Yaskawa Siemens CNC Series Maintenance Manual Serviceman Handbook MANUAL No.
Yaskawa Siemens Numerical Controls Corp. has been merged to Siemens K.K. and Siemens Japan K.K. as of August, 2010 respectively. "Yaskawa Siemens Numerical Controls Corp." in this manual should therefore be understood as "Siemens Japan K.K." This manual is intended for both of Yaskawa Siemens 840DI and Yaskawa Siemens 830DI. In this manual, the functional differences of these two models are not taken into account in its description, thus please refer to the catalog (MANUAL No.
Safety-related symbol marks Safety-related symbol marks The following symbol marks are used in this manual to draw special attention to safety information. The information next to these symbol marks is important for safety and thus must always be followed. WARNING CAUTION Indicates activities that could result in a dangerous condition, including death and serious injury, if done wrongly.
Icons Icons The following icons are used as necessary throughout this manual to categorize description next to them: IMPORTANT Indicates what you must always keep in mind. If the instruction were not fully followed, an error could occur that might not damage a machine or other objects but would result in an alarm. EXAMPLE Indicates program examples or operation examples. Indicates additional information or what you should keep in mind for better efficiency.
Table of Contents Table of Contents Safety-related symbol marks.........................................................................iii Icons............................................................................................................. iv Table of Contents .......................................................................................... v Outline of this manual...................................................................................xii Related manuals .................
Table of Contents Chapter 3 Installing the motors .....................................3-1 3.1 Servo motors .............................................................................. 3-2 3.2 Spindle motors ............................................................................ 3-3 Chapter 4 Connection method ......................................4-1 4.1 Arrangement of connectors and switches................................... 4-2 4.1.1 CNC unit ....................................................
Table of Contents Chapter 7 Backup ..........................................................7-1 7.1 How to archive.............................................................................7-2 7.2 Network settings..........................................................................7-7 7.2.1 YS 840DI settings....................................................................................... 7-7 7.2.2 PC settings ....................................................................................
Table of Contents 9.3 Uploading hardware configuration ............................................ 9-20 9.3.1 Uploading hardware configuration (1) ...................................................... 9-20 9.3.2 Uploading hardware configuration (2) ...................................................... 9-21 9.3.3 List of addresses ...................................................................................... 9-23 Part 4 Setting up and maintenance Chapter 10 Overview of System ...................
Table of Contents Chapter 12 How to use Digital Operation ....................12-1 12.1 Basic operation........................................................................12-2 12.1.1 Connecting the digital operator...............................................................12-2 12.1.2 Function of digital operator .....................................................................12-3 12.1.3 Reset of servo alarm .............................................................................. 12-3 12.
Table of Contents 14.2 Servo control......................................................................... 14-36 14.2.1 Position control..................................................................................... 14-36 14.2.2 Speed control ....................................................................................... 14-38 14.2.3 Spindle servo mode.............................................................................. 14-39 14.2.4 Backlash compensation...........................
Table of Contents 14.5 Relevant Machine Data and Parameters ............................14-103 14.5.1 CNC relevant machine data ............................................................... 14-103 14.5.2 Servo drive relevant parameter ..........................................................14-107 14.5.3 Spindle relevant parameter and Servo drive relevant parameter ....... 14-110 14.6 Trouble shooting.................................................................. 14-112 14.6.
Outline of this manual Outline of this manual ■ This manual is a handy book for use by those who are familiar with the NC machine tool Yaskawa Siemens YS 840DI (hereafter called YS 840DI) and are responsible for its operation, maintenance or setup. ■ As a handy book, this manual may not contain basic information or technical details. For such basic or detailed information, refer to the related manuals as listed below.
How to use this manual How to use this manual ■ Target group This manual is intended for those who are responsible for: • manufacturing, inspection, trial run and tuning, or servicing of YS 840DI control panels, operation panels, and other related units and devices. ■ Low-active signals In this manual, low-active signals are indicated by the slash symbol (/) followed by their name.
Safety precautions Safety precautions Listed below are important safety precautions that you must always follow when using the product. Read and fully understand this manual and other related manuals before attempting to install, operate, maintain, or service the product. The safety precautions and the knowledge of the product are indispensable for the safety of yourself and the product. ■ Handling CAUTION • When handling the product, do not hold it by the cables. Otherwise injury or damage could result.
Safety precautions MANDATORY • Store the product in an indoor clean place satisfying the environmental requirements. Otherwise damage could result. The environmental requirements: • Ambient temperature: -20 to +60 ℃ • Relative humidity: 10 to 90% • Altitude: 1000 m or lower ■ Installing CAUTION • Install the product such that its air intake or discharge opening is not blocked by a wall or other objects and that foreign matter would not get into the opening. Otherwise a fire or damage could result.
Safety precautions CAUTION • Observe the following when designing or installing enclosures (a poorly designed or installed enclosure for a high-voltage unit could result in damage or malfunction): • The enclosures must be of hermetic seal type. • The average temperature rise of the product must be not more than 10 ℃ . • Air stirring fans must be installed within the enclosures to improve cooling efficiency and prevent local heat buildup (fans should be UL certified).
Safety precautions ■ Wiring WARNING • Shut off power to the product before attempting to work on it. Otherwise electric shock or a fire could result. • Wiring work must be done only by qualified personnel. Otherwise electric shock or a fire could result. • After wiring work for completing an emergency stop circuit, always check the circuit for functionality. The customer is responsible for the wiring work. Be aware of a risk of injury. • The grounding terminals must be grounded properly.
Safety precautions CAUTION • For information on the required capacity and other specifications of a noise filter, see the General Documentation - Hardware. A properly selected noise filter can reduce conducted electric noise significantly. • Provide the last SERVOPACK module with a terminating connector. Otherwise malfunction could result. • Ensure that the voltage of the AC power supply to a converter is equal to the rated voltage of that converter. Otherwise injury or a fire could result.
Safety precautions MANDATORY • The grounding wire from each unit must be connected to the enclosure or the grounding plate directly. Example grounding wiring S.V 200 VAC U LF M V W CN CN E PG E Enclosure Operation relay sequence LF AVR Single-point grounding (Ground resistance 100 Ωor less) • Wires for grounding must be in accordance with applicable electrical installation regulations and the internal wiring rules.
Safety precautions ■ Operating WARNING • Do not touch live units or terminals. Otherwise electric shock or malfunction could result. • Do not touch any current-carrying parts even if you have shut off power to them, until at least 5 minutes have passed (to let any residual charge go out). Otherwise electric shock or malfunction could result. • Take care not to damage, pull on, or pinch the cables. Otherwise electric shock could result. • Do not touch any rotating parts before you shut off power to them.
Safety precautions CAUTION • Do not touch the heat sinks, as they can get very hot. Otherwise a burn could result. • Confirm that the speed limits of the motors are compatible with the inverter settings before operation. Otherwise injury could result. • Do not measure the signal voltages during operation. Otherwise damage could result. • The inverters are already set at the factory. Do not change the settings unless you know exactly what you are doing. Otherwise damage could result.
Safety precautions ■ Maintaining WARNING • Do not touch the terminals of the inverters or converters, as some of them are at high voltage and very dangerous. Otherwise electric shock could result. • Do not leave the upper or lower cover open when the panel is energized. Always turn off the circuit breaker before opening the covers. Otherwise electric shock could result. • Confirm that the main power and the control power are switched off and the CHARGE lamp is not lit before starting maintenance work.
Safety precautions ■ General notes Notes on the usage of this manual • Illustrations and drawings in this manual may show parts with their cover or safety shield removed so that inside details can be seen. Regardless of the drawings, the products must always be operated according to the manual with all the covers and shields installed in place. • Illustrations and photos in this manual represent typical configurations, and may not exactly represent the products delivered.
Warning labels Warning labels Warning labels are attached to the product to draw special attention. Always follow the instructions. The locations and meanings of the warning labels are as follows: ■ Warning label 1 危険 WARNING けが感電のおそれがあります， Risk of electric shock. ・据付け，運転の前には必ず取扱説明書をお読み下さい。 ・通電中及び電源遮断後5付以内は端子部に触らないで 下さい。 ・Read manual before installing. ・Wait 5 minutes for capacitor discharge after disconnecting power supply. Risk of electric shock • Read manual before installing.
Warning labels ■ Warning marking Ground the unit by connecting a grounding wire to this grounding terminal.
Part 1 Hardware
Chapter 1 System Configuration 1.1 System configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.1 General wiring drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 List of system components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.2 Meanings of component designations - - - - - - - - - - - - - - - - - 1-8 1.2.1 SERVOPACK designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 1.2.
System Configuration 1.1.1 General wiring drawing 1.1 System configuration 1.1.
1.1 System configuration INFO Notes on the general wiring drawing • Number of axes of the YS 840DI system: The maximum number of axes of the system is seven (including the spindle) per converter. • External power supply: An external power supply of appropriate capacity must be provided by the customer. • Separately mounted encoder: Separately mounted encoders are optional for any servo unit or inverter. • Emergency stop/start circuit: An emergency stop/start circuit must be provided for each converter.
System Configuration 1.1.2 List of system components 1.1.
1.1 System configuration Category SERVOPACK (continued) Function Converter Inverter 18.5 kW converter 15 kW converter CIMR-MRXN20155A 11 kW converter CIMR-MRXN20115A 7.5 kW converter CIMR-MRXN27P55A 5.5 kW converter CIMR-MRXN25P55A 3.7 kW converter CIMR-MRXN23P75A 37 kW inverter CIMR-MXN20375A 30 kW inverter CIMR-MXN20305A 22 kW inverter CIMR-MXN20225A CIMR-MXN20185A 15 kW inverter CIMR-MXN20155A 11 kW inverter CIMR-MXN20115A 7.5 kW inverter CIMR-MXN27P55A 5.
System Configuration 1.1.
1.1 System configuration Category AC reactor (continued) Function Designation/Catalog number Name Reactor Specifications/Remarks For a 15 kW converter For a 11 kW converter For a 7.5 kW converter For a 5.5 kW converter For a 3.7 kW converter PROFIBUS-DP related Others PROFIBUS-DP connector Vertical-connection type connector 6ES7972-0B □ 11-0XA0 □ indicates whether a PG port is available. (A) means not available, and (B) means available.
System Configuration 1.2.1 SERVOPACK designations 1.2 Meanings of component designations 1.2.1 SERVOPACK designations Converter CIMR - MRX N 2 045 5 A Series identifier Revision symbol Protection type Specification N:For NC systems 5:External cooling Maximum output Supply voltage 2:200 V 045 45kW 037 37kW 030 30kW 022 018 22kW 015 15kW 18kW 011 11kW 7P5 5P5 7.5kW 5.5kW 3P7 3.
1.2 Meanings of component designations Servo unit SGDK - 75 - A E A or 3030 Series identifier Communication command (E only) Supply voltage A:2000 V Rated output (see the table below) 1-axis unit Basic specification(A only) 2-axis unit Number Capacity Number Capacity 0.5 0.5kW 0505 0.5kW 10 1kW 1010 1kW 15 1.5kW 1515 1.5kW 20 2kW 2020 2kW 30 3kW 3030 3kW 50 5kW 1.5kW 60 6kW 1.5kW 75 7.5kW 1.
System Configuration 1.2.2 Servo motor designations 1.2.2 Servo motor designations SGMKS - 05 A 2 A 2 S Servo motor capacity ( kW) Symbol Brake and oil seal specifications 1: No brake nor oil seal S: With oil seal B: With 90 VDC brake C: With 24 VDC brake D: With oil seal, with 90 VDC brake E: With oil seal, with 24 VDC brake SGMKS 1500min -1 05 0.45 09 13 0.85 1.3 20 30 44 1.8 55 75 5.5 7.5 2.9 4.
1.2 Meanings of component designations 1.2.
System Configuration 1.2.
Chapter 2 Installing the control panels This chapter describes how to install the components of the YS 840DI system. 2.1 Designing the panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 Environmental conditions for installing the control panels and other system components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Thermal design of the enclosures- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 2.1.
Installing the control panels 2.1.1 Environmental conditions for installing the control panels and other system components 2.1 Designing the panels 2.1.
2.1 Designing the panels IMPORTANT • Even if the ambient temperature requirement is met, the system must not be installed in such places where it is exposed to direct sunlight, nearby heat sources, or the elements. • The ambient temperature must be between 5 and 30℃ taking into account UPS battery’s operating temperature requirement of 5-40 ℃ and the expected temperature rise of 10 ℃ . 2.1.
Installing the control panels 2.1.2 Thermal design of the enclosures Internal temperature rise of a panel with an internal fan The size of the enclosure is assumed 450 (W) × 790 (H) × 150 (D) mm. 790mm EXAMPLE 450mm 150mm • Effective surface area A = 1.0155 (m2) (the bottom surface is excluded as the panel is of stand-alone type) • Internal heat produced P = 60 (W) • Internal temperature rise △T ＝ 60 P P ＝ ＝ ＝ 9.8 (℃) 6×1.0155 qe k･A The calculated internal temperature rise ΔT = 9.
2.1 Designing the panels Installing a heat exchanger It is the responsibility of the customer to prepare and install together an enclosure and a heat exchanger. The internal fan must be mounted at an uppermost location so as to force the internal air down. The external fan must be mounted at a lowermost location so as to force the external air up. MANDATORY • Always install a heat exchanger. Otherwise damage could result. Fig. 2.1 shows an example installation of a heat exchanger.
Installing the control panels 2.1.3 Heat dissipation 2.1.3 Heat dissipation The table below lists the heat each YS 840DI system unit dissipates. Heat dissipation Function CNC unit Operation panel Heat dissipation outside panel (by heat sink) (W) Minimum air flow rate (m/s) − − − 190 280 2.
2.1 Designing the panels Heat dissipation Function Heat Total heat dissipation dissipation inside panel (W) (W) Name Heat dissipation outside panel (by heat sink) (W) Minimum air flow rate (m/s) Converter * CIMR-MRXN23P75A 2.5 Inverter * CIMR-MXN20375A 2.
Installing the control panels 2.1.4 Power consumption 2.1.4 Power consumption The table below lists the power each YS 840DI system unit consumes. When designing a control panel, use this data. Function Name Power supply module PS module 10 Power consumption (supply voltage) 2.
2.2 Protecting against electric noise 2.2 Protecting against electric noise 2.2.1 Separation of cables There are three types of cables used in the YS 840DI system: AC Power, DC power, and signal.
Installing the control panels 2.2.2 Noise-proof devices 2.2.2 Noise-proof devices Installing CR-type surge absorbers Provide AC-powered solenoids, contactors, relays, and induction motors with a CR-type surge absorber. For solenoids, contactors, and relays: AC Solenoid 電磁弁 Surge absorber スパークキラー Contactor or relay コンタクタ，リレー Surge absorber スパークキラー Note: A surge absorber must be installed as close to a coil as possible.
2.2 Protecting against electric noise Installing diodes Provide DC-powered contactors and relays with a diode. ＋ − Contactor or relay Coil Diode Note: A diode must be installed as close to a coil as possible. INFO The recommended voltage and current ratings of a diode are twice the voltage and current ratings of a coil respectively.
Installing the control panels 2.2.3 Grounding 2.2.3 Grounding The grounding wire from each unit must be connected to the enclosure or the grounding plate directly. Example grounding wiring S.V 200 VAC U LF M V W CN CN E PG E Enclosure Operation relay sequence LF AVR Single-point grounding (Grouding resistance 100Ωor less) • Wires for grounding must be in accordance with applicable electrical installation regulations and the internal wiring rules.
2.2 Protecting against electric noise 2.2.4 Cable shield clamp A cable between a servo unit and a motor encoder must be shielded and grounded. To securely connect the shield of the cable to a grounding plate, use a cable clamp as illustrated below. Cable clamping is not only for mechanically supporting a cable but also for securely grounding its shield, and thus essential to the safe operation of the system.
Installing the control panels 2.3.1 Installing the CNC units 2.3 Installation precautions When designing an enclosure to contain a CNC or other unit, observe the precautions below. 2.3.1 Installing the CNC units When installing the CNC unit in an enclosure, observe the following precautions: Air flow (Up) Operation panel(OP10F ) 100100mm以上 mm or more • Install the CNC unit such that it is oriented as shown below.
2.3 Installation precautions 2.3.2 Installing the feed/spindle SERVOPACK When installing the feed or spindle SERVOPACK in an enclosure, observe the following precautions: • Since the SERVOPACK is a wall-mounted type, it must be secured vertically to a wall of an enclosure with screws or bolts. • The SERVOPACK must be installed such that checking, replacement or other maintenance work is easy.
Installing the control panels 2.3.3 Orientation of and installation space for the SERVOPACK 2.3.3 Orientation of and installation space for the SERVOPACK The SERVOPACK must be installed vertically and sufficient space must be provided around them for better cooling efficiency, as shown below. Air flow Converter Inverter 120 mm or more Servo unit 70 mm max.
2.3 Installation precautions If two SERVOPACKs are installed side by side, the minimum space between them is a total of the right-side space required of the left SERVOPACK and the left-side space required of the right SERVOPACK, as illustrated below. The space required of SERVOPACK A SERVOPACK A 1.0 The space required of SERVOPACK D 1.0 0.5 SERVO PACK C SERVOPACK B 148 or 248 0.5 1.5 SERVOPACK D 74 2.3.
Installing the control panels 2.3.5 Installing lightning-surge absorbers I/O modules (Up) 180 mm or more DIN rail 40mm 20mm I/O module PS module 40mm (Left) 20mm (Right) (Down) INFO The enclosure that houses the I/O module must be at least 180 mm deep so that the front cover can be opened safely. 2.3.
2.3 Installation precautions Recommended surge absorbers Application IMPORTANT Designation Make Normal-type surge absorber between phases RAV-781BYZ-2 Okatani Electric Common-type surge absorber between phases and ground RAV-781BXZ-4 Okatani Electric If the surge absorber failed and got shorted due to repeated lightning or switching surge, the wiring and devices could burn. To prevent this, 5-A fuses or other circuit protectors must be provided in the protected line.
Installing the control panels 2.3.
Chapter 3 Installing the motors This chapter presents the precautions to be observed when installing the YS 840DI motors. 3.1 Servo motors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.
Installing the motors 3.1 Servo motors The SGMKS-type servo motors must be used indoor.
3.2 Spindle motors 3.2 Spindle motors • The spindle motor must be provided with enough space so that it is cooled effectively by its cooling fan. Especially, there must be a 100 mm or more space between the no-load side of the spindle motor and a nearest machine part. If the spindle motor were not cooled enough, a motor overheat protector could operate even if the spindle motor runs at the rated load. • The bed, foundation or mount on which the spindle motor is installed must be rigid enough.
Installing the motors 3-4
Chapter 4 Connection method This chapter describes how to wire units and devices together. 4.1 Arrangement of connectors and switches - - - - - - - - - - - - - - - 4-2 4.1.1 CNC unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 Power supply module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.1.3 I/O module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.1.
Connection method 4.1.1 CNC unit 4.1 Arrangement of connectors and switches 4.1.1 CNC unit Definitions of the surfaces of combined CNC unit (PCU50) and operation panel (OP010F □ ) The YS 840DI system uses a combination of the CNC unit (PCU50) and the operation panel (OP010F □ ).
4.1 Arrangement of connectors and switches Arrangement of connectors The arrangement of connectors on each surface is as shown below. UPS module 24 VDC input Battery module (PROFIBUS-DP) X101 (MPI) X111 PS/2 mouse PS/2 Mouse COM1 X1 LPT1 COM2 VGA MPV/L2-DP Ethernet USB PS/2 Keyborad X121 (Handle PG) Emergency stop UPS I/F PC card drive Bottom surface Connector for an external 3.
Connection method 4.1.1 CNC unit Connector for an external 3.5-inch floppy-disk drive Mounting rail Grounding terminal Right side surface INFO Remove the mounting rail if you want to combine the CNC unit with the OP010F □ operation panel.
4.1 Arrangement of connectors and switches Connector for an external 3.5-inch floppy-disk drive Fixing latch Hard disk drive unit Fixing screw Bottom surface with connectors Rear surface INFO The left side surface is not shown because there is no connector on it.
Connection method 4.1.2 Power supply module 4.1.2 Power supply module Power supply backup module (UPS module 10) o.k Bat Alarm tmax DC-USV-Modul 10 6EP1931-2EC01 On / Off n.c. UBat Alarm 1 2 3 4 5 o.k タイマ設定 t +160s +80s +40s +20s +10s 5s Bat Timer setting UL+ X2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 15A 2424V電源入力 V power supply input In 2424V電源出力 V power supply output Out Battery module バッテリモジュール Signals for power 電源切入シーケンス supply on/off sequence L+ X1.1 M X1.2 L+ X1.3 M X1.
4.
Connection method 4.1.
4.1 Arrangement of connectors and switches 4.1.
Connection method 4.1.5 Inverter 4.1.
4.1 Arrangement of connectors and switches 4.1.6 Servo unit 1-axis servo unit (SGDK-60AEA (6 kW), SGDK-75AEA (7.
Connection method 4.1.
4.1 Arrangement of connectors and switches 2-axis servo unit (SGDK-0505AEA (0.5 kW), SGDK-1010AEA (1 kW), SGDK-1515AEA (1.
Connection method 4.2.1 Wiring for servo power-on and other signals 4.2 Power on/off signals 4.2.
4.
Connection method 4.2.1 Wiring for servo power-on and other signals IMPORTANT *1. The brake release output signal as shown in Fig. 4.1 is for 2-axis servo units. For 1-axis servo units, use only pins 14 and 15. For 2-axis servo units, use pins 14 and 15 for the first axis, and pins 16 and 17 for the second axis.
4.2 Power on/off signals • The brake release output signal to control the brake of a motor must come from the servo unit driving that motor. INFO • The UPS module must not be used to power other than those units shown in Fig. 4.1. • Wire between the Alarm terminals and an I/O module as necessary. • Interlock the BKX relay as necessary by externally adding an interlock signal to the brake release output signal.
4-18 Brake power supply 1 Brake power supply 2 BKX1 BKX2 SVM (servo power ON) PBX (self-held ON) SVMX (servo ready) Alarm reset (manually from machine control panel) ESPX (forced braking ON) Emergency stop SW (manual, NC-contact) Pulse enable (PLC) Controller enable (PLC) NCRX (NC ready) NC start PLC start UPS module (24 VDC output) UPS BAT ON (NC contact, UPS start signal) PS module (24 VDC output) NCMX OFF SW (manual, NC contact) ON SW (manual, NO contact) Converter's control power Main
4.3 Wiring units and devices 4.3 Wiring units and devices 4.3.1 PROFIBUS-DP address and termination setting Shown below are examples of PROFIBUS-DP address setting and termination setting.
Connection method 4.3.1 PROFIBUS-DP address and termination setting CNC unit address setting The address of the CNC unit is fixed to 2 (no hardware setting). Machine control panel I/O Set the DIP switch S1 on the PC board to a value between 3 and 32 such that each unit has a unique value. I/O module Set the DP address switch (DIP switch) on the ET200M interface module to a value between 3 and 32 such that each unit has a unique value.
4.3 Wiring units and devices 4.3.2 Setting the rotary switches on the inverters and servo units Each of the inverters and servo units has a rotary switch to specify a PROFIBUS-DP slot allocated to it. Set the rotary switch as follows: • Each axis must have its rotary switch set to a unique number in sequence starting with 0. • 2-axis servo units have only one rotary switch but use two values because each axis needs a unique value.
Connection method 4.3.
Chapter 5 Assembling and replacing 5.1 Installing the CNC unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.2 Replacing the servo unit fan - - - - - - - - - - - - - - - - - - - - - - - - 5-8 5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans - - - - - 5-8 5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans - - - - - - - - 5-9 5.3 Installing the servo unit optional board - - - - - - - - - - - - - - - 5-10 5.3.1 Procedure for installing the board for the 0.
Assembling and replacing 5.1 Installing the CNC unit This subsection describes how to install the CNC unit (PCU50). Installation procedure The CNC unit of the YS 840DI system is normally delivered with the operation panel attached to it. Make any necessary adjustment to the CNC unit or the operation panel separately, and then assemble them together using the following procedures: 1. Remove the screws in a vinyl bag and a cable fixing seal from the back of the operation panel.
5.1 Installing the CNC unit 2. Remove the mounting rail from the CNC unit by unscrewing 4 M4 screws and 4 M3 screws. A Torx wrench or Torx screwdriver is required for this work. 3. Connect 2 flat cables from the operation panel to the CNC unit. Ensure that the connectors are firmly inserted with their latches fully closed.
Assembling and replacing 4. Connect the CNC unit and the operation panel together using the supplied screws. There are four M4 screws and four M3 screws. Use a Phillips screwdriver. 5. Turn the hard disk operation switch on the back of the CNC unit to the operating position until it clicks. 6. Unscrew two M3 screws from the top cover of the CNC unit, and then remove the top cover. A Torx wrench or Torx screwdriver is required for this work.
5.1 Installing the CNC unit 7. Unscrew one M3 screw from the slot cover, and then remove the slot cover. 8. Open the MCI Extension Board selector lever (S1).
Assembling and replacing 9. Insert the MCI Extension Board into the optional board slot as far as it will go. 10.Connect the MCI Extension Board connector to the corresponding connector on the board above it using the supplied cable. Ensure that the connectors are firmly inserted with their latches fully closed.
5.1 Installing the CNC unit 11.Fix the MCI Extension Board in position with the slot cover screw. 12.Reinstall the top cover and secure it with the screws. A Torx wrench or a Torx screwdriver is required for this operation. This step concludes the installation procedure.
Assembling and replacing 5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans 5.2 Replacing the servo unit fan 5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans Replace the servo unit fans as follows: 1. Open the PN cover. 2. Unscrew the screw that holds the fan unit. The screw will remain loosely attached to the panel cover. 3. Remove the fan unit. 4. Disengage the connector. 5. Remove the fan from its fan cover, and install a new one.
5.2 Replacing the servo unit fan 5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans Replace the servo unit fans as follows: 1. Unscrew the screw that holds the fan cover. The screw will remain loosely attached to the fan cover. 2. Remove the fan. 3. Disengage the fan connector. 4. Replace the fan with a new one.
Assembling and replacing 5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units 5.3 Installing the servo unit optional board 5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units Install the optional board as follows: 1. Unscrew the screws that hold the optional board cover, and remove the cover. 2. Cut the blind plates off. 3. Install the NPs. 4. Install the optional board and secure it with the screws. 5.
5.3 Installing the servo unit optional board 5.3.2 Procedure for installing the board for the 6.0 and 7.5 kW servo units Install the optional board as follows: 1. Unscrew the screws that hold the optional board cover, and remove the cover. 2. Remove the blind plate NP. 3. Install the NPs on the optional board cover. 4. Install the optional board and secure it with the four screws. 5. Reinstall the optional board cover, and secure it with the screws.
Part 2 Software
Chapter 6 Software configuration 6.1 System software components- - - - - - - - - - - - - - - - - - - - - - - 6-2 6.2 Data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.
Software configuration 6.1 System software components The system software components are listed below. Table 6.1 System software components Hardware HMI Software component Version Windows NT 4.0 SP6 (Service Pack) YS 840DI Start up V01.00.08 MMC 103 06.00.28 ShopMill Version 05.03.07 PLC Version 05.02.03 STEP 7 Version 5.0 SP2 (Service Pack) NC NC YORK 9.0 PLC PLC 4.20.21 Servo unit F151 Inverter F026 Converter 00 System number Example: 00.02.
6.2 Data types 6.2 Data types The YS 840DI system handles the following data types: Table 6.2 Data types and locations Archive type MMC data (Part of the HMI) NC data Data type Location Remarks Display-Machine-data Stored in the resident directory. Machine Data (display parameters) for operation panel MBDDE-alarm-text Stored in the resident directory.
Software configuration 6.3 Service screen directories This subsection describes the service screen directories. Use the data selection function to select folder contents to be displayed. Normally, folders not used are not displayed. The following directories are in the folder dh of the F drive, YS 840DI, as displayed by the NT’s Explorer: Table 6.3 Directories Data name Data type Description FDD data DIR Not used (free space). MBDDE alarm list DIR Storing alarm text and various language files.
6.3 Service screen directories Table 6.3 Directories Data name Data type Description Manufacturer cycle DIR Storing custom cycles created by the user. User cycle DIR Storing custom cycles created by the user. 6-5 Backup Directory names selection in the folder dh by the of the F drive, MMC YS 840DI, as extension displayed by the NT’s Explorer CMA Cma.
Software configuration 6-6
Chapter 7 Backup 7.1 How to archive - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.2 Network settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 7.2.1 YS 840DI settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 7.2.
Backup 7.1 How to archive To back up, or archive, programs or data individually, follow the procedure described below. Assuming to archive a machining program: 1. Click on Service, which is at the lower left corner of the screen. 2. Click on Data out, which is at the bottom of the screen.
7.1 How to archive 3. Select the Workpieces folder. 4. Click on Archive File, which is one of the right-side keys.
Backup 5. The target screen will appear. Enter an archive name (WKS0214 in this example) in the archive name field. 6. Click on Start, which is one of the right-side keys.
7.1 How to archive 7. The part program archive data will be written in the hard disk, as shown below. 8. After a while, an archive file named WKS0214 will be created in the archive folder.
Backup 9. All archive data is stored in F:\dh\ARC.dir. Use the Explorer to copy the created archive data to a PC as necessary. 10.To restore the archive data, click on Data Input, and then Archive File.
7.2 Network settings 7.2 Network settings Perform necessary network settings so that data, as may be stored in the hard disk, can be transferred from the YS 840DI system to a PC, as described below. 7.2.1 YS 840DI settings The procedure for the network settings on the YS 840DI is as follows: 1. Select Start > Settings > Control Panel. The control panel window will appear.
Backup 7.2.1 YS 840DI settings 2. Double-click on Network in the control panel window. 3. With the following window displayed, click on Change.
7.2 Network settings 4. Enter in the Workgroup field the name (YS 840DI3 in this example) of the workgroup of the destination PC. Click on OK. 5. With the following message displayed, click on OK.
Backup 7.2.1 YS 840DI settings 6. Click on the Protocols tag. 7. Select TCP/IP Protocol from Network Protocols, and click on Properties.
7.2 Network settings 8. Click on the radio button to the left of "Specify an IP address.
Backup 7.2.1 YS 840DI settings 9. Enter 1.1.1.1 in the IP Address field, and 255.255.255.0 in the Subnet Mask field. Click on OK. INFO The IP address 1.1.1.1 and the subnet mask 255.255.255.0 as used in this example are just examples. In practice, these values must be changed to correct ones, such that they are compatible with those for the target PC. The last part of the IP address of the YS 840DI system must be different from that of the target PC.
7.2 Network settings 10. When returned to the Network window, click on OK. 11.With the following message displayed, click on YES. 12.After a while, the YS 840DI system restarts and the Windows-NT gets ready for communication with the target PC. INFO If communication fails, restart the target PC.
Backup 7.2.2 PC settings 7.2.2 PC settings The procedure for the network settings on a target PC (running Windows 98) is as follows: 1. Switch on the target PC and let it run Window 98. Select Start > Settings > Control Panel to display Control Panel. 2. In the Control Panel window, double-click on Network.
7.2 Network settings 3. In the Network window, select Windows Logon as a preferred network to log on. 4. Select Client for Microsoft Networks from the following network components are installed, and click on Properties.
Backup 7.2.2 PC settings 5. Uncheck the square to the left of the line "log on to Windows NT domain." Click on OK. 6. Select TCP/IP (the actual display depends the LAN card used) from the following network components are installed, and click on Properties.
7.2 Network settings 7. In the IP Address tag, click on the radio button to the left of "Specify an IP address." 8. Enter 1.1.1.2 in the IP Address field, and 255.255.255.0 in the Subnet Mask field. Click on OK. INFO The IP address 1.1.1.2 and the subnet mask 255.255.255.0 as used in this example are just examples. In practice, these values must be changed to correct ones, such that they are compatible with those for the YS 840DI system.
Backup 7.2.2 PC settings 9. Click on the identification tag, enter YS 840DI3 in the Workgroup field, and click on OK. INFO • The workgroup name YS 840DI3 as used in this example is just an example. The workgroup name entered here can be any name provided that the same name is also specified on the YS 840DI side. • The computer name can be any name provided that it is in alphanumerics such that it can be displayed correctly on the YS 840DI side. 10.In the following message window, click on Yes.
7.
Part 3 PLC
Chapter 8 General programming notes This chapter provides information on the program (PLC ladder language), address, and interface structures of the STEP7. The STEP7 uses a program structure compatible with the IEC 1131-3 international standard. The program structure allows ladder diagram programming that supports various languages such as LAD, FBD, STL, and GRAPH.
General programming notes 8.1 LAD/FBD/STL compatibility Not all programs written in a certain language (e.g., STL) can be converted into those of another (e.g., LAD or FBD). Normally, all programs in LAD or FBD can be rewritten in STL, but not all programs in STL can be rewritten in LAD or FBD. STL e l b i t r e v n o c t o n s m a r g o r p t s o M A( O O ) A = All programs convertible I I 0.0 0.0 I 0.2 Q 1.0 LAD I 0.0 FBD I 0.2 Q 1.0 ( ) Most programs convertible I 0.0 I 0.1 I 0.
8.2 Program structure 8.2 Program structure A STEP7 structured program consists of blocks, each of which in turn consists of networks (see the figure below). Each network can be expressed either in LAD, FBD, or STL. Thus a block can consist of mixed LAD and STL networks, or mixed FBD and STL networks. LAD and FBD networks, however, cannot be mixed in a block.
General programming notes 8.3.1 Address symbols 8.3 Address structure 8.3.1 Address symbols Each STEP7 bit is represented by an address starting with a symbol that identifies the function of the bit (e.g., input or output). The symbol of the address of an output bit is letter Q, not letter O (to distinguish from number 0). Symbol Function Examples I Input I5.2 Q Output Q54.3 M Memory (internal relay) M12.7 D Data DBX1.1 T Timer T24 C Counter C15 P Peripheral (e.g.
8.3 Address structure 8.3.3 Addressing of input, output, bit memory, and data bits Each bit is identified by the address of a byte to which it belongs and its own address relative to that byte (each byte consists of 8 bits). Thus a bit is expressed in the following format: [address symbol][byte address]. [bit address] (e.g., I1.2) Address symbol A bit address starts with a symbol such as I, Q, M, or DBX. The symbol for a data bit is DBX (e.g., DBX1.2).
General programming notes 8.4.1 General 8.4 Interface structure 8.4.1 General The interface between PLC and NC is implemented by the exchange of data blocks (DB) and functions (FC) between them. The PLC sends external information to and receives status information from the NC. The following four groups of information are transferred through the interface: • NC kernel (NCK) information • Mode group information • Channel information • Feed/spindle information 8.4.
8.4 Interface structure 8.4.3 Data blocks The functions of the data blocks are described below. For the function of each bit of a data block, refer to the separate input/out signal documentation. • DB2: PLC messages (self-diagnosis information) • DB9: Signals sent in synchronization with the PLC scanning between PLC and NC • DB10: Signals sent between PLC and NC as shown below. The man-machine communication (MMC) selector signals and MMC status signals are included.
General programming notes 8.4.4 Program components 8.4.4 Program components Modules A program consists of the following levels of modules: • Modules that are executed at start up (OB100) • Modules that are called from OB1 and executed in synchronization with scanning • Modules that are executed in interrupt processes The basic parts of a program are started by OB1, OB40, and OB100 as shown below.
Chapter 9 SIMATIC manager and hardware configuration This chapter describes how the modules are configured with the SIMATIC manager, a PLC ladder program development tool. The SIMATIC manager runs in the Windows NT environment, and is used to configure the PLC hardware, develop PLC ladder programs online/offline, debug through online monitoring, and do other important functions.
SIMATIC manager and hardware configuration 9.3 Uploading hardware configuration - - - - - - - - - - - - - - - - - - 9-20 9.3.1 Uploading hardware configuration (1) - - - - - - - - - - - - - - - - - - - - - - 9-20 9.3.2 Uploading hardware configuration (2) - - - - - - - - - - - - - - - - - - - - - - 9-21 9.3.
9.1 Hardware configuration 9.1 Hardware configuration The hardware configuration function allows you to configure the PLC modules and set their parameters on screen. You can set or modify the CPU operating environments, not by setting various DIP switches but by simply downloading the configuration information to the CPU.
SIMATIC manager and hardware configuration 9.2.1 Creating a new project 9.2 Defining the hardware 9.2.1 Creating a new project Create a new project as follows (using a wizard): ① Name of a project to 作成するﾌﾟﾛｼﾞｪｸﾄ名 be created ③ 既に存在する Existing projects ﾌﾟﾛｼﾞｪｸﾄﾘｽﾄ ② Directory under which a project is to be created 1. Click on the New icon of the SIMATIC manager’s tool bar 2. Enter the name of a project you want to create while checking existing projects as listed below.
9.2 Defining the hardware 9.2.2 Adding a station Add a station as follows (assuming a S7-300 station is to be added): Select a project by left click, and display a submenu by right click. 右クリックでサブメニューを開き、 Then select Insert New Object → Insert New Object → SIMATIC 300 Station. SIMATIC 300 Station 選択 ④ ⑤ 1. Select a project by left click, and display a submenu by right click. In this submenu, select Insert New Object > SIMATIC 300 Station. 2.
SIMATIC manager and hardware configuration 9.2.3 Opening the hardware configuration 9.2.3 Opening the hardware configuration For hardware environment settings, such as PLC module configuration, CPU environment setting, and module address setting, you will use the hardware configuration screen to open the hardware configuration. Hardware configuration screen ハードウェアコンフィグレーション画面 ② ① ③ Double-click on Hardware ハードウェアをダブルクリック Hardware ハードウェア catalog カタログ Order number and other information 1.
9.2 Defining the hardware Clicking on the plus sign (+) before a product group causes the products of that group to be displayed. INFO Clicking on a particular product causes its product designation and explanation to be displayed. Note that a product may have two or more versions, and selecting the right version by designation is essential to correct functioning of the CPU. If no correct version is listed, contact your Yaskawa Siemens representative. 9.2.
SIMATIC manager and hardware configuration 9.2.5 S7-300 rack 9.2.5 S7-300 rack The S7-300 rack can have up to 11 slots numbered 1-11. Slots 1-3 can contain only a specific module: slot 1 can contain a power supply module (PS), slot 2 a CPU module (CPU), and slot 3 an interface module (IM). Thus, if no PS or IM module is used, the corresponding slot must be left empty.
9.2 Defining the hardware Drag-and-drop method 1. Select a module of your choice by clicking on it in the hardware catalog. If any preselected slot (as indicated by blue background) has no meaning. 2. Drag and drop the module into a target slot. The module is inserted in that slot. With this method, when you drag a module over a slot, the pointer changes its appearance as shown below to indicate whether the module can be inserted in that slot.
SIMATIC manager and hardware configuration 9.2.7 Adding the CPU module 9.2.7 Adding the CPU module Select and insert the CPU module as follows: 挿入先の Select slot 22番スロットを指定して and double-click on the CPUモジュールをダブルクリック。 CPU module, or drag and drop the CPU module into slot 2. あるいはモジュールを選択してドラ ッグアンドドロップ With the S7-300, the CPU module must be inserted in slot 2 of the CPU rack. The STEP7 V5.
9.2 Defining the hardware 9.2.8 CPU’s DP port setting When a CPU provided with a DP port is inserted in a slot, the DP port properties screen automatically appears. To manually display the screen, double-click on the DP-Master line under a CPU with a DP port. ⑤ PROFIBUS node properties screen Transmission rate selection ④ ⑥ Node address ノードアドレス ① PROFIBUS type PROFIBUSタイプ ③ ② Target network 接続するネットワーク 1. Select a PROFIBUS network through which the selected CPU is connected. 2.
SIMATIC manager and hardware configuration 9.2.8 CPU’s DP port setting 8. The DP Master System line appears as extending from the CPU slot in the hardware configuration window. If the rack is hiding the line, move the rack aside. DP slaves can be added so as to connect to the line. ⑧ INFO If a CPU with a DP port is used but that DP port is not used, the DP port should be set nonetheless. Otherwise the BUSF LED for the CPU would light up.
9.2 Defining the hardware 9.2.9 Adding a PROFIBUS-DP node In the hardware configuration screen, you can also add DP slaves to the CPU module with a DP port. Specifying a node address ノードアドレスの指定 ② ① PROFIBUS drag-and-drop ④ 1. Expand PROFIBUS-DP in the hardware catalog, and select a DP slave to add. 2. Drag and drop the DP slave onto the DP Master System line. Note that when the pointer gets over the line, the pointer changes its appearance to that shown below. The DP slave properties screen appears.
SIMATIC manager and hardware configuration 9.2.10 DP slave (ET200) construction and addressing 9.2.10 DP slave (ET200) construction and addressing The I/O details of a DP slave are shown in the rack details window at the bottom of the hardware configuration screen. Edit the I/O details as follows: ① Click on a DP slave node ② ③ Rack details window ラックの詳細ウィンドウのス Select a target slot and double-click on a module, or ロットを指定してモジュール drag and drop a module into をダブルクリック、 aあるいはモジュールを選択し target slot.
9.2 Defining the hardware 9.2.11 Adding the SM module Insert the digital and analog modules as necessary. Select a target slot and double-click on a module, or drag and drop a module into a target slot. Double-click on a slot containing a module to display the properties screen for that module. Specify or confirm the start address of the module on the address sheet (no start address can be specified for some CPUs).
SIMATIC manager and hardware configuration 9.2.12 Connecting the racks (interface) 9.2.12 Connecting the racks (interface) Connect the racks as shown below. For the S7-300 racks, this operation is not necessary because, when the interface module (IM) is installed in each of the racks, the interfaces are automatically connected together.
9.2 Defining the hardware 9.2.13 Saving the hardware configuration When the hardware configuration is done, save it in a project file by using tool bar icons as shown below. Save The hardware configuration is saved, but not compiled. It is saved even if it contains errors. Normally this icon is used to temporarily save a hardware configuration in progress. Save and compile The hardware configuration is compiled and saved.
SIMATIC manager and hardware configuration 9.2.14 Downloading the hardware configuration 9.2.14 Downloading the hardware configuration Transfer from file to CPU, or download, the finished hardware configuration as follows: ③ ① ② Node address of ダウンロードする CPU destination CPU のノードアドレス 1. Set the CPU’s mode switch to STOP or RUN-P. 2. Click on the Download icon of the tool bar to start the download process. 3. Select a module in the project, and click on OK. 4.
9.2 Defining the hardware INFO The CPU must be stopped before the hardware configuration can be downloaded. If the downloading is started with the mode switch set to the RUN-P position, the following confirmation message will be displayed: ↑ The CPU run state is to be switched from RUN to STOP. OK? ↑ The CPU run state is to be switched from STOP to RUN.
SIMATIC manager and hardware configuration 9.3.1 Uploading hardware configuration (1) 9.3 Uploading hardware configuration 9.3.1 Uploading hardware configuration (1) There are two methods by which you can upload the hardware configuration information to a project. ② Open thePLCから PLC menu and select Upload を Station. ① Create a new project, 新規プロジェクトを作成します。 or click on an existing project. またはプロジェクト名をクリックします。 1.
9.3 Uploading hardware configuration • Rack Specify the number (normally 0) of the rack in which a source CPU is contained. • Slot Specify the number (2 for the S7-300) of the slot in which the source CPU is inserted. • Address Specify the node address (normally 2) of the source CPU. 4. Click on the OK button, and the hardware configuration information of the source CPU will be uploaded. INFO For the network communication module and some FM modules, the information they have themselves is not uploaded.
SIMATIC manager and hardware configuration 9.3.2 Uploading hardware configuration (2) 3. The node address selection screen appears. • Rack Specify the number (normally 0) of the rack in which a source CPU is contained. • Slot Specify the number (2 for the S7-300) of the slot in which the source CPU is inserted. • Address Specify the node address (normally 2) of the source CPU. 4. Click on the OK button, and the hardware configuration information of the source CPU will be uploaded.
9.3 Uploading hardware configuration 9.3.3 List of addresses You can display a list of addresses that are used in hardware configuration. To bring up this screen, click on the address list icon of the hardware configuration screen. The content of the address list screen is as follows: Address from Select a module whose address list you want to display. Normally the names of available CPUs are shown. The name of CP is also shown if the CP is configured as a DP master.
Part 4 Setting up and maintenance
Chapter 10 Overview of System 10.1 Screen operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.1 Basis concept - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.2 Basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.
Overview of System 10.1.1 Basic concept 10.1 Screen operation This document explains the specification and operational procedure of YS 840DI screen operation. For the detailed information about each screen, see • Yaskawa Siemens 840DI Operating Manual (NCSIE-SP02-04 ) or • Yaskawa Siemens 840DI Maintenance Manual (NCSIE-SP02-10) 10.1.1 Basic concept YS 840DI employs the screen system called ShopMill as the operation control basic screen, from which you can call the screens required for maintenance.
10-3 Drive servo PLC status Tool indication setting *1 If the exclusive customer screen is added, the alignment between HS1 and HS8 may be changed.
Overview of System 10.1.2 Basic operation Here is the description about screen switching by using the following four keys; • MENU [=] key This can switch the front/back top function key display to which the current screen belongs. However, the content of the screen remains unchanged • MACHINE[M] key This allows you to change the screen level from the lower to the top layer of each function. For example, on the lower layer screen, press the [M] key to jump up to the ShopMill manual operation screen.
YS(840DI) 10-5 Channel Customer HMI (Exclusive customer screen) ･HMI application (Display screen is single) 29*** MD 20000 Channel (Display screen is single) 19*** MD 10000 General "dr-#" indication ↓ Digital operator Type:JUSP-JOP02A Local bus setting number Profibus setting is defined through the hard ware configuration.
Overview of System 10.1.
Chapter 11 Drive Parameter Screen This chapter describes the indication of drive parameter and the overview and operation of editor function. 11.1 Drive Parameter Screen - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Screen Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.
Drive Parameter Screen 11.1.1 Startup 11.1 Drive Parameter Screen Operation This function allows you to indicate and edit the parameters of the drive which is connected to YS 840DI via the drive parameter screen which is housed in YS 840DI standard HMI application. 11.1.1 Startup Startup To display the drive parameter screen, use the following procedure; 1. Select the [MENU SELECT] key to go to the Top tree. 2. Press the [>] key and the [Start up] key displays. 3. Click the [Start up] key. 4.
11.1 Drive Parameter Screen Operation 11.1.2 Screen Configuration Screen Configuration The configuration of drive parameters are displayed as follows.
Drive Parameter Screen 11.1.3 Operation method 11.1.3 Operation method On the drive parameter screen, the following operations are available. Basic operation The basic operations are listed below; • Use the upward/downward arrow key for one-line scroll. • Use the right/left arrow key to transit the selected row by one. • Use the PAGE UP/PAGE DOWN key for one-page scroll. • Use [Drive + (F9)] key or [Drive - (F10)] key for switching the displayed target axes.
11.1 Drive Parameter Screen Operation IMPORTANT On the drive parameter screen, press the [INPUT] key after having input the data in order to write the data into the drive. Take notice that the method of data input on the drive parameter screen is different from that on the other machine data setting screens. Switching over the target axes The axis-specific drive parameter can be displayed by switching over the target axes.
Drive Parameter Screen 11.1.3 Operation method 6. In addition, if you want to continue searching with the same search key, you can use the [Continue search (F15)] key for the continuous searching. With every press on the [Continue search (F15)] key, searching is taken place from the current cursor position down to the bottom. When having reached the bottom line, searching is continued from the top line. Updating the data display The data display of drive parameter does not update automatically.
11.1 Drive Parameter Screen Operation 11.1.4 Conditions for the modified parameters to be effective For the details about the conditions on which the modified parameters are enabled, see the ⑦ Conditions to be Effective described on the section 11.1.2 Screen configuration. Below is shown the meanings of each symbol. Symbol Meanings po Modification can not make the parameter effective. To enable the modified parameter, you must execute the NCK-Reset.
Drive Parameter Screen 11.2.1 Drive diagnosis screen initiation 11.2 Drive Diagnosis Function Drive diagnosis function takes part in diagnosing whether the parameter of the drive which is connected with YS 840DI is available for Read/Write. 11.2.1 Drive diagnosis screen initiation To start up the drive diagnosis screen, activate the drive parameter screen and then press the [Drive Diagnosis (F2)] key (see the section 11.1.2 Screen configuration). 11.2.
11.2 Drive Diagnosis Function Drive diagnosis With the function ⑤ Read/Write, you can diagnose the state of drive. The indication is shown "OK", "NG", or "No drive". Each sign is explained below. Read/Write Drive state OK The state of drive can Read/Write the parameter. NG The state of drive is not available to Read/Write. No drive No drive has the specified number.
Drive Parameter Screen 11.3.1 ACC file 11.3 Mapping ACC file 11.3.1 ACC file ACC file is a file which is composed of the information which is required for indication/ rewrite, such as attribute, unit, maximum/minimum value, name, etc. for each drive parameter. The data displayed on the drive parameter screen is created on the basis of the information of ACC file. 11.3.2 Mapping ACC file To read/write the drive parameter, you must beforehand register the parameter by mapping.
11.4 Error screen display and troubleshooting 11.4 Error screen display and troubleshooting 11.4.1 Error screen display There occurs an error, for example the drive is not powered on, or the communication with the drive has failed, the screen will be shown as followings. On this screen conditions, "Drive +", "Drive -", "Direct selection", "Search . . .", "Continue search", and "Refresh" can not be enabled.
Drive Parameter Screen 11.4.2 Troubleshooting 11.4.2 Troubleshooting When the screen of abnormal state is displayed, use the following procedure. 1. Check if the drive power supply is powered on. 2. Press the [Back (F1)] key to go back to the last screen. 3. Activate NCK-Reset. 4. After NCK-Reset has completed, wait for the drive diagnosis screen to display OK showing the Read/Write function is available. 5. The drive parameter screen displays. 11.4.
Chapter 12 How to use Digital Operation This chapter describes the basic and advanced operation of the digital operator. The digital operator allows you to set various constants and also to operate the motor in different ways. Control the digital operator according to the description of this chapter. 12.1 Basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.1 Connecting the digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.
How to use Digital Operation 12.1.1 Connecting the digital operator 12.1 Basic operation Here explains the basic operation of digital operator to set the operational conditions. 12.1.1 Connecting the digital operator The Digital Operator is a hand-held operator (JUSP-OP02A-2) which can be attached to the connector CN3 of converter. The following figure shows where to attach the digital operator to the converter. The digital operator connector can be attached/detached even if the converter is powered on.
12.1 Basic operation 12.1.2 Function of digital operator The digital operator allows you to set each user constant, to execute the operational command, and to view the state indication. The following table describes the names and functions of the keys of digital operator which displays the initial screen. digital operator Key ALARM RESET DSPL SET SERVOPACK DIGITAL OPERATOR JUSP-OP02A ALARM RESET DSPL SET JOG SVON DATA ENTER Name RESET key To reset the servo drive alarm, press this key.
How to use Digital Operation 12.1.4 Switching the basic mode 12.1.4 Switching the basic mode The operation state display, user constant setting, operation instruction , and other operations can be available by switching over on the basic mode of digital operator. This basic mode includes the status display mode, auxiliary function execute mode, constant setting mode, and monitor mode. These modes can be switched over in the following order by pressing the key. Power supply is ON.
12.1 Basic operation 12.1.5 Axis selection mode On the axis selection mode, select an axis you want to operate. How to use the axis selection mode Here is the procedure to select the second axis. 1. Turn on the power supply, the axis selection mode displays. 2. Select the axis number you want to operate. Press the [UP] or [DOWN] key, and the axis number is changed. (In this case you select "dr2".) 3. Press the [DATA/ENTER] key. The status display mode for the axis you selected on Step 2 is displayed.
How to use Digital Operation 12.1.6 Status display mode Speed control mode Bit data Code Speed agreement Base block Control power supply is ON TGON Power is ready Speed reference is inputting The indication of bit data and codes is shown in the following tables. Table 12.1 The bit data indication on the speed control mode Bit data Indication Control power supply ON Lights when the SERVOPACK control power supply is turned on. Base block Lights when the base block is enabled.
12.1 Basic operation Position Control Mode Bit data Positioning completion Code Base block Control power supply is ON. Reference pulse is inputting TGON Power is ready Clear signal is inputting The indication of bit data and codes is shown in the following tables. Table 12.3 The bit data indication on the position control mode Bit data Indication Control power supply ON Lights when the SERVOPACK control power supply is turned on. Base block Lights when the base block is enabled.
How to use Digital Operation 12.1.7 User Constant Setting Mode 12.1.7 User Constant Setting Mode Setting the user constants allows you to select and adjust the functions. For setting the user constant, you can select either from two types: constant setting and function selection. Each has different setting methods. The constant setting function can shift the data of constant you want to change within a certain range.
12.1 Basic operation INFO The user constant numbers which is not defined will be skipped during the operation. User constant for function selection Type of function selection user constant The following table lists the user constants used for selecting each function of SERVOPACK.
How to use Digital Operation 12.1.7 User Constant Setting Mode Here is the description about indication of setting value. There are two types of user constant display. An example of the function selection user constant ‥‥Displayed with hexadecimal number per digit. An example of the constant setting user constant ‥‥Displayed with 5-digit decimal number.
12.1 Basic operation Procedure for changing the function selection user constant 1. Select the axis you want to change on the axis selection mode. 2. Press the [DSPL/SET] key and select the constant setting mode. 3. Select the user constant number you want to specify. Press the [LEFT] or [RIGHT] key until the setting digit flashes. Select the value using the [UP] or [DOWN] key. (In this case, Pn003 is selected.) 4.
How to use Digital Operation 12.1.8 Operation on the monitor mode 12.1.8 Operation on the monitor mode On the monitor mode, you can observe the reference value input into the SERVOPACK, the state of input/output signals, and the interior state of SERVOPACK. The monitor mode can be changed even while the motor is running. How to use the monitor mode This is the procedure to view the monitor number Un000 data 1500 when the servo motor is running at the speed of 1500 min-1. 1.
12.1 Basic operation Indication of Monitor Mode Indication of the monitor mode is listed below.
How to use Digital Operation 12.1.8 Operation on the monitor mode Monitor display of input and output signal for sequence The monitor display of the input/output signal for sequence is shown as following.
12.1 Basic operation Output signal monitor display Up: OFF ("H" level) Down: ON ("L" level) 765 43 21 Number Display LED number Name of output terminal Presetting 1 CN153-38 /SKPOP1 2 CN5-17 /SKIP1 3 CN5-19 /SKIP2 4 CN5-97 ALM1 5 CN2-1 PGON 6 CN1-14,15 BK CN1-17 RDY 7 The indication of output signal is, like the monitor display of input signal, arranged like above on the indicator of the panel or digital operator.
How to use Digital Operation 12.1.8 Operation on the monitor mode Monitor display of reference pulse, feedback pulse counter, full-closed pulse counter For the monitor display of the reference pulse, feedback pulse, and full-closed pulse counters, the 32-bit data is displayed with hexadecimal numbers. Here is the procedure to view. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key to select the monitor mode. 3.
12.2 Application 12.2 Application This section describes the application operation of digital operator in order to operate and adjust the motor. Read the section 12.1 "Basic operation" first. You can set the user constant for application operation on the "Auxiliary function execution mode". The following table lists the user constants for auxiliary function execution mode.
How to use Digital Operation 12.2.1 Alarm Trace Back Mode 12.2.1 Alarm Trace Back Mode On the alarm trace back mode, you can view the latest alarms up to ten so that you may check what kind of alarms have occurred. The alarm trace back data can not be cleared when the alarm reset is initiated or even when the SERVOPACK power supply is cut off. This has no effect on the operation. You can delete these data using the clear on the alarm trace back mode of the special mode. See the section 12.2.2.
12.2 Application 12.2.2 Clearing the alarm trace back data This function allows to clear the alarm history stored in the SERVOPACK. When the function is enabled, all the alarm generation history is set "A. - -" which does not mean an alarm. For the details, see the section 12.2.1 "Operation on the alarm trace back mode". To clear the alarm trace back data, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2.
How to use Digital Operation 12.2.3 Checking the motor type 12.2.3 Checking the motor type This display mode is used for maintenance of the motor. When the user constant Fn011 is set, this mode becomes the motor type checking mode. In addition, when the SERVOPACK is a special specification item, you can check its specification number. To check the motor type, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2.
12.2 Application 6. Press the [DSPL/SET] key to view the encoder type and resolution identification data. Encoder type Encoder resolution Encoder resolution Encoder type Data Data Resolution Type 13 13 bits 00 Incremental encoder 16 16 bits 01 Absolute value encoder 17 17 bits 20 20 bits 7. DSPL/SET key to view the special specification number of SERVOPACK (Y specification number). The example on the left shows the special specification "Y10". (Displayed with decimal number) 8.
How to use Digital Operation 12.2.4 Checking the software version 12.2.4 Checking the software version This mode is used for maintenance of the motor. When Fn012 is set, this mode becomes the software version checking mode. To check the software version, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Set Fn012. 3. Press the [DATA/ENTER] key to view the SERVOPACK software version. Display of software version Software version 4.
12.2 Application 12.2.5 Origin searching mode The origin searching mode function enables to position and stop (cramp) at the origin pulse position of encoder. This function can be used when the alignment of motor axis and machine is required. Initiate the origin search without coupling. The motor speed for the origin search is 60 min-1. The point where the motor axis and the machine side needs alignment. Machine origin To search the origin, use the following procedure. 1.
How to use Digital Operation 12.2.6 Initializing the user constant setting value 7. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display. This completes the origin searching. 12.2.6 Initializing the user constant setting value This function allows you to recover the standard setting (initial setting) even after changing the user constants many times. IMPORTANT You must turn off the servo drive when activating this user constant initialization function .
12.2 Application INFO When the servo drive is powered on, pressing the [DSPL/SET] or [MODE/SET] key can not initialize the user constant. After initializing the user constant, you must turn off and then turn on the power supply. 12.2.7 Manual zero adjustment and gain adjustment for analogue monitor output This analog monitor output can allows you to observe the motor speed, torque reference or position deviation. For the detailed information, see the section 16.4 "Analog Monitor".
How to use Digital Operation 12.2.7 Manual zero adjustment and gain adjustment for analogue monitor output Analog monitor output manual zero adjustment Use the following procedure for the manual zero adjustment of analog monitor output. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode. 3. Select the user constant Fn00C. Press the [LEFT] or [RIGHT] key to select the setting digit.
12.2 Application Analog monitor output manual gain adjustment Use the following procedure for manual gain adjustment for analog monitor output. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode. 3. Select the user constant Fn00D. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed. 4. Press the [DATA/ENTER] key.
How to use Digital Operation 12.2.8 Motor current detection signal offset adjustment 12.2.8 Motor current detection signal offset adjustment The offset adjustment for motor current detection signal does generally require no customer adjustment because the YSNC completed the adjustment before shipping.
12.2 Application 6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display. This completes the motor current detection signal offset automatic adjustment. Motor current detection signal offset manual adjustment Use the following procedure for the offset manual adjustment of motor current detection signal. IMPORTANT Before initiating the manual adjustment, run the motor at about 100 min-1 and adjust the ripple for the torque reference monitor (See the Section 16.
How to use Digital Operation 12.2.9 Setting the password (setting for write prohibit) 7. Press the [UP] or [DOWN] key to adjust the offset. You must observe the torque reference monitor signal carefully during the adjustment. Data setting changed. 8. After completing the adjustment of U-phase (Cu1_0) and V-phase (Cu1_0) current offset, press the [DATA/ENTER] key to return to the auxiliary function execution mode display. This completes the motor current detection signal offset manual adjustment. 12.2.
12.2 Application 5. Write the password value "0001" and then press the [DSPL/SET] key. The display like following appears and the password is written. Flashes one second. 6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display. This completes the password setting. This password setting will be enabled when the power supply is turned on the next time.
How to use Digital Operation 12.2.
Chapter 13 Drive system overview 1 This chapter and next chapter deal with procedures to set up axis controlrelated functions, which are necessary to use the functions and capabilities of CNC and each drive in order to control feed axes and spindle of YS 840DI system. Since most of the axis-related functions consist of both CNC and drive functions, this document explains how to set up machine data and parameters for both CNC and drives for your smooth set-up operation.
Drive system overview 1 13.1 System configuration The following figure shows 840DI drive system configuration overview.
13.2 Specification of machine data and parameters 13.2 Specification of machine data and parameters 13.2.1 Structures of machine data and parameters In 840DI system, machine data (CNC data) and parameters (Drive data) have the following structures: MD numbers MD0 - 2999 Display screen Drive parameters MD3000 - 5999 MD6000 - 8999 Application Remark Parameters common to Servo drives and spindle drives. (Data, such as Load and Alarm, are included.) Read-only (No data can be set.
Drive system overview 1 13.2.2 How to control machine data and parameters 13.2.2 How to control machine data and parameters In YS840DI system, each drive controls parameters that the drive uses. Since the parameters are stored in the nonvolatile memory in the drive, the drive parameters MD3000-MD8999 in previous table can be set either from the CNC screen or from the Digital operator for the drive. However, the values are stored inside the drive and CNC only displays the values.
13.2 Specification of machine data and parameters EXAMPLE INFO MD10000 AXCONF_MACHAX_NAME_TAB [0] (1st axis) MD10000 AXCONF_MACHAX_NAME_TAB [1] (2nd axis) The array structure is used not only for the axis setting but also for differentiating items that are of the same type but are used for different applications--for example, differentiating between motor encoder and external encoder, and representing gear numbers and parameter set numbers.
Drive system overview 1 13.2.4 How to set machine data and parameters For drive parameters MD3000-MD8999, data are to be displayed or entered with fractional portion removed off so that they can be set also from the Digital Operator in the same way. In this case, the unit displayed together indicates whether or not the data has frictional portion. INFO MD3008 (Pn101) KVI (For each axis) Meaning: Speed loop integration time constant setting Setting value: [0.
Chapter 14 Drive set-up procedure This chapter deals with procedures to set up machine data and parameters relating to axis control for YS 840DI. Since this manual includes only minimum amount of information required, refer to other manuals on functions and appendix pages for more information on machine data and parameters. Notice that machine data and parameters of specific importance are marked with "##". If they are not set, machines may fail to start up or malfunctions. 14.
Drive set-up procedure 14.2.10 Stop vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-49 14.2.11 Vibration-damping control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-50 14.2.12 Gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-52 14.2.13 Current offset adjustment - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-54 14.2.
The following functions are introduced in this manual. Table 14.1 List of related functions Item Fundamental function Function Feed axis Spindle Related section Control cycle ○ ○ 14.1.1 NCK processing capability ○ ○ 14.1.2 Servo control method and fundamental operation ○ ○ 17.1.3 Axis configuration ○ ○ 14.1.4 Motor encoder ○ ○ 14.1.5 External encoder ○ ○ 14.1.6 Maximum number of motor revolutions ○ ○ 14.1.7 Various mask settings ○ ○ 14.1.
Drive set-up procedure Item Motion control Function Feed axis Spindle Related section Rigid tapping ○ ○ 14.3.16 Thread cutting ○ ○ 14.3.17 ○ 14.3.18 Spindle synchronous control High-speed and high-precision cutting 14.3.19 Skip ○ Multi-block look-ahead − − 14.4.1 Block compression − − 14.4.2 Spline interpolation − − 14.4.3 Note: The mark " ○ " indicates that the function relates with each feed axis and Spindle.
14.1 Fundamental settings 14.1 Fundamental settings At first, fundamental settings to operate each axis are shown as follows. 14.1.1 Control cycle The following 2 settings specify the control cycle of YS 840DI system. • DP cycle: Interpolation cycle of CNC and data transmission cycle between CNC and a drive. • IPO cycle: Program block analysis cycle of CNC. IPO cycle must be an integral multiple ( × 1, × 2, ...) of a DP cycle. DP cycle setting Currently, you can select 2 ms or 4 ms as a DP cycle.
Drive set-up procedure 14.1.2 NCK processing capability 14.1.2 NCK processing capability With this setting, it is specified that how much CPU power should be distributed from PCU unit to NCK (NC kernel) in YS 840DI system. 50-75% should be specified with the following machine data. • MD10185 NCK_PCOS_TIME_RATIO Meaning: CPU power ratio to be distributed to NCK.
14.1 Fundamental settings As an initial setting of command unit system (mm/inch), set the following machine data. • MD20154 EXTERN_GCODE_RESET_VALUE [5] Meaning: Initial setting of command unit system (mm/inch) Setting value: 1 --- G20 2 --- G21 As a default Spindle status, set the following machine data.
Drive set-up procedure 14.1.4 Axis configuration 14.1.4 Axis configuration Control axes (feed axis and Spindle) configuration set-up is carried out in the following 3 methods: 1. Switch settings at a drive 2. Hardware configuration using PLC set-up tool "STEP7" 3. Machine data settings To set up axis configuration, 1. Set switches at a drive so that a PROFIBUS station No. of the Converter and axis numbers under the Converter can be set up. 2.
14.1 Fundamental settings Setting switches and others at drives Setting Converter station numbers The station number of the Converter PROFIBUS is set to 6 by factory default. In case multiple Converters are to be connected, you need to assign a unique station number to each Converter. If you want to change the station numbers of the Converters, set the Converter switch (SW1) as shown below.
Drive set-up procedure 14.1.4 Axis configuration Parking setting (GAP axis setting) When a drive is not used, the parking axis setting (GAPaxis setting) is required. For example, in the case of that only one motor is connected to a 2-axis-combined drive.
14.1 Fundamental settings Note: 1. When you set a value using STEP7, adjust it to this machine data setting. 2. This address is effective also for the following GAP axis. When you make a setting using STEP7, define an address of 1 axis length also for an axis that is to be set as an GAP axis. INFO Precautions in setting GAP axis • The parking setting (GAP axis setting), which is made to a drive not to be used, is possible only when the drive is a Servo drive.
Drive set-up procedure 14.1.4 Axis configuration • MD20060 AXCONF_GEOAX_NAME_TAB [0] (1st axis) MD20060 AXCONF_GEOAX_NAME_TAB [1] (2nd axis) : (Repeat for all remaining axes.) Meaning: Names of geometry for each channel Setting value: X, Y, C and etc. Note: You cannot set up for the Spindle axis.
X1 ： ： ： ： ： ： ： ： ： ： 3rd axis [2] 4th axis [3] 5th axis [4] 6th axis [5] 7th axis [6] 8th axis [7] 9th axis [8] 10th axis [9] 11th axis [10] 12th axis [11] 14-13 AX11 AX12 A2 B2 Definition of the sequence of X, Y, and Z-axis defined with MD20070. AX10 B1 ［0］：X ［1］：Y ［2］：Z ［3］：A ［4］：SP ［0］：6 ［1］：7 ［2］：8 ［3］：11 ［4］：2 A2 axis is to be defined although it is a simulation axis (without a drive).
Drive set-up procedure 14.1.5 Motor encoder 14.1.5 Motor encoder The following shows machine data and parameter settings of motor encoders. Since a feed axis uses a serial encoder as a motor encoder, some parameter settings for a Servo drive encoder are omitted here because the encoder directly reads those setting values.
14.1 Fundamental settings • MD30260 ABS_INC_RATIO [0] (For each axis) Meaning: Ratio of motor encoder absolute position data, from drive to CNC, to Motor encoder position data. Standard setting value: 1 • MD30300 IS_ROT_AX (For each axis) ## Meaning: Linear/Rotary axis setting Setting value: 0 --- Linear axis 1 --- Rotary axis • MD31020 ENC_RESOL [0] (For each axis) ## Meaning: The number of motor encoder pulses The setting value is compared with a value read from a drive.
Drive set-up procedure 14.1.5 Motor encoder • MD31060 DRIVE_AX_RATIO_NUMBER [0] (For each axis) Meaning: Load gear numerator (Amount of rotation at motor (The number of gear teeth at machine)) Setting value: MD31050 : MD30160 = Amount of rotation at machine : To be set to motor rotation amount.
14.1 Fundamental settings Drive setting Servo drive • MD3000 digit 0 (Pn000 digit 0) FUNCTION_SWITCH_BASIC (For each axis) Meaning: Selection of rotation direction Setting value: 0 --- CCW rotation to be treated as forward rotation. (1 --- CW rotation to be treated as forward rotation.) Note: To set up reverse connection, use CNC machine data.
Drive set-up procedure 14.1.5 Motor encoder • MD3214 (Pn20E) ELECTRIC_GEAR_NUMERATOR_LW (For each axis) Meaning: Electronic gear ratio numerator (Lower word) Setting value: [Pulse] • MD3215 (Pn20F) ELECTRIC_GEAR_NUMERATOR_HW (For each axis) Meaning: Electronic gear ratio numerator (Upper word) Setting value: [Pulse] Note: Electric gear functions at CNC side are to be used. Assign the factory setting value (1, 0) to MD3214 and MD3215.
14.1 Fundamental settings Spindle drive • MD6529 (Cn529) ENCODER_SPECIFICATION_0 (For each axis) Meaning: Encoder specification Setting value: Bit 1, 0 0, 0 --- No encoder used. 0, 1 --- External encoder is used. 1, 0 --- Motor encoder is used. Bit 2 0 --- CCW rotation to be treated as forward rotation. (1 --- CW rotation to be treated as forward rotation.
Drive set-up procedure 14.1.6 External encoder Resetting Absolute encoder If an absolute encoder (motor encoder), used for a Servo drive, exhibits an alarm such as encoder alarm 129 (81H), reset the encoder in the following operation. 1. Connect the Digital operator to the Converter. Select a drive (dr1, dr2 ...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by using [UP] and [DOWN] keys, and press [DATA ENTER] key. 2.
14.
Drive set-up procedure 14.1.6 External encoder • MD32642 STIFFNESS_CONTROL_CONFIG [0] (For each axis) Meaning: External encoder function selection Setting value: 0 --- Type 1 (Internal drive position feed-back is to be used as motor encoder pulse.) Setting value: 1 --- Type 2 (Internal drive position feed-back is to be used as External encoder pulse.) Standard setting value when a External encoder is used: 1 Note: Be sure to assign "0" if a External encoder is not used.
14.1 Fundamental settings INFO When a External encoder is connected for reverse rotation MD32100 (Motor encoder rotation direction), MD32110 (External encoder rotation direction), and MD3002 digit 3 (External encoder rotation direction) are to be set as follows.
Drive set-up procedure 14.1.6 External encoder • MD3211 (Pn20B) PG_PLS_MTRRND_HW_FULLCLOSED (For each axis) Meaning: The number of full-closed PG pulses/Single revolution of motor (Upper word) Setting value: [Pulse] Note: Set MD3210 and MD3211 to a 1-multiplication value.
14.1 Fundamental settings INFO When drive-related parameters are set to a value extending over upper and lower words, the following settings are required: To set MD3210 (Pn20A) and MD3211 (MD20B) to 90000, 1. Convert 90000 to a hexadecimal number. Example: 90000 = 15F90H 2. Separate the hexadecimal number into upper and lower words. Example: Upper word = 1H; Lower word = 5F90H 3. Convert the upper word to a decimal number again and set MD3211 to the decimal number. Example: 1H = 1 MD3211 = 1 4.
Drive set-up procedure 14.1.6 External encoder 5. Calculating offset AA. AA = Un00D × (The number of MP scale pulses per motor rotation / (The number of motor encoder pulses)) - Un00E Where, The number of MP scale pulses per motor rotation: A setting value of MD3210 (Pn20A) and MD3211 (Pn20B). The number of motor encoder pulses: The number of pulses in the motor encoder list (See Table 4.2) / 4 Example: For 17-bit encoder, assign 32768. 6.
14.1 Fundamental settings Spindle drive If a External encoder is to be used at a Spindle drive, the encoder at the Spindle motor must be a serial encoder. You cannot use pulse encoders both for motor encoder and for External encoder at the same time. • MD6530 (Cn530) ENCODER_SPECIFICATION_1 (For each axis) Meaning: External encoder specification Setting value: Bit 1, 0 0, 0 --- No encoder used. 0, 1 --- External encoder used. 1, 0 --- Motor encoder used.
14-28 ENC_IS_DIRECT[1] DRIVE_AX_RATIO_DENOM[0] MD31040 MD31050 2048 4 The number of encoder pulses 2 [0] ｴﾝｺｰﾀﾞﾊﾟﾙｽ数２[0] The number of encoder pulses 2 [1] ｴﾝｺｰﾀﾞﾊﾟﾙｽ数２[1] 1 MD34220 ENC_ABS_TURNS_MODULO[1] MD36300 ENC_FREQ_LIMIT[1] MD36300 ENC_FREQ_LIMIT[1] 1200000 − Rotary axis encoder multi-turn limit value [0] 回転軸ｴﾝｺｰﾀﾞﾏﾙﾁﾀｰﾝﾘﾐｯﾄ値[1] Encoder frequency clump ｴﾝｺｰﾀﾞ周波数ｸﾗﾝﾌﾟ − Rotary axis encoder multi-turn limit value [0] 回転軸ｴﾝｺｰﾀﾞﾏﾙﾁﾀｰﾝﾘﾐｯﾄ値[0] ENC_ABS_TURNS_MODULO[0] MD34220 0 Return to
External encoder setting 14-29 MD3205(Pn205) PG_PRS_ENCRND_LW_FULLCLOSED PG_PRS_ENCRND_HW_FULLCLOSED ELECTRIC_GEAR_NUMERATOR_LW LW ELECTRIC_GEAR_NUMERATOR_ ELECTRIC_GEAR_NUMERATOR_HW ELECTRIC_GEAR_NUMERATOR_HW ELECTRIC_GEAR_DENOMIN_LW ELECTRIC_GEAR_DENOMIN_HW PG_PLS_ENCRND_Z_PHASE ABS_PG_ZERO_POINT_OFFS_LW ABS_PG_ZERO_POINT_OFFS_LW MD3212(Pn20C) MD3213(Pn20D) MD3214(Pn20E) MD3215(Pn20F) MD3216(Pn210) MD3217(Pn211) MD3231(PN21F) MD3508(Pn808) MD3509(Pn809) 直線軸 0 6 0 0 Rotary axis 回転
Drive set-up procedure 14.1.7 Maximum number of motor revolutions 14.1.
14.1 Fundamental settings 14.1.8 Various mask settings Settings at CNC At CNC, you can mask some processing to be done with each drive. Always set the parameter to "0" to disable the masks unless you specifically need to use the masks for temporary examination purpose or so.
Drive set-up procedure 14.1.9 Software version number check 14.1.9 Software version number check CNC version number check Check a CNC version number by pressing function keys "Diagnosis", "Service displays", and "Version" in this order. Converter main version number Connecting a Digital operator to a Converter, check the version number in the following procedures: 1. Select a Converter (con) by pressing [Up] or [Down] key and press [DATA ENTER] key. 2. A lower word address "L0000" is displayed.
14.1 Fundamental settings Converter communication module version number You can check a Converter communication module version number using the following machine data for each drive. (Those drives under the same Converter show the same version number.) • MD1795 OPTMOD_FIRMWARE_VIRSION (For each axis) Meaning: Communication software version number (Read-only) Servo drive unit version number Connect a Digital operator to a Converter and check the version number in the following procedures: 1.
Drive set-up procedure 14.1.10 Parameter initialization 14.1.10 Parameter initialization Initialize parameters of each drive to restore the factory default settings. Servo drive Initialize parameters using a Digital operator in the following procedures: 1. Connect a Digital operator to a Converter and select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA ENTER] key. 2.
14.
Drive set-up procedure 14.2.1 Position control 14.2 Servo control 14.2.1 Position control In DSC, CNC and a drive share the position control, so that CNC also has the position control-related machine data. The following explains how to set fundamental machine data and parameters for position control. CNC setting • MD10230 SCALING FACTOR_USER_DEF [9] (For all axes in common) ## Meaning: Position loop gain setting unit Setting value: 1.
14.2 Servo control • MD3069 digit 0 (Pn127 digit 0) SWITCH_FUNCTION_2 (For each axis) ## Meaning: Method for setting position loop gain Setting value: 0 --- Drive setting value is used. 1 --- The value set from CNC cyclic data is used. Note: Be sure to set this parameter to "1". • MD3425 (Pn505) OVERFLOW_LEVEL (For each axis) ## Meaning: Excessive deviation area (Over flow level) Setting value: Values obtained from the following equations are to be set.
Drive set-up procedure 14.2.2 Speed control 14.2.2 Speed control The following explains how to set fundamental drive parameters for speed control. Servo drive • MD3030 (Pn100) KV (For each axis) Meaning: Speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2π/10. • MD3031 (Pn101) KVI (For each axis) Meaning: Speed loop integration time constant Setting value: [0.
14.2 Servo control • MD6063 (Cn063) ASR_I_TIME_M_L_I (For each axis) Meaning: Speed control integration time (M and L gears) Setting value: [0.1 ms] 14.2.3 Spindle servo mode In YS 840DI system, the Spindle speed control is to be set to servo mode. The following explains how to set fundamental Spindle drive parameters relating to servo mode. • MD6522 (Cn522) MULTI_FUNCTION_SEL_SSC ## Meaning: Multi-function selection SSC Setting value: 0 --- SSC is set to "Soft start cancelled.
Drive set-up procedure 14.2.4 Backlash compensation 14.2.4 Backlash compensation In YS 840DI system, backlash compensation is carried out at CNC. The following explains how to set backlash-related machine data. • MD32450 BACKLASH [0] (For each axis) Meaning: Backlash compensation amount Setting value: [mm] Note: For variable-speed backlash compensation function, refer to separate specifications. 14.2.
14.2 Servo control • MD3103 (Pn149) 2ND_P_GAIN_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 2nd-stage gain (Negative -> Positive) Setting value: [0.00001/s3] Equivalent to the quadrant error compensation 2nd-stage integration time constant for J300/J100 system. For relations with previous parameters, refer to the (INFO) in the next page.
Drive set-up procedure 14.2.5 Quadrant error compensation • MD3112 (Pn152) N_LMT_CLAMP_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation upper limit value (Positive -> Negative) Setting value: [0.01%/ms] • MD3113 (Pn153) TIMING_CONST_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation timing constant Setting value: [0.
14.2 Servo control 14.2.6 Torque reference notch filter To suppress stationary vibrations such as sympathetic axis vibration, created by Servo axis, of 400 Hz or higher, use a torque reference notch filter. The following shows parameters relating to the torque reference notch filter. For further information on the torque reference notch filter, refer to a separate instruction manual.
Drive set-up procedure 14.2.7 Speed feedback compensation 14.2.7 Speed feedback compensation You can suppress vibration and increase speed loop gain by using speed feedback compensation. The following explains about parameters for speed feedback compensation. • MD3046 digit 1 (Pn110 digit 1) SWITCH_ONLINE_AUTO_TUNING (For each axis) Meaning: Selects speed feedback compensation function Setting value: 0 --- Enabled 1 --- Disabled Note: Pay attention to the polarity of "Enabled" and "Disabled".
14.2 Servo control 7. When the MD3030 value is determined, set the speed loop integration time constant MD3030 (Pn101) as follows: • MD3030 = 2000000/(MD3030 × 2π) INFO • Be sure to set speed loop integration time constants to the same value among the interpolation axes; otherwise, processing accuracy is affected. • If a low frequency vibration is produced when you use this function, use torque filters or torque reference notch filters instead. 14.2.
Drive set-up procedure 14.2.8 Predictive control Servo drive settings For cutting feed • MD3079 digit 0 (Pn131 digit 0) SWITCH_PREDICTED_1 Meaning: 1st predictive control switch Setting value: 0 --- Disabled 1 --- Enabled (Tp = 0.001) 2 --- Enabled (Tp = 0.002) • MD3038 (Pn132) PARAM_C_PREDICTED_1 Meaning: 1st predictive control parameter C Setting value: [0.01] • MD3081 (Pn133) PARAM_CD_PREDICTED_1 Meaning: 1st predictive control parameter Cd Setting value: [0.
14.2 Servo control • MD3087 (Pn139) PARAM_C_PREDICTED_2 Meaning: 2nd predictive control parameter C Setting value: [0.01] • MD3088 (Pn13A) PARAM_CD_PREDICTED_2 Meaning: 2nd predictive control parameter Cd Setting value: [0.01] • MD3089 (Pn13B) PARAM_ALPHA_PREDICTED_2 Meaning: 2nd predictive control parameter α Setting value: [0.01] • MD3090 (Pn13C) EQUIV_KP_ADJ_PREDICTED_2 Meaning: 2nd predictive control equivalent Kp fine adjustment amount Setting value: [0.
Drive set-up procedure 14.2.9 Model following control CNC settings For feed axis • MD37610 PROFIBUS_CTRL_CONFIG (For each Servo axis) Meaning: CNC feed mode transmission to a drive Setting value: 0 --- Disabled 1 --- Enabled Assign "1" (Enabled) to this parameter when model following control is used. Note: Set this parameter to "Disabled" for Spindle; otherwise, you cannot change over Spindle drive parameters (DBX21.0-2) from PLC.
14.2 Servo control • MD3527 digit 3 (Pn81B digit 3) MASK_MFC_BANKSEL_0_3 (For each axis) Meaning: Model Following Control (MFC) bank 3 mask Setting value: (0 --- Model following control is enabled.) 1 --- Model following control is disabled. Note: Since model following control is to be used only for positioning, disable the bank 3 (for handle feed.) • MD3055 (Pn119) LOOP_GAIN_MFC (For each axis) Meaning: MFC gain (Model position loop gain) Setting value: [0.
Drive set-up procedure 14.2.11 Vibration-damping control 14.2.11 Vibration-damping control Use this function in order to suppress stationary vibrations ranging from about 50 Hz to 400 Hz at a Servo axis. The following explains about parameters relating to vibration-damping control. • MD3041 digit 3 (Pn10B digit 3) GAIN_SWITCH (For each axis) Meaning: Vibration-damping control selection Setting value: 0 --- Vibration-damping control disabled. 3 --- A-type vibration-damping control enabled.
14.2 Servo control Adjustment procedures 1. Carry out analog monitor related setting. Such data that are monitored with measuring instruments, such as high coder, are to be treated as torque reference and vibration-damping signal. For this reason, set MD3003 (Pn003) digit 0 and digit 2 to "2" (or "E") and "E" (or "2") respectively. 2. Measure torque reference vibration waveform that was obtained with instruments such as a high coder. 3.
Drive set-up procedure 14.2.12 Gain switching 14.2.12 Gain switching You can automatically switch speed loop gain between KV and KVI in Cutting feed, Positioning, and handle feed modes. When gain switching is enabled with the following machine data and parameters, each of the parameters becomes active in the following cases. • Cutting feed gain: Always active for cutting feed during programmed operation.
14.2 Servo control For positioning • MD3070 digit 0 (Pn128 digit 0) LOOP_GAIN_BANK_SWITCH (For each axis) Meaning: 2nd loop gain bank selection Setting value: 0 --- Disabled 1 --- Enabled If you want to use gain switching function for positioning, set the parameter to "1". • MD3034 (Pn104) KV2 (For each axis) Meaning: 2nd speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2π/10.
Drive set-up procedure 14.2.13 Current offset adjustment 14.2.13 Current offset adjustment To adjust the current offset of a Servo drive, perform the following procedures using a Digital operator. 1. Stop to move a Servo drive that you want to make a current offset adjustment. Turn off the servo with the main power turned on. In general, to turn off the servo as such, you need to prepare a sequence ladder that can turn off the servo by axis (DB3nDBX21.7 = 0) and use forced contact input.
14.2 Servo control 14.2.14 Analog monitor Each of the Servo drives and Spindle drives has an analog monitor function. You can observe various waveforms using a measuring instrument, such as an oscilloscope, connected to a monitor cable from the CN16 (CN26 in the case of 2nd axis of the 2-axis-combined drive) of each unit.
Drive set-up procedure 14.2.14 Analog monitor Spindle drive • MD6472 (Cn472) MONITOR_1_OUTPUT (For each axis) Meaning: Monitor 1 output Initial value: 0 --- Motor revolution speed • MD6475 (Cn475) MONITOR_2_OUTPUT (For each axis) Meaning: Monitor 2 output Initial value: 1 --- Torque reference Both MD6472 (Cn472) and MD6475 (Cn475) can output the following signals in analog form. 0: Motor revolution speed: 5 V/Max.
14.3 Motion Control 14.3 Motion Control 14.3.1 Feed Rate Feed Axes/Spindles • MD34990 ENC_ACTIVAL_SMOOTH_TIME [0] (For each axis) Meaning: Time constant of low pass filter inside CNC for encoder feedback Used as a smoothing filter for preventing cogging of CNC spindle speed or flickering data display when the resolution of spindle encoder is not high enough. (This machine data can also be set on feed axes.
Drive set-up procedure 14.3.1 Feed Rate • MD36200 AX_VERO_LIMIT (For each axis) Meaning: Speed limit (the speed which triggers alarm output) Setting value: [mm/min] or [min-1] Note: If the speed exceeds this value, the alarm 25030 is output. For spindles, this is the speed limit in the positioning control mode.
14.3 Motion Control 14.3.2 Acceleration/Deceleration Feed axes For acc./dec. of feed axes, the pre-interpolation acc./dec. typically used for rapid machining is always enabled. Acc./dec. control can achieve more effective acc./dec. by controlling both rate and jerk of acc./dec. (factor for S-shaped acc./dec.). However, for G00 feed, different rate and jerk of acc./dec. from those for maching can be set. For examples of machine data setting including those for rapid, precise machining, see section 14.4.4.
Drive set-up procedure 14.3.2 Acceleration/Deceleration • MD32300 MAX_AX_ACCEL (For each axis) Meaning: Acc./dec. rate Setting value: [mm/sec2] or [deg/sec2] Note: Applied for G00 and G01. • MD32310 MAX_ACCEL_OVL_FACTOR (For each axis) Meaning: Corner speed change Setting value: [percentage] The speed differences of each axis according to changes of orientation of block boundary are controlled by the percentage for acc./dec. rate (MD32300). Generally set the value to "1.01".
14.3 Motion Control The following figure shows an example of actual machining program to demonstarete the meaning of each machine data. Y N140 N90 F5000 SOFT G64 N100 G0 X0 Y0 Z0 ：linear interpolation N110 G1 X10 N120 G3 CR=5 X15 Y5 ：Arc interpolation N130 G3 CR=10 X5 Y15：Arc interpolation tangent to N120 N140 G1 X-5 Y17.
Drive set-up procedure 14.3.2 Acceleration/Deceleration INFO Usage of post-interpolation acc./dec. For pre-interpolation acc./dec., the acc./dec. per program block is enabled so frequently that accuracy of machining is better than ever, while the machining time at the same feed rate is longer. If you weight the machining time more than machining accuracy for the grinding feed, you can apply the post-interpolation acc./dec. employing post-interpolation jerk with the following setting.
14.3 Motion Control 14.3.3 Positioning Positioning action and positioning completion is determined only in CNC. The positioning completion function and other relevant functions of the drive must not be used. Primary machine data in relation to positioning is listed below. For the details about the spindle orientation, see section 14.3.13.
Drive set-up procedure 14.3.3 Positioning • MD36000 STOP_LIMIT_COARSE (For each axis) Meaning: Positioning completion range (coarse) Setting value: [mm] or [deg] Miscellanea: When coming into this positioning completion range, DB3nDBX60.6 = 1. When Exact Stop is initiated, coming into this positioning completion range is interpreted as the positioning completion according to G602 command and the processing begins at the next block.
14.3 Motion Control The following figure explains how to read major machine data. Position Actual position Reference position STANDSTILL_POS_TOL STOP_LIMIT_COARSE STOP_LIMIT_FINE Exact stop fine signal STANDSTILL DELAY_TIME Exact stop course signal POSTIONING_TIME Fig. 14.3 Positioning timing • MD30330 MODULO_RANGE (For each axis) Meaning: Rotation axis motion range Amount of motion until the position indicator has increased and be reset to zero (0).
Drive set-up procedure 14.3.4 Emergency stop CNC setting • MD36060 STANDSTILL_VERO_TOL (For each axis) Meaning: Zero speed Stops at the maximum torque (error cut) on the drive when the speed falls down to or below this speed.
14.
Drive set-up procedure 14.3.5 Return to reference point Emergency stop (switch -> PLC -> CNC) Acceleration determined with MD36610 Speed reference or positioning reference Actual speed speed set with MD36060 Speed reference 0 /emergency stop (CNC -> drive) Torque determined with MD3356 Torque 0 Brake (drive) servo axis is less than 100 min -1 , servo-off delay (MD3426) Servo-off Servo axis DB ON EMERGENCY_STOP_WAIT_TIME TACTOR_OFF_DELAY_TIME Fig. 14.4 Emergency stop processing 14.3.
14.3 Motion Control • MD34010 REFP_CAM_DIR_IS_MINUS (For each axis) Meaning: Return to reference point direction setting Setting value: 0---positive direction 1---negative direction • MD34020 REFP_VERO_SEARCH_CAM (For each axis) Meaning: Approach speed.
Drive set-up procedure 14.3.
14.3 Motion Control • MD34100 REFP_SET_POS [n] (For each axis) Meaning: Origin position shift (n is a value set with DB3XDBX2. 4 to 7.) Setting value: [mm] or [deg] • MD34200 ENC_REFP_MODE [0] (For each axis) Meaning: Return to reference point mode setting (motor encoder) Setting value: 0---No origin pulse 1---C phase return to reference point Note: For the encoder C phase return to reference point, you must specify "1". When the absolute value detection function is enabled, you must specify "0".
Drive set-up procedure 14.3.6 Brake control 14.3.6 Brake control Feed axes motor brakes are directly controlled with each servo drive, except for the special mechanical cramps. We will describe the methods for brake control under the following conditions. When servo drives are powered on When servo drives are powered on, after turning on each servo drive and then checking the servo drive for being locked, release the brakes. There are no special parameters about the timing.
14.3 Motion Control 14.3.7 Speed feedforward On YS 840DI system, speed feedforward is one of CNC functions. CNC specifies the speed feed forward directly to the drive. (The feed forward function housed in servo drives is not used.) On YS 840DI, the speed feedforward is also used for switching the speed reference mode to the positioning reference mode as well as for instructing the spindle orientation (SPOS command), you must specify the valid setting (MD32620 = 3) for every axis.
Drive set-up procedure 14.3.8 Torque Control and Fixed Stop Function • MD32610 VELO_FFW_WEIGHT (For each axis) Meaning: Speed feedforward weight Setting value: [0.01] Standard setting value: 1.0 14.3.8 Torque Control and Fixed Stop Function Limiting with drive parameters You can set the following parameters to control the torque for each axis continuously.
14.3 Motion Control CNC setting • MD37000 FIXED_STOP_MODE (For each axis) Meaning: Fixed Stop function enabled/disabled Setting value: 0---disabled 1---enabled • MD37010 FIXED_STOP_TORQUE_DEF (For each axis) Meaning: Torque limiting value Percentage for maximum torque (adjustable during programming with FXST command) Setting value: [%] Note: The unit of this setting value is different from the setting value (percentage for rated torque) used for " ■ Limiting with drive parameters.
Drive set-up procedure 14.3.8 Torque Control and Fixed Stop Function Spindle drive • MD6423 (Cn423) TORQUE_LIMIT_SELECT (For each axis) Meaning: Variable torque limit selection Torque limit command from CNC is enabled. Setting value: 0---disabled 1---enabled Note: You must specify "1". For Fixed Stop function, the tail stock press control, for example, is processed on the following steps. 1.
14.3 Motion Control Speed control state Position control state Position control state FXST[x] or MD37010 Torque reference 0 ① (FXS[x]=1 X+**) ② ③ ④ MD37030 Position deviation 0 Speed reference (command not required) 0 FXS[x]=1block IS"AxtivateFXS" IS"FXS reached" To next block Fig. 14.
Drive set-up procedure 14.3.9 Absolute value detection 14.3.9 Absolute value detection For machine data setting for the absolute value encoder, see Section 14.1.5 Motor Encoder and Section 14.1.6 Separately Mounted Encoder. Other primary CNC data required for absolute value detection function are listed below.
14.3 Motion Control • MD34210 ENC_REFP_STATE [0] (For each axis) Meaning: Origin setting status (motor encoder) Setting value: 0---incremental encoder 1---absolute value encoder origin setting mode 2---absolute value encoder origin setting completion • MD34210 ENC_REFP_STATE [1] (For each axis) Meaning: Origin setting status (separately mounted encoder) Same as the motor encoder.
Drive set-up procedure 14.3.10 Gantry control 14.3.10 Gantry control Apply gantry control for tandem axes. (YS 840DI master slave control is unavailable because this function is not enabled for the drive.) You need not adjust the setting on the drive side because CNC enables all the specific controls which are different from the single-axis controls related to the gantry control.
14.3 Motion Control • MD37140 GANTRY_BREAK_UP (For each axis) Meaning: Gantry axis synchronization release Setting value: 0---Synchronization 1---Synchronization released Note: Never transfer the synchronization-released axes in the conditions that the gantry master axis and gantry slave axis are mechanically coupled. This may cause machinery damage. Below is the setup process of origin setting for the gantry axis Setup process for origin setting for the gantry axis absolute value detection function 1.
Drive set-up procedure 14.3.10 Gantry control Setup process for the return to reference point for the gantry axis incremental encoder 1. Specify "0.001" with MD37110 : GANTRY POS TOL WARNING (synchronicity deviation warning output level position deviation). (This prevents the slave axis from being synchronized at the first return to reference point.) 2. After supplying power to the servo drives, initiate the return to reference point on REF mode.
14.3 Motion Control 14.3.11 Collision detection Collision detection function detects the collision of feed axes with the disturbance observer and enables the pullback-stop of the torque reference. You can individually specify the torque disturbance detection level of collision detection for each of • positioning feed • feed other than positioning feed, and • forced input signal. Also, it is possible to disable the collision detection function by the external input .
Drive set-up procedure 14.3.
14.3 Motion Control 14.3.12 Spindle sequence I/O signals Comparison of spindle sequence signals The following table shows comparison of the spindle sequence signals with the conventional spindle sequence signals. Name of conventional signal YS 840DI signal Specification (relation to the conventional) Emergency Stop (EMG) None Main supply ON is common to the servo drive. Operation is Ready (RDY) DBB2.1 (Controller enable) Same as RDY Remarks Servo Drive ON and Forward (FOR) DBX21.
Drive set-up procedure 14.3.12 Spindle sequence I/O signals Relevant Parameter Parameters for the spindle drive related to the spindle sequence are listed below. • MD6030 (Cn030) ZERO - SPEED_DET_LEVEL (Spindle) Meaning: Zero speed (ZSPD) detection level Setting value: [0.1min-1] • MD6031 (Cn031) ZERO - SPEED_DET_WIDTH (Spindle) Meaning: Zero speed (ZSPD) detection range Setting value: [0.
14.3 Motion Control 14.3.13 Spindle orientation Spindle orientation is conventionally permitted as the spindle drive function, but, on YS 840DI system, the speed and positioning references required for indexing are all created in CNC (equivalent to conventional NC indexing). Spindle drives permit positioning according to the speed and position references from CNC. YS 840DI system spindle orientation (positioning) is permitted according to CNC SPOS command.
Drive set-up procedure 14.3.13 Spindle orientation • MD35300 SPINDLE_POSCTRL_VELO (spindle) Meaning: Speed of switching over from speed control to position control When this speed is permitted for the spindle orientation, the position control mode is initiated for the spindle. Setting value: [min-1] The following diagram shows the relation between the speed during spindle orientation motion and each machine data.
14.3 Motion Control CNC PLC PLC program Forward Spindle control function Reverse CNC parameter REFP_SET_POS[0] REFP_SET_POS[1] select[0] (DB3xDBX2.4-7=0) select[1] (DB3xDBX2.4-7=1) Fig. 14.8 Spindle orientation C phase range compensation Fluctuation of spindle at the orientation stop If the spindle fluctuates at the orientation stop, set one of the following spindle drive parameters and then follows the procedure for PLC program.
Drive set-up procedure 14.3.14 Spindle winding changing 14.3.14 Spindle winding changing Spindle winding changing is allowed via the spindle drive by the command form PLC according to YS 840DI system specification. Changing process For example, the changing procedure with spindle speed detection signal (DBX94.5) is shown below. 1. Set the spindle speed detection speed (MD6401 (Cn401)) for the winding changing speed SCHW. 2.
14.3 Motion Control Relevant parameters Below are the parameters in relation to the spindle drive winding change. • MD6401 (Cn401) SPEED_DETECTION_LEVEL (spindle) Meaning: Speed detection signal level SCHW Setting value: [0.01 %] Sets the percentage for the rated speed MD6500 (Cn500). • MD6402 (Cn402) SPEED_DETECTION_WIDTH (spindle) Meaning: Speed detection signal hysteresis △ S Setting value: [0.
Drive set-up procedure 14.3.15 Spindle gear changing and Spindle integrated with C axis control 14.3.15 Spindle gear changing and Spindle integrated with C axis control The spindle changing for the spindle gear changing or the spindle/C axis changing under the spindle integrated C axis control is permitted via the spindle drive by the command from PLC according to the spindle parameter changing specification of YS 840DI system specification.
14.3 Motion Control 14.3.16 Rigid tap YS 840DI system tapping function "Rigid Tap" is permitted with the interpolation control of the spindle and the feed axis, which is different from the conventional system. In this case, to lessen the synchronicity errors, the position loop gain of feed axis (generally Z axis) and the position loop gain of spindle must be identical. Therefore, when the rigid tap is enabled, the position loop gain POSCTRL_GAIN [1], dedicated to the rigid tap, is used.
Drive set-up procedure 14.3.17 Threading 14.3.17 Threading For YS 840DI threading feed, you can select; no spindle position control (mm/rev control. SPCOF) or the spindle position control (SPCON). The following data shows the typical mm/rev control. • MD20650 THREAD_START_IS_HARD Meaning: Setting value: Acc./dec. motion when threading 0---linear acc./dec. Jerk setting possible. 1---step acc./dec. • MD35150 SPIND_DES_VELO_TOL (For each spindle) Meaning: Spindle speed tolerance.
14.3 Motion Control • MD21310 COUPLING_MODE_1 Meaning: Spindle synchronicity mode Setting value: 0---actual value coupling: Slave axis synchronizes with the master axis position feedback value 1---setpoint coupling: The salve axis synchronizes with the master axis position reference value.
Drive set-up procedure 14.3.19 Skip Function 14.3.19 Skip Function To use the skip function for latching the sensor position by using external sensors, set the following machine data. SGDK servo drive has two low-active probe inputs. CNC side setting • MD13200 MEAS_PROBE_LOW_ACTIVE [0] Meaning: Low/high-active of probe 1 Setting value: 0---high-active (positive) 1---low-active (negative) For SGDK servo drive, always set "1".
14.4 High-speed High-accuracy Cutting 14.4 High-speed High-accuracy Cutting YS 840DI system High-speed High-accuracy Cutting function does not have any special highspeed modes, such as conventional U-HSC function or G-HSC function, which are different from general cutting modes. This High-speed High-accuracy Cutting function enables the conventional cutting to provide machining as accurate as G-HSC function which employs the multi-block look-ahead.
Drive set-up procedure 14.4.2 Block compression • MD29000 LOOKAH_NUM_CHECKED_BLOCKS Meaning: Number of look-ahead blocks Setting value: 10 to 500 blocks Standard setting value: 100 blocks Note: Block compression is available for the blocks compressed by the block compression described in the next section. 14.4.
14.4 High-speed High-accuracy Cutting • MD20172 COMPRESS_VEL_TOL Meaning: Block compression speed tolerance Block compression limitation based on feed rate. Block compression in the feed rate range within the specified tolerance.
Drive set-up procedure 14.4.3 Spline interpolation 14.4.3 Spline interpolation General spline interpolation Set the following machine data as the conditions for general spline interpolation to be enabled within CNC. • MD28530 PATH_VELO_SEGMENTS Meaning: Number of polynomial spline per block Setting this value allows the feed speed to be controlled to have better waveform.
14.4 High-speed High-accuracy Cutting Fine interpolation DP cycle period interpolation is enabled for the position interpolated by IPO cycle period, when the interpolation position command is transferred from IPO cycle to DP cycle (Section 14.1.1). There are two types of interpolation: difference interpolation (linear interpolation) and C spline interpolation (curvilinear interpolation). Typically employ the C spline interpolation.
Drive set-up procedure 14.4.4 Examples of machine data setting 14.4.4 Examples of machine data setting The table below shows an example of evaluation conditions when evaluating the die machining with COMPCAD function at the machining center. Program: Die machining for which Z axis reciprocates rapidly (In this case, the setting for the acceleration rate and the jerk of Z axis seriously affects the machining time.) COMPCAD results Z axis counter weight None Used Machining time 15 min. 14 sec. 19 min.
14.5 Relevant Machine Data and Parameters Relevant machine data and parameters described in Chapter 14 are listed below. 14.5.
Main topic Topic Standard setting (Cont’d) Separately mounted encoder (Cont’d) Subtopic Separately mounted encoder enabled/disabled Separately mounted encoder pulse multiplication Separately mounted encoder rotation direction Separately mounted encoder function Multi-turn limit setting value Servo control Motor maximum speed Percentage of motor maximum speed for speed reference Mask Position control Drive function mask Motor maximum speed Setting unit for position loop gain Position loop gain Max
Main topic Moter control (Cont’d) Topic Positioning Subtopic General setting and others Feed MD20154[14] 3 - Feed EXTERN_G0_LINEAR_MODE MD20732 1 - 0: Positioning axis feed is enabled 1: Interpolation feed is enabled. G00 specification when G64 command enabled Feed EXTERN_FUNCTION_MASK.4 MD20734.
Main topic Moter control (Cont’d) Topic Subtopic MD34210 - - ENC_REFP_STATE[1] MD34210 - - "2" at the reference setting completion Feed ENC_TYPE[0] MD30240 - - "4" at the separately mounted encoder absolute value detection Gantry axis setting Feed GANTRY_AXIS_TYPE MD37100 - - Synchronicity warning output level position deviation Feed GANTRY_POS_TOL_WARNING MD37110 - mm,deg Synchronicity alarm output level position deviation Feed GANTRY_POS_TOL_ERROR MD37120 - mm,deg Return
14.5.
Main topic Servo drive control (Cont’d) Topic Torque reference notch filter Subtopic Model following control (MFC) bank 0 mask 1 % % 0.01 0.01 0.01 0.1/s % % 0.01Hz 0.01 0.01 0.01 0.1/s % % 0.
Main topic Motion control Topic Emergency stop Subtopic Emergency stop torque Emergency stop wait time Brake command - servo drive cutoff delay Delay between servo drive cutoff and connector cutoff Torque control Positive torque control Negative torque control Variable torque control selection Collision detection Disturbance observer gain Disturbance observer high pass filter cutoff frequency Disturbance observer low pass filter cutoff frequency Disturbance observer inertia compensation 1st torque dis
14.5.
Main topic Motion control (Cont’d) Multi-function selection PPI MULTI_FUNCTION_SEL_PPI MD6525(Cn525) Typical Setting Value 0 Positioning completion gain reduction percentage (H gear) ORT_DB_GAIN_DEC_RATIO_H ORT_DB_GAIN_DEC_RATIO_L SELECTION_CODE_1 MD6595(Cn583) MD6595(Cn583) MD6809(Cn809) 50 50 - Topic Orientation Subtopic Positioning completion gain reduction percentage (L gear) Winding changing Winding changing selection Name of Parameter No.
14.6 Trouble shooting 14.6.1 Table of causes/countermeasures for troubles Following list is the summary of causes and countermeasures for potential troubles occurring from the setting errors of machine data or parameters.。 Category Controlled source Servo drive is powered on Symptom Conditions There is one or more axis which can not be read by the digital operator of converter. When the control source is powered on. Or There occurs the drive alarm 183 (A. B7: Link setting error) or 225 (A.
Category Symptom Hard ware configuration There occurs CNC alarm 25202 Axis waiting for drive or the LED lamp of PROFIBUS flashes. Encoder Spindle Hard ware Conditions Candidate causes Measures The spindle is set as a parking axis. It is impossible for the spindle to be a parking axis. Set the spindle as an enabled axis. If there is no spindle motor, mask the motor and encoder relevant alarm(s) with the spindle alarm mask. The digital operation mode was once used.
Chapter 15 Error and Troubleshooting This chapter describes the troubleshooting for the errors without alarm display. 15.
Error and Troubleshooting 15.1 Errors without Alarm Display and Troubleshooting The table below shows the causes and their countermeasures for the malfunctions accompanied with no alarm generation. Before you check or take a countermeasure for what is described in the half-tone meshing column, you must turn off the power supply of servo system. If you cannot remedy the malfunction even with these measures, please contact our service group without delay. Table 15.1 Malfunction Motor does not start.
15.1 Errors without Alarm Display and Troubleshooting Table 15.1 Malfunction Servo motor overheats. Unusual noise generates. Cause Check point Countermeasure The surrounding temperature is excessively high. Measure the temperature around the servo motor. Lower the surrounding temperature to 40 ℃ or below. The surface of servo motor is dirty. Visually check the surface. Remove the dust and oil from the motor surface. The servo motor is overloaded. Operate the servo motor without load.
Error and Troubleshooting 15-4
15.
Error and Troubleshooting 15-6
Chapter 16 Maintenance and Check This chapter deals with how to conduct a basic check on the Servo motors and the SERVOPACKs, how to replace the Absolute encoder battery, and explanation about the Analogue monitor. 16.1 Checking Servo motor and SERVOPACK - - - - - - - - - - - - 16-2 16.1.1 Checking Servo motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-2 16.1.2 Checking SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-3 16.
Maintenance and Check 16.1.1 Checking Servo motor 16.1 Checking Servo motor and SERVOPACK 16.1.1 Checking Servo motor The following table shows how to conduct a daily check and maintenance of the Servo motor. Since AC servo motors are brushless, you need not conduct any other checks than a brief, daily check. The check timing in the table shows a guide line only; you need to define appropriate check timing according to the motor operating conditions.
16.1 Checking Servo motor and SERVOPACK 16.1.2 Checking SERVOPACK The following table summarizes how to check the SERVOPACK. You need not conduct a daily check; however, conduct a check once a year at least. Table 16.2 SERVOPACK check Check item Check timing Check method Corrective action Cleaning of main unit and board Once per year at least Shall be free from adherents such as dirt, dust, and oil. Clean with a cloth or air.
Maintenance and Check 16.2.1 Items to be checked daily 16.2 Checking Spindle motors and Invertors Carry out scheduled maintenance management so that the system may keep operating correctly in good conditions. WARNING • To check the MRX, you must turn off the power and wait for 5 minutes before accessing inside the unit. Be sure to wait until the "CHARGE" indicator turns off, showing the smoothing capacitor has been discharged completely; otherwise, you may receive an electric shock or may be injured. 16.
16.2 Checking Spindle motors and Invertors Table 16.4 Check procedure Check object Around the bearing Motor cooling fan Item Criteria Corrective action Method Sound from the bearing Hearing or auscultation stick Shall be free from abnormal sound or increase in noise level. Replace the bearing.
Maintenance and Check 16.2.4 Periodical check 16.2.4 Periodical check Referring to the following table, establish a maintenance schedule and conduct a periodical check. Check timing is mentioned for some items in the table; however, it is for your reference as standard timing. Determin appropriate timing that best fits your machine considering use status and environment by increasing or decreasing the standard value. Table 16.
16.2 Checking Spindle motors and Invertors Table 16.5 Periodical check Check object Check procedure Item Motor coupling status 1. Shaft coupling 2. V-belt Motor Criteria Corrective action Method Repetitive runout - - Readjustment by direct-coupled centering Sunk key Viewing Scratch or deformation shall not exist. Replacement Shaft coupling without key Dowel marker shall not be fit loose. Restoration Fastening reamer bolt Shall not become loose.
Maintenance and Check 16.3.1 Replacing a battery in the Absolute encoder 16.3 Absolute encoder 16.3.1 Replacing a battery in the Absolute encoder If the voltage of the Absolute encoder battery decreases to 2.7V or less, the SERVOPACK issues a "Battery warning (A.93)". Replace the battery in the following procedure. For the recommended Absolute encoder batteries, refer to 16.3.2 "Handling a battery". Procedure to replace a battery 1. Replace the battery with SERVOPACK control power turned on. 2.
16.3 Absolute encoder 16.3.3 Setting up (Initializing) Absolute encoder Set up Absolute encoder in the following cases: • When a machine is initialized for the first installation. • When "Encoder back-up" alarm is issued. • When the encoder cable is disconnected with the SERVOPACK power turned off. You can set up Absolute encoder using a Digital operator. INFO You can set up Absolute encoder only when the Servo is turned off. After completing the set-up process, be sure to turn on the power again.
Maintenance and Check 16.3.3 Setting up (Initializing) Absolute encoder 6. If PGCL5 appears, press [DSPL/SET] key. The display changes as follows and the Absolute encoder 7. Multi-turn data is cleared. Flashes one second. 8. Press the [DATA/ENTER] key to return to "Auxiliary function execution" mode. This completes Absolute encoder set-up procedure.
16.4 Analogue monitor 16.4 Analogue monitor You can monitor various signals by using analogue voltage. To monitor analogue monitor signals, use a dedicated monitor cable (DE9404559) connected to the connector shown below. YASKAWA SERVOPACK SGDK-50AEA 200V CN5 A/B SW1 RDY CN1 CN6 CN2 3 4 1 2 CN8 Pin No. Cable color Signal name 2 White Analogue monitor 1 1 Red Analogue monitor 2 3, 4 Black (2 pcs) GND (0 V) You can change analogue monitor signals by setting a user constant Pn003. Pn003.
Maintenance and Check 16.3.3 Setting up (Initializing) Absolute encoder Socket DF11-4DS-2C (Hirose Electric Co.) Contact DF11-2428SCF (Hirose Electric Co.) 4 2 3 1 Pin No. 1 2 3 4 Red White Black Black Fig. 16.
16.4 Analogue monitor The following monitor signals can be monitored. Pn003.0 and Pn003.2 settings Descriptions Monitor signal Observation gain 0 Motor rotation speed 1V/1000 min-1 1 Speed reference 1V/1000 min-1 2 Torque reference*1 1V/100% Rated torque 3 Position deviation*2 0.05V/a Command unit 4 Position amplitude deviation*2 (Position control compensator deviation) 0.
Maintenance and Check 16.3.
Appendix Drive data list Appendix A Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1 Servo unit parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.2 List of Servo unit parameter switches - - - - - - - - - - - - - - - - - - - - - - - - A-8 A.3 List of Inverter parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13 A.
Drive data list A.1 Servo unit parameter list Appendix A Parameters A.
Appendix A Parameters CNC parameter number Drive parameter number Initial value Lower limit Upper limit 3055 Pn119 400 10 20000 0.1/s Loop Gain MFC MFC gain[0.ls-1] 3056 Pn11A 1000 500 2000 0-1000 Dump Factor MFC MFC damping coefficient 3057 Pn11B 500 10 1500 0.1Hz Mecha Resonance Freq MFC MFC mechanical resonance frequency 3058 Pn11C 700 10 1500 0.
Drive data list A.1 Servo unit parameter list CNC parameter number Drive parameter number Initial value Lower limit Upper limit 3090 Pn13C 0 -10000 10000 3091 Pn13D 0 0 3092 Pn13E 0 3093 Pn13F 3094 Unit Display name Description 0.1/s Equiv Kp Adj Predicted 2 2nd predictive control equivalent Kp fine adjustment amount 100 % Spd FF Gain Predicted 2 2nd predictive control speed FF gain 0 100 % Trq FF Gain Predicted 2 2nd predictive control torque FF gain 0 0 65535 0.
Appendix A Parameters CNC parameter number Drive parameter number Initial value Lower limit Upper limit 3202 Pn202 4 1 65535 None Reserved Reserved constant(Do not use) 3203 Pn203 1 1 65535 None Reserved Reserved constant(Do not use) 3204 Pn204 0 0 6400 0.
Drive data list A.
Appendix A Parameters CNC parameter number Drive parameter number Initial value Lower limit Upper limit 3424 Pn504 7 1 250 None Near Window NEAR signal width 3425 Pn505 1024 1 32767 None Overflow Level Overflow level 3426 Pn506 0 0 50 10ms Delay from BrkSig to SvOff Brake command-to-Servo off delay time 3427 Pn507 100 0 10000 min-1 Spd on Brake Sig Out Brake command output speed level 3428 Pn508 50 10 100 10ms Sv Off Brk Sig Wait Time Servo off-to-Brake command w
Drive data list A.2 List of Servo unit parameter switches A.2 List of Servo unit parameter switches User Constant No. MD3000 (Pn000) Fundamental function selection Digit 0 1 Name Setting Rotation direction selection 0 Defines that CCW is forward rotation. 1 Defines that CW is forward rotation.
Appendix A Parameters User Constant No.
Drive data list A.2 List of Servo unit parameter switches User Constant No. MD3041 (Pn10B) Gainrelated applied switch Digit 0 1 2 3 MD3046 (Pn110) Auto tuning 0 1 2 3 MD3068 (Pn126) Function switch Description Factory default setting 0 Selects internal torque reference as a condition. (Level setting: Pn10C) 1 Selects speed reference as a condition. (Level setting: Pn10D) 2 Selects acceleration as a condition. (Level setting: Pn10E) 3 Selects deviation pulse as a condition.
Appendix A Parameters User Constant No. MD3070 (Pn128) Loop gain bank switch Digit 0 MD3207 (Pn207) Position control function switch Description Factory default setting 0 Inactive 1 Active 3rd loop gain bank selection 0 Inactive 1 Active 4th loop gain bank selection 0 Inactive 1 Active 3 Reserved 0 − 0 0 1st predictive control switch 0 Inactive 0 1 Active（Tp = 0.001） 2 Active（Tp = 0.002） 0 Inactive 1 Active（Tp = 0.001） 2 Active（Tp = 0.
Drive data list A.2 List of Servo unit parameter switches User Constant No. MD3358 (Pn408) Torquerelated function switch MD3527 (Pn81B) Model following control mask Digit 0 Name Setting Description Factory default setting 0 None 1 Uses 1st-stage notch filter for torque reference. 2nd-stage notch filter selection 0 None 1 Uses 2nd-stage notch filter for torque reference.
Appendix A Parameters A.3 List of Inverter parameter Note: The values shown in this table are based on the values shown in the operator panel of the CNC. On the digital operator of the SERVOPACK, the decimal point is displayed. In other words, the unit for the value displayed on the operator panel is different from the unit for the value on the digital operator. When the zero speed detection level is set to 30 min-1, the displayed value are as follows. EXAMPLE MD6030: 300[0.
Drive data list A.3 List of Inverter parameter CNC paramete r number Drive parameter number Initial value Lower limit Upper limit 6132 Cn132 25 0 500 msec Hunting Time Antihunting time constant 6133 Cn133 10 0 100 % Hunting Limit Antihunting limit 6150 Cn150 1900 0 4600 v Voltage Cntrl Volt Voltage limiting control setting voltage 6151 Cn151 100 0 10000 0.
Appendix A Parameters CNC paramete r number Drive parameter number Initial value Lower limit Upper limit 6510 Cn510 0 0 1 None Twice Speed Selection n100 twice selection 6511 Cn511 10000 0 10000 msec Emergency Stop Time Emergency stop signal wait time 6522 Cn522 1 0 1 None Multi Function Sel SSC Multi-function selecting SSC 6523 Cn523 0 0 1 None Multi Function Sel MGX Multi-function selecting MGX 6525 Cn525 0 0 1 None Multi Function Sel PPI Multi-function selecti
Drive data list A.3 List of Inverter parameter CNC paramete r number Drive parameter number Initial value Lower limit Upper limit 6605 Cn605 3000 0 20000 0.1msec Serch Pole Pre Count Initial magnetic pole detection estimated time 6606 Cn606 100 1 20000 0.1msec Serch Pole Level Initial magnetic pole detection control time 6607 Cn607 200 1 1000 0.
Appendix A Parameters CNC paramete r number Drive parameter number Initial value Lower limit Upper limit 6744 Cn744 100 0 5000 0.1V Min Output Frequency Volt V/F min. output frequency voltage 6745 Cn745 2000 0 5000 0.1V Max Output Frequency Volt V/F max. output frequency voltage 6750 Cn750 1500 10 60000 min-1 Base Speed 2 L winding base speed 6751 Cn751 3500 10 60000 min-1 Max Output Decrease Start 2 L winding max.
Drive data list A.
Appendix A Parameters CNC paramete r number Drive parameter number Initial value Lower limit Upper limit 6979 Cn8BF 7 0 250 None Position window 1 1st positioning completion width 6980 Cn8C0 7 0 250 None Position window 2 2nd positioning completion width 6981 Cn8C1 7 0 250 None Position window 3 3rd positioning completion width 6988 Cn8C8 0x0000 0x0000 0xFFFF None Reserved for user 0F Reserved for user 0F 7018 Cn8E6 0x0000 0x0000 0xFFFF None Alarm Mask Alarm mask
Drive data list A.4 List of parameters common to all drives A.4 List of parameters common to all drives The following parameters (MD0-2999), common to Servo unit and Inverter, are drive parameters displayed in a parameter screen for each drive. • Each of the parameters is used as an interface through which a CNC receives data from a drive. • They are read-only so that they can’t be set through a drive parameter screen.
Appendix A Parameters CNC parame ter No. Lower limit Upper limit Unit Name 918 0 126 − PROFIBS_NODE_ADD RESS PROFIBUS station number See Section 14.1.
Drive data list A.4 List of parameters common to all drives CNC parame ter No.
Appendix B Alarm/monitor data Appendix B Alarm/monitor data B.
Drive data list B.
Appendix B Alarm/monitor data B.
Drive data list B.
Appendix B Alarm/monitor data B.
Drive data list B.4 List of Inverter monitor data B.4 List of Inverter monitor data The following monitor data have been confirmed with a digital operator for drives.
Appendix B Alarm/monitor data UN number Item Description Unit Un015 Reserved Un016 Alarm being issued Un017 U-phase current 0x3FF: 10V Un018 W-phase current 0x3FF: 10V Un019 Reserved Un020 LED check Un021 PROM number Alarms being issued now (10 alarms at max.
Yaskawa Siemens CNC Series In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
