N 70000634C MST Soft Keys NOTE: Select an active axis before you select an MST command (F1–F10). NOTE: MST soft keys are displayed while the MST screen is active. Access MST utility features using the labeled soft keys located below the screen on the console.

  • Page 8: Clearing A Prompt Field Or Message (F1)

    When you enter the MST Utility and press Balance (F6), SigGain (F7), or Tuning (F8), the CNC prompts for the password. Type the appropriate password and press . Refer to 4200T CNC Setup Utility Manual, ENTER P/N 70000414, “Section 1, Password Restricted Parameters.”...

  • Page 9: Checking Axis Resolution (F2)

    CNC Motion Setup/Testing Utility P/N 70000634C Checking Axis Resolution (F2) Refer to Figure 2. Press ResChk (F2) to calculate the actual resolution for the active axis. In the Graphic Area of the screen, the actual resolution and the resolution in the Setup are displayed for comparison. In addition, the screen displays: •...

  • Page 10: Detecting The Index Pulse (F3)

    Press Manual (F4) to cancel an active MDI or test command. Activating Manual Data Input Mode (MDI) Press MDI (F5) to activate the MDI prompt. (Refer to the 4200T CNC Programming and Operations Manual, P/N 70000412, for information on MDI programming.) All rights reserved.

  • Page 11: Balancing Motion Control Axes

    CNC Motion Setup/Testing Utility P/N 70000634C Balancing Motion Control Axes To balance the outputs properly, all connections between the CNC and the servo amplifiers must be complete. Perform all adjustments on one axis at a time. Make the adjustments in the following order: 1.

  • Page 12: Differential (Ac Systems) And Single-Ended (Dc Systems) Dsp

    CNC Motion Setup/Testing Utility P/N 70000634C Differential (AC Systems) and Single-Ended (DC Systems) DSP Board The digital signal processing (DSP) board uses digital input and provides analog output. For the AC systems, the DSP board, P/N 33001102, is differential (see Figure 4). The earliest AC systems were single-ended boards.

  • Page 13: Dc Systems

    Refer to Figure 6. description NOTE: The test board works only with amplifiers supplied by ANILAM. Figure 6, ANILAM DC System Servo Drive Test Board, P/N 33000102, DC Systems Test-Board Installation IMPORTANT: Press...

  • Page 14: Balancing The Dsp Board (F6)

    Balancing the DSP Board (F6) On systems that use an ANILAM Servo Amplifier Board, P/N 33000039 or 33000123 (See Figure 8 (5 LEDS), DC Systems or Figure 9 (1 LED), DC Systems), you can make measurements for this procedure at the J1 input connector with the Servo Drive Test Board, P/N 33000102.
  • Page 15 CNC Motion Setup/Testing Utility P/N 70000634C NOTE: On 4200T systems, the DSP Board is located in the CNC chassis. Open the CNC chassis by loosening the thumbscrews and opening the cover. Balance the DSP Board with the servos off, initially. Next, verify the DSP Board balance with the servos on, and correct for voltage offset as required.

  • Page 16: Balancing Servo Amplifier Outputs (F6)

    HIGH VOLTAGE! SMA7215-1 BRUSHTYPE AMPLIFIER Figure 8, ANILAM Servo Amplifier (5 LEDS), P/N 33000123, DC Systems NOTE: When the amplifier is shipped from the factory, the LOOP GAIN pot is fully counterclockwise (CCW). This is used to shut off uncalibrated amplifiers. When the loop gain is fully CCW, no current is delivered to the motor.

  • Page 17: Amplifier Faults

    CNC Motion Setup/Testing Utility P/N 70000634C 6. On the ANILAM Servo Amplifier for the axis being adjusted, adjust the balance potentiometer until the MST display indicates 0000, indicating the active axis is stationary. – or – Adjust until tach voltage is 0 VDC (±0.001 V), indicating that the active axis is stationary.
  • Page 18 PULL-UP (LATCHED) OVER TEMP PULL-UP (LATCHED) For LED fault conditions 1 LED servo amplifiers, see Figure 9, ANILAM Servo Amplifier (1 LED), P/N 33000123, DC Systems or Table 6. Table 6, Table of Fault LED Conditions (1 LED) Green Condition 2 FLASHES +/–...
  • Page 19 CNC Motion Setup/Testing Utility P/N 70000634C Under Voltage Fault When the +15VDC power supply is below +12VDC, a level that would cause unreliable operation: description The Run LED turns off, a Fault Output is For 5 LED amplifiers: generated, and the amplifier is inhibited. For 1 LED amplifiers: The Green LED turns off, the Red LED is off, a Fault Output is generated, and the amplifier is...
  • Page 20 If the inertial load is large, the generated voltage can pump up the DC-Buss. If this fault occurs, you may need a Regen Clamp. Consult ANILAM. Resetting a Fault The fault latch may be reset by pushing the Reset button, activating the Reset input J1–12 or by removing power and allowing the filter...

  • Page 21: Setting The Signal Gain (F7)

    If the amplifier should fail, that is, if it should cease to operate with no apparent fault, contact ANILAM. Setting the Signal Gain (F7) Adjust the gains of the ANILAM Servo Amplifier. Refer to Figure 10. Figure 10, Balance Screen, DC Systems NOTE: If ANILAM did not provide the servo amplifiers, follow the guidelines for balancing supplied by the manufacturer.
  • Page 22 6. Press Manual (F4) to cancel the test. Figure 11, Signal Gain (SigGain) Screen, DC Systems If the system has an ANILAM Servo Amplifier Board, you can make all of the voltage measurements with the Servo Drive Test Board. Measure command voltage across TP1 and TP2 of the test board. You can find these signals also on Pins 3 and 11 of J1.

  • Page 23: Ac Systems

    Servo Amplifier Test Board Each CNC that uses ANILAM AC motors and amplifiers, P/N 33001279, includes a Servo Amplifier Test Board, P/N 33001399. During machine operation, the board provides convenient access to critical signals for alignment and troubleshooting.
  • Page 24 CNC Motion Setup/Testing Utility P/N 70000634C Test Board Installation IMPORTANT: Press to de-energize servos before installing the STOP test board. 1. Remove the cable attached to J2 of the Servo Amplifier you wish to monitor and connect it to P1 of the test board. 4.

  • Page 25: Balancing The Dsp Board (F6)

    P/N 70000634C Balancing the DSP Board (F6) On systems that use an ANILAM Servo Amplifier Board (see Figure 14, Digital Brushless AC Servo Amplifier, P/N 33001279, AC Systems), measurements for this procedure can be made at the J2 input connector with the Servo Amplifier Test Board, (see Figure 12, ANILAM Servo Amplifier Test Board, P/N 33001399, AC Systems).

  • Page 26: Anilam Amplifier Parameter Files

    Board Balance Pots, P/N 33001102, AC Systems ANILAM Amplifier Parameter Files If using the ANILAM AC Brushless Servo Amplifier (refer to Figure 14, Digital Brushless AC Servo Amplifier, P/N 33001279, AC Systems) make sure that the amplifier's communications cable, P/N 33001389, is connected between the amplifier J1 and the CNC.

  • Page 27: Balancing Servo Amplifier Outputs (F6)

    2. Select Builder Setup. 3. Select General Axis. 4. Select Digital Amplifier Settings. NOTE: Step 5 values are valid only when you are using ANILAM AC Brushless Digital Servo Amplifiers. If using amplifiers not provided by ANILAM, follow the manufacturer's guidelines for balancing, signal gain setting, and overall adjustments.
  • Page 28 CNC Motion Setup/Testing Utility P/N 70000634C J7 J1 ACU-RITE COMPANIES INC. AMPLIFIERAC Figure 14, Digital Brushless AC Servo Amplifier, P/N 33001279, AC Systems All rights reserved. Subject to change without notice. November 2009...
  • Page 29 CNC Motion Setup/Testing Utility P/N 70000634C Setting the Balance (F6) Install the Servo Amplifier Communications Cable, P/N 33001389, between the amplifier's J1 connector and the CNC's RS-232 port. 1. At the Software Options menu, select Motion Setup/Testing. 2. Press and release the button.
  • Page 30 4200SIGGAIN Figure 16, Signal Gain Test Screen, AC Systems IMPORTANT: Steps 9–13 apply only to ANILAM brushless AC amplifiers. For other amplifiers, refer to the manufactures guidelines to set the signal gain in the amplifier.

  • Page 31: Amplifier Faults

    Press Misc (F9) to display a pop-up menu with eight (8) selections. The tests marked ** on the right apply only for systems equipped with an ANILAM AC Amplifier (P/N 33001279). These tests can only be activated with the Servo Amplifier Test Board installed. See “Servo Amplifier Test Board.”...
  • Page 32 CNC Motion Setup/Testing Utility P/N 70000634C CanTest Refer to Figure 17. Press Misc (F9) to display the Miscellaneous Test pop-up window. Select CanBus Test to display the graphic area and to troubleshoot the status of all inputs and outputs for the nodes. Line 1 Line 2 >...
  • Page 33 5. Subsequent lines indicate the I/O status of any additional nodes. Save Amp Settings This feature is only for systems equipped with an ANILAM AC Amplifier (P/N 33001279) and with the Servo Amplifier Communications Cable, P/N 33001389, connected. Refer to “Setting the Signal Gain (F7).”...
  • Page 34 CNC Motion Setup/Testing Utility P/N 70000634C Amplifier Test Link This feature is only for systems equipped with an ANILAM AC Amplifier (P/N 33001279) and with the Servo Amplifier Communications Cable, P/N 33001389, connected. This enables/disables the communications monitor. The communications monitor has two modes of operation: Monitor and Command.
  • Page 35 CNC Motion Setup/Testing Utility P/N 70000634C Restore from BackUp This feature is only for systems equipped with an ANILAM AC Amplifier (P/N 33001279) and with the Servo Amplifier Communications Cable, P/N 33001389, connected. To restore amplifier parameters from backup: 1. Select an axis (i.e., X, Z).

  • Page 36: Ac And Dc Systems

    Saving Final Values Exiting the MST Screen (F10) Tuning (F8) NOTE: ANILAM recommends that you set signal gain and balance the servo amplifier, as discussed in previous text, before tuning. CAUTION: Most machines will operate correctly with the default filter parameters. Only qualified technicians who have knowledge of motion control tuning parameters should use this tool.
  • Page 37 CNC Motion Setup/Testing Utility P/N 70000634C If you have selected Kd (derivative gain), the CNC begins by measuring derivative sampling time (Ds). It measures the time between 10% and 90% of the final velocity (rise time) and divides it by five. A portion of this time is determined to be the Ds.
  • Page 38 CNC Motion Setup/Testing Utility P/N 70000634C Table 12, Tuning Functions Values Parameter Function Determines amount of overshoot the CNC will seek Kp Overshoot % before ending the Kp cycle. 1% to 5% is a normal overshoot range for this test. If detected overshoot exceeds the entered OvSht%, the cycle ends.

  • Page 39: Saving Final Values

    NOTE: ANILAM recommends that you back up your configuration file before you save tuning results. This allows you to recover the filter parameters if necessary. Refer to 4200T CNC Setup Utility Manual, P/N 70000414, for details on backing up and restoring setup parameters.

  • Page 40: Setting Up And Tuning The C-Axis

    After you enable the C-axis, you can use the C key on the keypad to activate or deactivate the C-axis. For additional information on C-axis programming, refer to the 4200T CNC Programming and Operations Manual, P/N 70000412. Figure 20 displays the test results screen for the C-axis tuning parameters.
  • Page 41 4200T CNC Programming and systems, 23 Operations Manual, P/N active status codes area, 70000412, referenced, 1, 6, 36 illustration, 2 4200T CNC Setup Utility Manual, amp parameters backup amp settings, description, AC P/N 70000414, referenced, 4, systems, 30 restore from backup, description, AC...
  • Page 42 CNC Motion Setup/Testing Utility P/N 70000634C - Index compensation adjustment (mV), procedure, AC systems, 22 select, AC systems, 26 setting, AC systems, 23 backup file, miscellaneous tests, configuration file, back up, 35 description, AC systems, 30 backup, restore from, amp DC systems parameters, AC systems, 31 amplifier faults, 13...
  • Page 43 CNC Motion Setup/Testing Utility P/N 70000634C - Index LS/ECB fault, description, DC systems, signal gain adjustment (%), setting, AC systems, 23 digital signal processing. See over temp fault, description, DC systems, disclaimer, iii over voltage fault, description, DC Ds, derivative sampling time, 33 systems, 16 resetting amplifier fault, description, DC DSP, defined, 8...
  • Page 44 LOOP GAIN pot, description, DC DC systems, 16 systems, 12 Low Speed Electronic Circuit Breaker. See LS/ECB P/N 70000412, 4200T CNC LS/ECB fault, causes listed, DC Programming and Operations systems, 15 Manual, referenced, 1, 6, 36 P/N 70000414, 4200T CNC...
  • Page 45 CNC Motion Setup/Testing Utility P/N 70000634C - Index single-ended DSP saving, tuning test values, for C- board, axis, 36 illustration, DC systems, 8 screens soft keys area, illustration, 2 balance test, illustration, AC systems, 25 soft keys, MST, listed, 3 Balance, illustration, DC systems, 17 Software Options screen, 1 CanBus Test, illustration, 28...
  • Page 48 HEIDENHAIN CORPORATION 333 East State Parkway Schaumburg, IL 60173-5337 USA +1 (847) 490-1191 +1 (847) 490-3931 E-Mail: info@heidenhain.com www.heidenhain.com 70000634C · 1 · 11/2009 · Printed in USA...

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