18 SERIES CONTROLLER In order to view and edit 9000 series programs, you must change Parameter 3202.5 (NE9 !rom " to 0. #n most "$ contro%s, it is very easy to turn on the &ustom 'acro option. )imp%y change Parameter 9933.* !rom 0 to ". +he N& wi%% prompt you to cyc%e the N& power (%arm 000. +his is norma%. +o change the P-E on an "$ contro% ".Press the #//)E+)E++IN1 utton. 2.Press the )E+IN1 so!t ey. 3.&ursor to P4'E+E4 -4I+E 0 6.Enter a ". 5.Press INP7+ utton. 8.Press 4E)E+ utton and &N utton at the same tie to c%ear a%arm "00. +he #ption Parameters on an "$ &ontro% can e viewed the same as any other contro%. +hey egin at 9900. +he timers tae the !orm o! + numers. +o comp%ete%y ero a%% position disp%ays on +o reach the +oo% :i!e 'anagement screen on an "$' contro%, press the #//)E+ utton then press the 4I1;+ 44#- utton the so!t ey pane% unti% you see the t he so!t ey option then press the appropriate so!t ey. ey. I! this does not wor try iagnostic *00 on a 0 contro% start at >iagnostic 000. 000 -I+IN1 /#4 /IN )I1N:? )I1N:? n au@i%iary !unction is eing eing e@ecuted. 00" '#+I#N ? +rave% +rave% command o! cyc%e cyc%e operation operation is eing e@ecuted. 002 >-E:: ? dwe%% is eing e@ecuted. 003 IN?P#)I+I#N &;E&A ? In?position chec is eing done. 006 /EE>4+E /EE>4+E #BE44I>E 0C ? /eed /eed rate override is 0C. 005 IN+E4:#&A)+4+ IN+E4:#&A)+4+ :#&A ? Inter%oc or start %oc is input. 008 )PIN>:E )PEE> 44IB: 44IB: &;E&A ? -aiting !or spind%e speed arriva% signa%. 0"0 P7N&;IN1 ? >ata is eing output through readerpuncher inter!ace. 0"" 4E>IN1 ? >ata is eing eing input through through the readerpuncher inter!ace. 0"2 -I+IN1 -I+IN1 /#4 (7N &:'P &:'P ? -aiting !or the end o! inde@ ta%e inde@ing. 0"3 D#1 /EE>4+E /EE>4+E #BE44I>E 0C ? 'anua% 'anua% !eed !eed rate override is 0C. 0C. 0"6 -I+IN1 /#4 4E)E+, 4E)E+, E)P, 44- #// ? N& is in reset state. 0"5 E+E4N: P4#14' N7'E4 )E4&; ? E@t. E@t. program numer search is eing done 0"8 &A14#7N> &+IBE ? acground is eing used. >iagnostics !or checing cause o! certain a%arms >etai%s o! %arm 350 )eria% Pu%se &oder >1N 0202 * 8 5 6 3 2 " 0 &) : P; 4& F &A )P; &) ;ardware ;ardware o! seria% pu%se coder is anorma%. : attery vo%tage is %ow (warning. P; )eria% pu%se coder or !eedac ca%e is erroneous. 4& )eria% pu%se coder is !au%ty. &ounting o! !eedac ca%e is erroneous. F attery vo%tage ecame ecame 0. 4ep%ace the attery and set set the re!erence position. &A )eria% pu%se coder is !au%ty. !au%ty. Interna% %oc stopped.
)P; )eria% pu%se coder or !eedac ca%e is !au%ty. !au%ty. &ounting o! !eedac ca%e is erroneous. >etai%s o! %arm 35" )eria% Pu%se &oder >1N 0203 * 8 5 6 3 2 " 0 >+E &4& )+ >+E &ommunication !ai%ure o! seria% seria% pu%se coder. +here is is no response. &4& &ommunication !ai%ure o! seria% pu%se coder. coder. +rans!erred +rans!erred data is erroneous. )+ &ommunication o! seria% pu%se coder. coder. +rans!erred +rans!erred data is erroneous. erroneous. >etai%s o! %arm 6"* >igita% )ervo >1N 0200 * 8 5 6 3 2 " 0 #B: :B #B& ;& ;B >& / #/ #B: #ver%oad a%arm. :B Insu!!icient Insu!!ici ent vo%tage a%arm. #B& #ver current a%arm. ;& norma% current a%arm. ;B #ver vo%tage a%arm. >& >ischarge a%arm. / /eedac disconnection a%arm. #/ #ver!%ow a%arm. >1N 020" 4e!er to 'aintenance 'anua% !or ta%e. >1N 0206 * 8 5 6 3 2 " 0 4' #/) '&& :> P') #/) > conversion o! current va%ue o! digita% digita% servo servo is anorma% '&& &ontacts o! e%ectro?magnetic e%ectro?magnetic contactor contactor o! servo amp%i!ier is %own :>' :E> o! seria% pu%se coder is anorma% P') Numer o! !eedac pu%ses pu%ses are in error error ecause seria% pu%se coder & or !eedac ca%e is !au%ty +o access the &onversationa% side ". )e%ect E>I+ mode. 2. Press the P4#1 utton. 3. I! the contro% has conversation, you wi%% see a &..P so!t ey. ey. 6. Either enter a new program numer or search an e@isting one in the usua% manner. 5. Press the &..P so!t ey. I! a %athe with an "$+ contro% does not e@ecute a ',) or + !unction when the %oc they are in is searched in uto ('emory ('emory mode, chec parameters 3609.*, 3602.8 and 5000 to 5008. I! you have trou%e maintaining a constant %ead when threading with 192 or 1*8, chec parameter "828 and "82*. +hese two parameters a!!ect the acce% and the dece% o! the servos during the two cyc%es. #!ten a machine wi%% have a %arger va%ue such as "00 which a%%ows you to mae good threads on%y at %ow rpm r pm %ie 200 or so. &hanging the va%ue to something %ie 30 or 32 wi%% %et you mae good threads at c%ose to "000 rpm. I! the screen turns a%% green andor goes %an, the 1raphic &ard is proa%y ad. +he card p%ugs into the 'ain oard.
)P; )eria% pu%se coder or !eedac ca%e is !au%ty. !au%ty. &ounting o! !eedac ca%e is erroneous. >etai%s o! %arm 35" )eria% Pu%se &oder >1N 0203 * 8 5 6 3 2 " 0 >+E &4& )+ >+E &ommunication !ai%ure o! seria% seria% pu%se coder. +here is is no response. &4& &ommunication !ai%ure o! seria% pu%se coder. coder. +rans!erred +rans!erred data is erroneous. )+ &ommunication o! seria% pu%se coder. coder. +rans!erred +rans!erred data is erroneous. erroneous. >etai%s o! %arm 6"* >igita% )ervo >1N 0200 * 8 5 6 3 2 " 0 #B: :B #B& ;& ;B >& / #/ #B: #ver%oad a%arm. :B Insu!!icient Insu!!ici ent vo%tage a%arm. #B& #ver current a%arm. ;& norma% current a%arm. ;B #ver vo%tage a%arm. >& >ischarge a%arm. / /eedac disconnection a%arm. #/ #ver!%ow a%arm. >1N 020" 4e!er to 'aintenance 'anua% !or ta%e. >1N 0206 * 8 5 6 3 2 " 0 4' #/) '&& :> P') #/) > conversion o! current va%ue o! digita% digita% servo servo is anorma% '&& &ontacts o! e%ectro?magnetic e%ectro?magnetic contactor contactor o! servo amp%i!ier is %own :>' :E> o! seria% pu%se coder is anorma% P') Numer o! !eedac pu%ses pu%ses are in error error ecause seria% pu%se coder & or !eedac ca%e is !au%ty +o access the &onversationa% side ". )e%ect E>I+ mode. 2. Press the P4#1 utton. 3. I! the contro% has conversation, you wi%% see a &..P so!t ey. ey. 6. Either enter a new program numer or search an e@isting one in the usua% manner. 5. Press the &..P so!t ey. I! a %athe with an "$+ contro% does not e@ecute a ',) or + !unction when the %oc they are in is searched in uto ('emory ('emory mode, chec parameters 3609.*, 3602.8 and 5000 to 5008. I! you have trou%e maintaining a constant %ead when threading with 192 or 1*8, chec parameter "828 and "82*. +hese two parameters a!!ect the acce% and the dece% o! the servos during the two cyc%es. #!ten a machine wi%% have a %arger va%ue such as "00 which a%%ows you to mae good threads on%y at %ow rpm r pm %ie 200 or so. &hanging the va%ue to something %ie 30 or 32 wi%% %et you mae good threads at c%ose to "000 rpm. I! the screen turns a%% green andor goes %an, the 1raphic &ard is proa%y ad. +he card p%ugs into the 'ain oard.
standard standard "$ contro% has a three s%ot s%ot acp%ane (Power (Power )upp%y, )upp%y, &P7, I# In order to have the 1raphics option, the acp%ane must have at %east !our s%ots. In this case there wi%% e a 1raphics card p%ugged into the chassis. -hen woring in the %adder o! an "$ contro%, you may not e a%e to !ind the Aeep 4e%ays %isted as A numers. #!ten they are %isted as P'&) numers. /or e@amp%e, A5.5 may e %isted as P'&)55. +he :adder o! an "$ contro% can e aced up and restored with a /%ash 4om ()4' card (P&'I. I! you want to edit the %adder, you you wi%% need so!tware !rom /anuc. It is ca%%ed /P+ :>>E4 III. +he price as o! 530" is G"33".00. +he %adder is designated as Pmc?r. -hen it is stored it is done so as a >#) !i%e. In this case it re=uires an e@tension. +he most common e@tensions are Pmc?r.000 and Pmc?r.t@t. 4un +ime in!ormation etc. can e accessed y pressing the #//)E+ )E++IN1 utton then the )E+IN1 so!t ey, then page down. +he in!o is P4+) +#+: P4+) P4+) 4EH7I4E> P4+) P4+) N+ P#-E4 #N ; ' #PE4+IN1 +I'E ; ' ) &7++IN1 +I'E ; ' ) /4EE P74P#)E ; ' ) &&:E +I'E ; ' ) >+E +I'E +o access the varia%es on an "$ contro%, press the #/)+)E+IN1 utton twice, i! the machine has &ustom 'acro there wi%% e a '&4# so!t ey, press it to view the varia%es. +he run hours (J3002 reset to 0 a!ter reaching 9566. Baria%e Baria%e 3002 is in one hour increments. +o access the 'irror Image !unction ".Press the #//)E+)E++IN1 utton. 2.Press the )E+IN1 so!t ey. ou wi%% see 'I44#4 I'1E 0 (0 #// " #N 'I44#4 I'1E F 0 (0 #// #// " #N +o access the Aeep 4e%ays ".Press the ))+E' utton. 2.Press the P'& so!t ey. 3.Press the P'&P4' so!t ey. ey. 6.Press the AEEP4: so!t ey. use!u% use!u% trou%eshooting too% >iagnostic >iagnostic 200. +o +o access access it ".Press ))+E' utton. 2.Press P'& so!t ey. 3.Press P'&>1N so!t ey. ey. 6.Press )++7) so!t ey. 5.+ype >200. 8.Press )E4&; so!t ey. ey. +he spind%e orientation parameter is 60**. +his depends on whether the machine uses a /anuc position coder, magnetic picup or pro@imity switch. Norma%%y i! a
machine uses a pro@imity switch to orient, the position wi%% not e adN&" '>6 '>2 '>" +his diagnostic indicates the 'ode se%ected. " means the mode is se%ected, in this case %oo !or a one at it 0 un%ess in >N& mode. I! attempting automatic operation during >N&, %oo !or a " at its 0 and 5. '>" 'emory 'ode I! memory mode is se%ected with the 'ode )e%ect switch, chec the mode signa% with the P'&>1N. * 8 5 6 3 2 " 0 1000* )+ )+ &yc%e )tart I! the cyc%e start %amp does not %ight when the utton is pressed, chec 1000*. * 8 5 6 3 2 " 0 1000$ L)P L)P /eed ;o%d I! the program wi%% not e@ecute when &yc%e )tart is pressed ut the cyc%e start %amp comes on (status disp%ay o! &4+ shows )+4+ chec >iagnostics 000?0"5. 7nder norma% operation, they shou%d a%% e ero. 000 -I+IN1 /#4 /IN )I1N: 00" '#+I#N 002 >-E:: 003 IN?P#)I+I#N &;E&A 006 /EE>4+E #BE44I>E 0C 005 IN+E4:#&A)+4+ IN+E4:#&A )+4+ :#&A 008 )PIN>:E )PEE> 44IB: 44IB: &;E&A 0"0 P7N&;IN1 0"" 4E>IN1 0"2 -I+IN1 /#4 (7N&:'P (7N&: 'P 0"3 D#1 /EE>4+E #BE44I>E 0C 0"6 -I+IN1 /#4 4E)E+, E)P, 44- #// 0"5 E+E4N: P4#14' N7'E4 )E4&;. 000 -I+IN1 /#4 /IN )I1N: n au@i%iary !unction (',),+ or or speci!ied in a program is eing e@ecuted e@ecuted and has not !inished. &hec the diagnostics associated with the au@i%iary !unction. 10005 * 8 5 6 3 2 " 0
/IN / IN +/IN )/IN '/IN '/IN ' !unction !inish signa% )/IN ) !unction !inish signa% +/IN + !unction !inish signa% /IN 2nd au@i%iary !unction !inish !ini sh signa% /000* * 8 5 6 3 2 " 0 / +/ )/ '/ '/ ' !unction stroe signa% )/ ) !unction stroe signa% +/ + !unction stroe signa% / 2nd au@i%iary !unction stroe signa% 1000$ * 8 5 6 3 2 " 0 '/3 '/2 '/2 )econd ' !unction stroe signa% '/3 +hird ' !unction stroe signa% +he second and third ' !unctions are ena%ed on%y when it * o! parameter J3606('3 is set to ". 00" '#+I#N &N& is reading an a@is command in a program and giving the command to the a@is. 002 >-E:: &N& is reading a dwe%% command (106 in a program and is e@ecuting the dwe%% command. 003 IN?P#)I+I#N &;E&A Positioning to a speci!ied position is not comp%eted. -hether or not positioning is comp%ete is determined y the servo position error. &hec the position error amount with >iagnostic 300. -hen an a@is is in position, the position error wi%% e a%most ero. -hen the machine is in the commanded position within the IN?P#)I+I#N -I>+; amount the positioning is said to e comp%ete. +he IN?P#)I+I#N -I>+; is set in parameter "$28. I! the machine does not position within this window trou%eshoot the servo system in accordance with a%arm 600, 6n0 and 6n". 1enera%%y speaing, parameter "$28 is !or positioning in 4apid +raverse. +raverse. In cutting !eed it is a %itt%e more comp%icated. I! parameter "$0".6(&&I is set to 0, the in?position area !or cutting !eed is set in parameter "$28. In other words, it is the same as !or rapid. I! parameter "$0".6 is ", the in?position area is determined y the setting o! parameter "$0".5(&IN. L I! "$0".5 0, use the va%ue in parameter parameter "$2* i! the ne@t %oc is a%so a%so !or cutting !eed or use the va%ue in "$28 i! the ne@t ne@t %oc is not !or cutting !eed. L I! "$0".5 "$0".5 ", use use the va%ue va%ue in parameter parameter "$2* regard%ess o! the ne@t %oc. (+he setting o! parameter "$28 is used !or rapid traverse, the setting o! parameter "$2* is used !or cutting !eed. typica% typica% va%ue !or parameter "$28 on a machining machining center is aout aout 20 detection units on a%% a@es. It is a%so more or %ess norma% !or "$28 and "$2* to e set the same. /or a turning center, a norma% setting might e 20 !or "$28 on oth a@es and aout 300 !or "$2*. 006 /EE>4+E #BE44I>E 0C &hec !eed rate override signa% at >iagnostics 100"2 and 100"3. 100"2 * 8 5 6 3 2 " 0
L/B* L/B8 L/B5 L/B6 L/B3 L/B2 L/B" L/B" +he !eed rate override switch generates a inary numer which is proportiona% to the !eed rate se%ected and can e monitored with this diagnostic. 100"3 * 8 5 6 3 2 " 0 L/B* L/B8 L/B5 L/B6 L/B3 L/B2 L/B" L/B0 100"3 is the 2nd !eed rate override signa%. I! the '+ incorporates this !unction the user can override the !eed rate in !iner increments. +his re=uires the addition o! a second override switch or use o! a switch with more contacts. IN+E4:#&A)+4+ :#&A Inter%oc signa% or start %oc signa% is input. 1000* * 8 5 6 3 2 " 0 )+:A -hen it " ", )tart :oc signa% is input. 1000$ * 8 5 6 3 2 " 0 LI+ -hen it 0 0, the inter%oc signa% is input. 10"30 * 8 5 6 3 2 " 0 LI+$ LI+* LI+8 LI+5 LI+6 LI+3 LI+2 LI+" -hen one o! the its is 0, the inter%oc signa% is input !or the corresponding a@is ("? $. 10"32 * 8 5 6 3 2 " 0 K'I+6 K'I+3 K'I+2 K'I+" 10"36 * 8 5 6 3 2 " 0 ?'I+6 ?'I+3 ?'I+2 ?'I+" L'I+n Inter%oc signa% is input !or the corresponding a@is and direction when the it is 0. +he individua% its do not have the asteris in their symo% ut a%% eight are active %ow inputs. 10"26 * 8 5 6 3 2 " 0 >+&;$ >+&;* >+&;8 >+&;5 >+&;6 >+&;3 >+&;2 >+&;" >+&;n -hen one o! the its e=ua%s ", the contro% a@is detach signa% !or the corresponding a@is is input. +he a@is wi%% e in an inter%oc state ecause it has een detached. %so Parameter 00"2 (4'B@ +his parameter ena%es the contro% a@is detach !unction !or the corresponding a@is. +he a@is can e detached y either the &N& or P'&. +he a@is detach !unction !or an a@is is va%id when one o! the !o%%owing its corresponding to the a@is is ".
/0""0 "
*
8
5
6
3
2
0 '>+&;$ '>+&;* '>+&;8 '>+&;5 '>+&;6 '>+&;3 '>+&;2 '>+&;" +he @is >etach /unction is va%id when Parameter "005.* is ". %so, with regard to the Inter%oc /unction Parameter 3003 3003 * 8 5 6 3 2 " 0 >I+ I+ I+: I+: 0 Inter%oc signa% (LI+ is va%id. I+ 0 Inter%oc signa% (LI+n is va%id. >I+ 0 Inter%oc signa% (K?'I+n is va%id. 008 )PIN>:E )PEE> 44IB: &;E&A +he &N& is waiting !or the spind%e speed arriva% signa% to e input. +he spind%e has not reached the speed commanded in the program. 10029 * 8 5 6 3 2 " 0 )4 -hen this signa% is 0, the spind%e has not reached the commanded speed. +his !unction is va%id when Parameter 3*0$.0 ". 0"3 'N7: /EE>4+E #BE44I>E I) 0C (>ry 4un Norma%%y, manua% !eedrate override !unction is used !or 4N (dry run signa% turns on during automatic operation, override va%ues set with these signa%s ecome va%id to the !o%%owing speed set y a parameter. 10068 * 8 5 6 3 2 " 0 >4N +he >ry 4un rate is stored in parameter "6"0. It is the dry run rate when the override va%ue is "00C. +he override va%ue consists o! "8 its (2 diagnostics. +he diagnostics are 100"0 and 100"". I! a%% "8 its are 0, the override va%ue is 0C. :iewise, i! they a%% are ", override is 0C. 100"0 * 8 5 6 3 2 " 0 LDB* LDB8 LDB5 LDB6 LDB3 LDB2 LDB" LDB0 100"" * 8 5 6 3 2 " 0 LDB"5 LDB"6 LDB"3 LDB"2 LDB"" LDB"0 LDB9 LDB$ +he !o%%owing ta%e shows the re%ationship etween the its and the override va%ue LDB"5 LDB0 #verride va%ue " " " " " " " " " " " " " " " " 0.00C " " " " " " " " " " " " " " " 0 0.0"C
"
"
0 " " 0 0 0 " " " 0 " " " " "00.00C 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 " 855.36C 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.00C 0"6 N& I) IN 4E)E+ )++E +he "$ contro% is %ie a 'itsuishi contro% in that the ac%ash compensation !or 4apid and !or contro%%ed !eed are treated separate%y. +hat is, Parameter "$5" is !or 10" ac%ash comp, "$52 is !or rapid. 1enera%%y speaing, a va%ue o! "" or "2 wi%% compensate !or aout .0005M. +here is no need to cyc%e power a!ter changing the parameter. +he ac%ash compensation is :-) app%ied and in every mode. +o do acground Edit whi%e the program is running ".Press the (#P4+ so!t ey. 2.Press the 1?E>+ so!t ey. 3.Press the >I4 so!t ey. (+o view the programs 6.Enter the program numer. 5.Press the &ursor down. 8.Edit the program. -hen done, press the (#P4+ so!t ey then the 1?EN> so!t ey to go ac to the program eing run. -hen the contro% is e@ecuting a >we%% command, >-: is disp%ayed at the ottom o! the screen. #n some "$i contro%s, the eypad is sma%% and somewhat %imited. In this case it may not have uttons !or parentheses. ou can access the parentheses y changing a parameter. +he parameter is 3206.2, once set there wi%% e a so!t ey !or the %e!t parenthesis and one !or the right parenthesis when in E>I+ mode. Parameter 6003.0 determines what type o! sensor is used !or spind%e orientation, magsensor, pro@imity switch, etc. +he !o%%owing descries oservations o! a 'acome system on a +aumi machine with an "$ contro%%er I! the magnetic picup is mounted upside down re%ative to the magnet, when spind%e orientation is commanded the spind%e wi%% search ac and !orth !rom one side o! the magnet to the other across the !ace o! the magnet. I! the sensor is moved c%oser to and !urther away !rom the magnet, the distance (numer o! degrees that the spind%e moves wi%% increase and decrease proportiona%%y. #nce the sensor is moved !ar enough the spind%e wi%% rotate continua%%y unti% a%arm *5"/I4)+ )PIN>:E :4' >E+E&+I#N(:?62 is disp%ayed. :?62 wi%% e disp%ayed on the spind%e amp%i!ier :E> disp%ay. I! the picup (sensor and magnet are oth mounted upside down, the spind%e wi%% ehave asica%%y the same thing e@cept that it wi%% search !rom one side o! the magnet through near%y a comp%ete revo%ution to the other side rather than Dust across the !ace as in the case o! the sensor eing upside down. I dont now how the machine wou%d ehave with the magnet a%one upside down. #vious%y, when ta%ing aout the sensor and the magnet oth eing upside down, seems to mae no sense (they shou%d cance% out ut it does mae sense when you consider the North)outh po%e orientation o! the two devices and their movement re%ative to one another depending upon spind%e direction. I! the two are upside down, the are !ine re%ative to each other ut the approach direction o! the po%es changes. +he ottom %ine is, the
magnet has to e oriented proper%y re%ative to the sensor and oth must e oriented proper%y re%ative to the spind%e orientation direction. Norma%%y, i! the pre?amp%i!ier, spind%e amp%i!ier or ca%e !ai%s the a%arm wi%% occur without the spind%e every s%owing down or searching. It wi%% ehave as i! there is no magnet on the spind%e at a%%. +here is no ad " ????????????????? / 3 ????????????????? E "2 ????????????????? & *,"8 ????????????????? "0 ????????????????? );IE:> Pin is the ero vo%t input !rom the spind%e amp%i!ier, Pin & is the !ive vo%t input. Pins > and E are ero vo%t (common signa%s. Pins and / are the output signa%s, their phase re%ationship is important !or the proper operation o! the circuit. D3 is a ;onda P&4?E20/) connector with a ;onda P&)?B20: housing. +he pre?amp connector is a +a disp%ays no in!ormation, on%y the ac%ighting chec the sma%% connector that goes !rom the screen to the video card mounted to the ac o! the :&>. +his connector is hard to see and i! it comes %oose no in!ormation wi%% e disp%ayed. #n the "$ I# oard 26vdc !or operating the re%ays, %amps, etc., is supp%ied y the machine side. +ypica%%y, oth the K26 vo%t and the 0 vo%t components wi%% come into the I# oard on more than a ha%! doen pins o! each connector (&*0, &*", etc.. +he /anuc symo% !or the positive side is 26. +he symo% !or the negative component is 0B. %% o! the 0B pins on the oard end up at the acp%ane o! the contro% on chec pins 1N>" and 1N>2 which tie to a%% o! the chassis grounds on the contro% and the drives. %so, these pins tie to severa% o! the pins on each connector on the &P7 oard such as D", D3, etc. In order to get the N& Parameters (Aeep 4e%ays, etc. !rom an "$ contro%, you must mae Aeep 4e%ay "*." e=ua% ". +hen ". Press the ))+E' utton. 2. Press the P'& so!t ey. 3. Press right &;P+E4 utton. 6. Press the I# so!t ey. 5. &ursor to >EBI&E, press the />&) so!t ey. 8. Press the -4I+E (P7N&; so!t ey. *. Press the P4' so!t ey. $. Press the EE& so!t ey. I! you get a%arm I# #PEN E44#4 20 when you try to output the P'&, it means that the 4)?232 ca%e connection is open. )ometimes the aud 4ate the contro% uses !or this wi%% e di!!erent than the rate it is set !or in terms o! norma% 4)?232 !unctions. /or this !unction it can on%y e set !or
either 6$00 or 9800. I! Aeep re%ay "*." e=ua%s ero, some o! the aove so!t eys wi%% not e disp%ayed. +he :adder can a%so e sent in and out this way ut it can tae as much as an hour. In this case you wou%d press the :>>E4 so!t ey instead o! the P4'. #! course, you %oad the in!ormation in the same way you send it out e@cept that you wou%d press 4E> instead o! -4I+E. I! you have an )4' dis you can input and output the entire content o! the contro% memory much !aster using it. I! you get the a%arm M>+ 4E> E44#4M whi%e inputting the N& Parameters send the !i%e to a te@t editor and mae sure the de%ete a%% o! the characters on the top %ine e@cept !or the percent sign. +hese parameters when viewed with an editor shou%d start with a C (percent sign then N80000. It shou%d end at aout N85000. #n the "$i contro% you can change the aud rate, stop its, etc., !or trans!er o! the P'& y pressing the )PEE> so!t ey. +his so!t ey is on the same page with the EE& so!t ey. #nce this has een pressed, there wi%% e a screen %ie this 7> 4+E 2 (0"200, "2600, 26$00, 39800, 6"9200 P4I+ 0 (0N#NE, "#>>, 2EBEN )+#P I+) " (0" I+, "2 I+ +here is no provision !or data its. I! you have trou%e with the :&>'>I unit o! an "$ contro% not disp%aying in!ormation chec the !use on the circuit oard on the ac o! the :&> screen +his !use is sma%% and %ac, it %oos more %ie a shorting pin than a !use. +he newer :&>'>I unit 02?0222?&"8"+4 is not comp%ete%y compati%e with the o%der 02?0222? &"5"+4. +hat is, i! you try to swap on%y the P& or the screen !rom on to the other, o%t ho%e patterns do not match, etc. I! the contro% issues the a%arm M>+ I) #7+ #/ 4N1EM whi%e %oading the parameters in !rom a P&, it means that one or more o! the parameters has e@ceeded its a%%owa%e range. /or e@amp%e many parameters have a setting va%ue !rom 0 ? 32*8*, no other va%ue is a%%owed. I! you try to enter a va%ue o! 50000, !or instance, this a%arm wi%% e issued. Norma%%y, the contro% wi%% continue to tae the parameters even a!ter the a%arm is issued. +he !o%%owing procedure is !or a contro% that has %ost a%% o! its parameters 'achine must e in E?)top condition. #nce the memory is c%eared the contro% wi%% turn P-E on. ". &%ear the memory (4E)E+K>E:E+E whi%e powering up. 2. :oad the #ption Parameters (9900 ? 9990 y hand. 3. &yc%e N& power. 6. )et the communication parameters (aud 4ate, etc. y hand. 5 .:oad in the asic parameters (N0000 ? N9952. a. ))+E' utton . P4' so!t ey. c. (#P4+ so!t ey. d. 4ight &hapter utton. e. 4E> so!t ey. !. EE& so!t ey. 8. &yc%e N& power. *. :oad P'& parameters (N80000 ? N88999. a. ))+E' utton.
. P'& so!t ey. c. 4ight &hapter utton. d. I# so!t ey. +he I# so!t ey wi%% on%y e disp%ayed i! Aeep 4e%ay A"*." e=ua%s ". #n some contro%s may have to set A900." to " i! the Aeep 4e%ays go that high. Norma%%y, they on%y go to A"9. e. &ursor to >EBI&E. !. />&) so!t ey. g. &ursor to /7N&+I#N. h. 4E> so!t ey. i. EE& so!t ey. $. :oad Pitch Error Parameters (N"000 ? N""023. a. )ame as asic parameters e@cept you press the PI+&; so!t ey. +o send the asic parameters out o! the contro%, per!orm item 5, steps a?! e@cept that you press -4I+E instead o! 4E>. +he same ho%ds true !or the other parameters a%%owing that you wi%% have to press the P7N&; so!t ey. %so you wi%% have to press either the :: so!t ey or the N#N?0 so!t ey depending on whether you want to send out a%% o! the parameters or E:E+E c%ears a%% o! the parameters and the 1. >+ and resets the communication parameters !or &;0 to 6$00 aud 4ate and two stop its. It does not c%ear the &. >+. 4emoving the attery and %etting the memory die does the same thing as c%earing. +o set the disp%ay !or Eng%ish on an "$ contro% mae parameter 3"02 0. 'aing any o! the its o! this parameter " causes the disp%ay to e in some %anguage other than Eng%ish. Parameter "$"5.5 must e set to " !or any a@is that uses an so%ute Pu%se &oder. ou can set the eep re%ay A"*." in +. +ypica%%y, the va%ue wi%% e a decima% va%ue which is the same as the numer o! too% stations on the turret. /or e@amp%e, a machine with an eight station turret might have a va%ue o! $ in >0000 o! the 1 >+. ou must e care!u% when %oading in the P'& ecause this may c%ear the 1 >+. &%earing the memory wi%% de!inite%y c%ear this data so it is good practice to write these down a%ong with Aeep 4e%ays etc. when %oading in parameters. %so, doing a memory c%ear wi%% wipe out the Aeep 4e%ays. +o access the 1 >+ ". Press the ))+E' utton. 2. Press the P'& so!t ey. 3. Press the P'&P4' so!t ey. 6. Press the >+ so!t ey. 5. Press the 1 >+ so!t ey. I! the commanded spind%e speed does not match the actua% speed you can try ad
/or a%arm *5" )E4I: )PIN>:E :4' :?2* or *50 )E4I: )PIN>:E :4' :?36 chec the Aeep 4e%ays. +his is particu%ar%y true on a machine with more than one spind%e such as a %ive too%ing machine since having the Aeep 4e%ays set the wrong way can have the contro% %oo in the wrong p%ace !or the seria% terminator. +o de%ete mu%tip%e %ocs !rom a program ". 1o to the !irst %oc to e de%eted using the search !unction. 2. #nce there, enter an instruction !rom the %ast %oc to e de%eted. (+his can e any instruction, +?&ode, 1?&ode, etc. 3. Press the >E:E+E utton. +he contro% wi%% de%ete !rom the %ocation o! the cursor to the %oc o! the !irst instance o! the instruction you enter , this a%arm is norma%%y issued i! a too% numer higher than the va%ue set in parameter 8$"0 ("$ contro% is ca%%ed. 'any !unctions such as a@is contro%, spind%e amp%i!ier communication, etc. are per!ormed y modu%es on the 'ain oard (&P7. +hese modu%es are p%ugged into )imm socets. #ne o! these modu%es contro%s the &4+. +he 60 pin >IP is the system oot so!tware simi%ar to the I#) o! a P&. #ne o! the modu%es is a /:); modu%e which typica%%y ho%ds !our Inte% /:); chips. +his modu%e contains the %adder diagram. In addition, there is a >4' modu%e which ho%ds the system 4' and a P'& modu%e. I! you want to change the '?&ode that operates the parts counter you need to wor with parameters 8*00 and 8*"0. I! parameter 8*00.0 (P&' e=ua%s 0, '02, '30 or an '?&ode speci!ied y parameter 8*"0 wi%% cause the parts counter to increment. I! it e=ua%s ", on%y the '?&ode speci!ied in parameter 8*"0 wi%% cause the counter to increment. Enter the numer o! the desired '?&ode onto parameter 8*"0 without the '. Ba%id numers are 0?255 ut '9$ and '99 are not va%id. t &N& power?on, the spind%e parameters are sent !rom the &P7 to the spind%e amp%i!ier via the seria% inter!ace. +he parameters are a%so sent to the amp%i!ier a!ter the spind%e a%arm *69 has occurred and een reset regard%ess o! the reason !or the a%arm (spind%e amp%i!ier shutdown or signa% noise. In some cases, i! parameter *".3 is set wrong !or the contro%s so!tware it can cause generation o! watchdog a%arm 920 when the program is run in graphic mode. +he a%arm has to do with the contro% %ooing !or an :)I chip that isnt there. Parameter 8*"0 sets the numer o! the '?&ode which increments the Part &ounter. +he )ervo +uning screen again using the a@is as an e@amp%e /7N&+I#N I+ Parameter 2003 :##P 1IN Parameter "$25 +7NIN1 )E+ 7sed y automatic servo tuning !unction )E+ PE4I#> 7sed y automatic servo tuning !unction
IN+E14: 1IN Parameter 2063 P4#P. 1IN Parameter 2066 /I:+E4 Parameter 208* BE:#&. 1IN Parameter 202" K 258 divided y 258 times "00 :4' " >iagnostic 200 :4' 2 >iagnostic 20" :4' 3 >iagnostic 202 :4' 6 >iagnostic 203 :4' 5 >iagnostic 206 :##P 1IN ctua% :oop 1ain P#)I+I#N E44#4 ctua% Position Error (>iagnostic 300 &744EN+ C Percent o! rated va%ue )PEE> 4P' ctua% motor 4P' I! the )ervo +uning screen is not disp%ayed y pressing the ))+E' utton, r ight &;P+E4 ey, )B P4 so!t ey, then the )B +7N so!t ey, chec parameter 3""" ()B), it must e " !or the screen to e disp%ayed. I! need an I# oard with the part numer "8?2202?0*2" which is o!ten unavai%a%e, it can e rep%aced with part numer "8?2202?0*20. +he on%y di!!erence is that the *2" has more outputs. -hen woring with the so!t %imit parameters !or an "$ contro%, parameter "320, "32", etc., a va%ue o! "0000 .6000 inches. /or %arm 60" chec the terminator at D". #n an "$ contro% to change a Aeep 4e%ay the 4' -4I+E EN:E must e=ua% ". +o do this ". Press the ))+E' utton. 2. Press the P'& so!t ey. 3. Press the P'&P4' so!t ey. 6. Press the )E+IN1 so!t ey. ou must e in '>I mode and the P-E must e turned on. I! the conditions are not met, the contro% wi%% disp%ay -4I+E P4#+E&+ when you attempt to change the Aeep 4e%ay. I! a machine with an "$ contro% continua%%y over trave%s a!ter eing re?gridded you can try this. &hange parameter "$80 to 0 then cyc%e power and ero return re?grid i! necessary. I have no idea what this does ut it sometimes wors. +he things that wi%% cause a machine to eep %osing its grid is a crash and %ooseness. +he /anuc "$ I# oards are resistant to shorted outputs so i! you have an output on a machine not woring, !or e@amp%e, a re%ay that wont energie, mae sure there is no short condition such as a shorted transient diode. In this case the re%ay wi%% not energie ut it wi%% not harm the oard. I! the :&> disp%ay is %an, chec the 'ain oard. I! the J2 red :E> is on, the :&> 7nit is proa%y ad. In some cases the 'ain oard or the Power )upp%y may e ad ut it is proa%y the :&> 7nit itse%!. +his :E> norma%%y indicates that the &P7 was interrupted during oot?up ut I thin a ad :&> wi%% mae the 'ain oard suspect an interrupt. +he option parameter !or circu%ar interpo%ation on a %athe is 993*.0, once this is turned on use 1"* a%ong with 102 or 103 !or the pp p%ane. 7se 1"$ !or the pFp p%ane and 1"9 !or the pFp p%ane. ou can up%oad and down%oad the P'& and the :>>E4 at a aud rate !aster than 6$00 (up to "9200 y pressing the )PEE> so!t ey and changing the protoco%. #n
this screen you can a%so change the parity, the stop its and the write code ()&II, I)#. +he parameter !or the second re!erence point (130 !or a "8"$ contro% is parameter "26". In order to retrieve data !rom a varia%e, you have to e@ecute a macro program. /or e@amp%e, to !ind the numer o! hours the machine has een run (cyc%e start %amp on. +his wi%% on%y wor i! the machine has &7)+#' '&4# . #3*3*O 185 P9"00O '30O #9"00O J500J3002O '30O +he run time data is stored in varia%e 3002 ut can not e direct%y viewed. +his is the on%y way to access it. !ter running program #3*3*, you can go to varia%e 500 (J500 and read the data. #n an "" contro% as we%% as an "$, parameter "$50 is the 1rid )hi!t parameter. Parameter "$"8 is the re!erence counter capacity. Parameter "$50 shou%d e set to the va%ue in "$"8 or %ess. I! you are trying to ad
$ P" 9 K5B "2 0B "6 0B "8 0B "$ K5B 20 K5B &onnectors D* and D* are command ca%es. D" is the output to the %oad meter. +he parameter to set the aud 4ate on an "$ or 2" contro% when the I# channe% is set to 0 is parameter "03. +he setting va%ue is the same as other /anuc contro%s " 50 2 "00 3 ""0 6 "50 5 200 8 300 * 800 $ "200 9 2600 "0 6$00 "" 9800 "2 "9200 +o set the aso%ute position on a machine with aso%ute pu%se coders ". 'ove the a@es to the desired or re=uired position. 2. )e%ect '>I mode. 3. )et P-E". 6. ccess Parameter "$"5. 5. )et Parameter "$"5.6 to " !or each a@is. 8. &yc%e N& power. nytime this parameter e=ua%s 0, the position has een %ost and the a%arm re=uesting F4N wi%% e issued. +he attery !or the pu%se coder is %ocated on the )ervo mp%i!ier. In the case o! a dua% amp, one attery wi%% ho%d the position !or oth a@es. +he attery is :ithium and not rechargea%e. /anuc recommends that i! the power wi%% e o!! o! the machine !or a %ong period you shou%d disconnect the attery. pparent%y, the contro% must disconnect the attery !rom the pu%se coder and power it with the N& power whenever N& power is on. +he )pind%e 'onitor page o! an "$ contro% disp%ays contro% signa%s that are eing input and output. /or e@amp%e, when the spind%e is in orientation you wou%d see &ontro% Input #4&' '4> LE)P &ontro% #utput ))+ )>+ #44 LE)P shou%d a%ways e present during norma% operation. +o get to the )pind%e 'onitor page ". ))+E' utton. 2. 4ight &hapter utton. 3. ()P?P4' so!t ey. Even though an a@is may appear to e in position according to the position disp%ay, it may not e in position as !ar as the contro% is concerned. +he contro%s in?position window is very, very narrow. +his window is speci!ied y parameter and can e
changed ut shou%dnt e. I! an a@is pu%%s high current whi%e at rest, it may not e in position. +o chec this, go to the )ervo +uning page. #n an "$ contro% ". ))+E' utton. 2. P4' so!t ey. 3. 4I1;+ &;P+E4 utton. 6. )B?P4' so!t ey. 5. )B?+7N so!t ey. )etting Parameters 4EB and 4EB shou%d oth e 0 under norma% conditions. -hen set to " the a@is direction wi%% e reversed. #ne condition that can arise !rom this setting eing wrong is that when a program is started and the a@is tries to move to the 156 position it may trave% unti% the so!t %imit is reached. +his over trave% condition is a resu%t o! the mirror image !unction. )etting the parameter ac to 0 wi%% !i@ the pro%em ut you must per!orm re!erence point return a!ter changing the parameter. -hen you are %oading Parameters or >iagnostics via 4)232, you shou%d see :)A !%ashing a!ter you press INP7+ unti% the contro% egins receiving the data. #nce the data is present at the input o! the contro%, you shou%d see INP7+ start !%ashing. -hen Parameter )EH (#n the )etting )creen is set to " the contro% wi%% insert the se=uence numers automatica%%y. In order to receive parameters and diagnostics at the P& in te@t !orm you must mae EII)# " (I)#. +o copy the %adder to and !rom a /%ash dis you must access the ##+ ))+E'. +his is done y ho%ding the two rightmost so!t eys whi%e powering up the N&. -hen this is done the &N& does not oot. >uring a 4apid movement in a program, p%acing the /eed rate #verride switch at 0C wi%% cause a@is movement to stop i! parameter "60".6 (4/# is set to ". I! set t o 0, a@is movement wi%% not stop. Pages : [1] 2 3
1. Welcome to the CNC e-forum 2. Not talking back. 3. Changing parameters in a program? 4. p!or" for parameter 32#2 $. 4th a%is &. 'arentheses( loops( etc. ). *anuc &+ la""er logic program? ,. ost tool . /&, 0uestion 1#. rip *ee" CNC co"e on *anuc # Control 11. 1,#i !in"o!s $ 12. CNC'C ata Win"o! ibrar 13. 5nterface 6ptions !ith 1,-+C 14. 78232 an" /$4
1$. opps 1&. 9o! to pronounce *:N;C 1). ' 24. ftp Win>' 'ro 2$. 'o!er ate 2&. &+ control 2). 78232 Communication !ith a /@ *anuc 1,i-+: 2,. /$1.1A What "oes the co"e look like? 2. 8eries 1, @"it 0uestion 3#. *anuc 'osition ate( !hat the....... 31. @thernet @%plorer riBer 32. 1,i special connector 33. /oto $#& 34. *anuc 11m 3$. 'robe 5ntegration? 3&. 'rogramming =uestion 3). 21i :nalog 8erBo o"ule 5nformation 9elp 3,. *anuc 21i 'arameter settings 3. # tool changer macro 4#. 'o!erate i- !ith 8eries 8pin"le 41. 'o!erate i- - 8pin"le alarm 34 42. acroloc omc 43. *anuc &+ 44. *:@7 on >' 4$. memor !rite enable "isable
4&. *:N;C 8eries 1&-C 4). 1&i 4,. *anuc anuals on C-76 4. 1&# is-mb $#. *anuc 21-/:D41& :larm-:%is isconnect $1. :larm No , $2. NC 9an"shake $3. 1&i 56 ink Connection $4. *anuc 8eries 1# $$. 6t##1 > EoBer +raBel Fsoft 1G :larm $&. *anuc 8erBo otor interchangeabilit $). ;nkno!n :larm Number $,. /3# 96@ position $. *anuc 8eries 1# sstem( +akisa!a +C-2 athe achine &#. Hranching to a label instea" of line &1. 'o!ermate ;ploa""o!nloa" a""er &2. alarm 1#1 in fanuc 1,i-t &3. 'robing tools &4. *6C:81 riBers an" ibraries &$. *6C:82 7eA cncDallclibhn"l &&. 'arameter ,##? &). *anuc 8eries 1$-+ &,. problems for communicating b 78232 &. 1&i )#. #C IJoneI parameters )1. NC problem on 1,mc )2. hole oBalit )3. 'arameter 'rotection )4. 7emember m pathK F: Challenge?G )$. m,1 m,2 pallet recognition )&. ooking for info
)). 8erBo riBe ),. "ispla ). Lero return problem ,#. rip *ee" #C - a""er mo" help ,1. 1,-i fanuc controller an" pmc mo"ification ,2. *anuc sstem 1# ,3. 5nfolink C ,4. 'C Bariables in macro ,$. :larm 41# ,&. *:N;C 1$ :C2# riBes ,). a%is "isconnect alarms ,,. *+' on 1,i controller ,. 1&i e"it s!itch #. lathe !ith t!o hea"s 1. /)& mister 2. +est !ith *ocas 2 3. *6C:82 info 4. 9elical 5nterpolation 7epeat Hlock $. +ool anagement *unction for 1,i &. 1&i 8creen Hlanking ). Jero a%is proce"ure problem ,. Cutter "ia compensation !ith 5< Bector . 1,i *tp... 1##.
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spin"le "onSt stop !ith reset
&1.
6+ Control :larm 1##( 41)( 42)
&2#.
$11 alrm on fanuc 6 .
&21.
8erBo alarms
&22.
1&m 4th a%is parameter-nee" helpK
&23.
*:N;C - ifferences bet!een 988H an" @thernet
&24.
*anuc CNC 8erBo :%is a%imum Current?
&2$.
9elp !ith log ori 8eiki 8-CC( *anuc 1,i-H
&2&.
Nee" 9elp in *anuc :C serBo riBe
&2).
*:N;C 21i 8erial 8pin"le 7'
&2,.
'o!er *ailure Hackup o"ule
&2.
4th a%is oBertraBel
&3#.
1$ CNC controls
&31.
acro 3##&
&32.
@ror essage
&33.
Ne! to macros
ALARMS
634.
&3$.
&3&. &3). &3,. &3. 640. &41. &42.
Communication Alarms
%arm 0$8 means that the >ata +ermina% (>+4 is not ready. +here is an I& on the memory oard which supp%ies a vo%tage signa% to this pin to indicate that the termina% is ready. )ometimes this chip wi%% go out.
&43. &44.
I! an 0$8 a%arm occurs when attempting to communicate with a P&, there is most %ie%y a pro%em with the communication ca%e. %so when up%oading and down%oading mae sure the program edit ey is in the correct position. #ne o! the most important aspects o! the seria% communications is the ca%e. It must e right or the contro% wi%% not attempt to communicate. +his inc%udes the position o! the
&4$. &4&. &4). &4,. &4. &$#. &$1. &$2. &$3. &$4. &$$. &$&. &$). &$,. &$. &&#. &&1.
I>:E )++E
+4N)'I++IN1
4E&EIBIN1
+> ??????? #7+ 4> ??????? #7+ &> ??????? #7+ >+4 ????? 4E> >)4 ????? 4E> &+) ????? 4E> 4+) ????? 4E>
+> ??????? 14EEN 4> ??????? 14EEN &> ??????? #7+ >+4 ????? 14EEN >)4 ????? 14EEN &+) ????? 14EEN 4+) ????? 14EEN
+> ???????? #7+ 4> ???????? #7+ &> ???????? 14EEN >+4 ?????? 14EEN >)4 ?????? 14EEN &+) ?????? 14EEN 4+) ?????? 14EEN
gain, these indications are with no e@terna% device connected and wi%% di!!er once one is.
%arm 0$* occurs when the stop its are set incorrect%y or the P& is not responding to the contro%s re=uest to stop transmission. It may a%so occur i! you mistaen%y try to transmit Parameters to the >iagnostic page or Programs to the Parameter page, etc.
&&2. &&3.
%arm 0$5 is a%most a%ways the resu%t o! improper setting o! the aud
4ate. &&4. &&$. &&&. &&). &&,.
0$8 a%arm means that the >4 signa% is not present at the port.
I! you continua%%y get %arm 0$* when you are trying to input programs thru 4)?232 communication, chec the Edit ey position, on some machines it
can cause the a%arm. +he Edit ey address is 1"22.3, it shou%d e " to avoid the a%arm. &&. &)#.
I! a%arm 0$* eeps occurring when trying to send in!ormation such as programs to the contro%, mae sure that +B#N is set to 0.
&)1. &)2.
I! you try to do >N& operations with the I# setting !or 0, a%arm 0$8 wi%% e issued.
&)3. &)4. &)$. &)&. &)). &),. &). &,#.
3n0 (300, 3"0, 320, etc. N+; I) #4I1IN 4E+74N 'anua% re!erence position return is re=uired !or the nth a@is.
3n" (30",3"",32",etc. P& :4' N+; I) &#''7NI&+I#N Nth a@is P& communication error. /ai%ure in data transmission. Possi%e causes inc%ude a !au%ty P&, ca%e or servo inter!ace modu%e.
&,1. &,2. &,3. &,4.
3n2 (302,3"2,322,etc. P& :4' N+; I) #BE4+I'E Nth a@is P& overtime error. /ai%ure in data transmission. Possi%e causes inc%ude a !au%ty P&, ca%e or servo inter!ace modu%e.
&,$. &,&. &,). &,,.
3n3 (303,3"3,323,etc. P& :4' N+; I) /4'IN1 Nth a@is P& !raming error. /ai%ure in data transmission. Possi%e causes inc%ude a !au%ty P&, ca%e or servo inter!ace modu%e.
&,. &#. &1. &2.
3n6 (306,3"6,326,etc. P& :4' N+; I) P4I+ Nth a@is P& parity error. /ai%ure in data transmission. Possi%e causes inc%ude a !au%ty P&, ca%e or servo inter!ace modu%e.
&3. &4. &$. &&.
3n5 (305,3"5,325,etc. P& :4' N+; I) P7:)E E44#4 Nth a@is P& pu%se error a%arm. P& a%arm. P& or ca%e may e
!au%ty. &). &,. &. )##.
3n8 (308,3"8,328,etc. P& :4' N+; I) ++E4 B#:+1E 0 Nth a@is P& attery vo%tage has decreased to a %ow %eve% so that the data cannot e he%d. attery or ca%e may e !au%ty.
)#1. )#2. )#3. )#4.
3n* (30*,3"*,32*,etc. P& :4' N+; I) ++E4 :#- " Nth a@is P& attery vo%tage reaches a %eve% where the attery must e renewed. 4ep%ace the attery.
)#$. )#&. )#).
3n$ (30$,3"$,32$,etc. P& :4' N+; I) ++E4 :#- 2
Nth a@is P& attery vo%tage has reached a %eve% where the attery must e renewed (inc%uding when the poweris o!!.
)#,. )#. )1#. )11. )12. )13. )14. )1$. )1&. )1).
)eria% Pu%se &oder ()P& %arms 3n9 (309,3"9,329,etc. )P& :4' N+; I) P7:)E &#>E4 +he nth a@is (a@is "?$ pu%se coder has a !au%t.
%arm 3n9 )P& is norma%%y the resu%t o! a %oss o! communications etween the seria% pu%se coder and the contro%. In practice, the pro%em which causes this a%arm is a%most a%ways a ad connection. Huite o!ten the cause is that the mi%itary sty%e connector has aced o!! o! the encoder or there is coo%ant in this connector. ;owever, the cause can e a ad encoder or a !ai%ed ca%e. +he n wi%% e rep%aced with a numer such as 3"9, 329 etc., to indicate which a@is has a pro%em and the a!!ected a@is wi%% a%so e named in the a%arm.
)1,. )1.
%arm 002 +B P4I+ :4' is issued when there is an odd numer o! characters in a %oc o! in!ormation which is eing input via 4)?232. It wi%% on%y e generated i! the +B &;E&A parameter on the )etting page is set to ". +his parameter can a%so e set y changing parameter 0.0 (+B&. +his is important to now ecause i! parameter 0.0 is set to " in a copy o! parameters you are trying to %oad into the contro%, as soon as the contro% reads in +B& it wi%% generate a%arm 002. In this case you wou%d see that :)A wou%d !%ash as it norma%%y does then when the parameters start coming in the contro% !%ashes INP7+ on%y !or a second then goes into an a%arm state. #!ten the a%arm goes unnoticed ecause you may e %oading the parameters in under an a%arm state )2#. E?)top, etc. so a%arms are a%ready present. +he !act that some parameters are read into the contro% and immediate%y tae e!!ect can cause other pro%ems. +his might cause a pro%em i! you are %oading in parameters in which the aud rate is set !or something other than the rate you are communicating at. )21. )22. )23. )24. )2$. 726. )2). )2,.
Spindle Alarms
#n most machines without a spind%e speed pot pressing spind%e start in D#1 mode causes the spind%e to run at the %ast speed commanded in a program or in '>I.
)2. )3#. )31.
#ne a%arm which is more or %ess common is numer 6. +his indicates a %own !use at the input to the spind%e drive.
)32.
+he o%der & )PIN>:E )E4B# 7NI+) dont have a segmented :E> disp%ay. In order to indicate a%arms it uses !our individua% :E>s arranged horionta%%y and numered $ 6 2 " )34. +ogether these generate a inary numer !rom " to "5. +hese numers correspond to the !o%%owing a%arms )33.
)3$. )3&.
:?0" +;E '#+#4 #4 )E4B# 7NI+ I) #BE4;E+E> (+;E4'#)++ )3). :?02 +;E )PEE> >EBI+E> )7)+N+I:: /4#' +;E )PEE> &#''N> >7E +# #BE4:#>, )3,. /#4 E'P:E, &7)IN1 E&E))IBE )PEE> E44#4. )3. :?03 +;E E:E&+4I& >I)&;41E &I4&7I+ I) N#4':. )4#. :?06 N#+ 7)E> )41. :?05 N#+ 7)E> )42. :?08 +;E )PEE> #/ +;E '#+#4 E&EE>E> 'I'7' 4+IN1) (N:#1 >E+E&+I#N 'E+;#> )43. :?0* +;E )PEE> #/ +;E '#+#4 E&EE>E> 'I'7' 4+IN1) (>I1I+: >E+E&+I#N 'E+;#> )44. :?0$ +;E P#-E4 )7PP: B#:+1E I) +## ;I1;. )4$. :?09 N#+ 7)E> )4&. :?"0 +;E B#:+1E #/ K"5 )7PP: I) N#4':: :#-. )4). :?"" +;E >& :INA B#:+1E I) N#4':: ;I1;. )4,. :?"2 >& :INA &744EN+ I) N#4':: ;I1;. )4. :?"3 N#+ 7)E> )$#. :?"6 N#+ 7)E> )$1. :?"5 N#+ 7)E> )$2. )$3.
%arm :?20 indicates a !au%t in the :ogic &ircuit o! the )pind%e mp. -hen any a%arm in the range o! "8 to 23 occurs, the pro%em cou%d e either a ad )pind%e mp%i!ier or ad Parameters.
)$4. )$$.
%arm :?"2 a%most a%ways indicates a ad +ransistor 'odu%e. +his modu%e is mounted on the heat sin ehind the two oards. Its inputs consist o! the >& us Bo%tage and the contro% gates " through 8. Its output is the motor vo%tage 7,B, and -. +he manua% descries :?"2 as an anorma% current in the >& circuit. +he >& circuit it re!ers to is the >& us. #ne o! the !irst things you shou%d chec is the >& vo%tages on the oard. K5, K?"5, and K26. -ith intermittent pro%ems you shou%d put a scope on the test points and %oo !or noise.
)$&. )$).
+here are two wires which come in on the top right hand corner o! the amp, +" and +2. Never remove these with power on or power up with them o!!. >oing so can have catastrophic conse=uences !or the +ransistor 'odu%e.
)$,. )$.
%so, i! the amp%i!ier is powered when the transistor modu%e is de!ective the :ogic oard may e damaged.
)&#. )&1. )&2. )&3. )&4.
:4' :I)+ /#4 )PIN>:E 'P:I/IE4 :?0"
'otor is #verheated (+hermostat.
:?02 )peed >eviation is e@cessive. ctua% speed versus &ommanded speed. )&&. :?03 /use /* at >& :in is %own. )&). :?06 /use /", /2, or /3 at & input is %own. )&,. :?08 'otor has e@ceeded the 'a@imum 4ated )peed. (na%og )ystem >etection )&. :?0* 'otor has e@ceeded the 'a@imum 4ated )peed. (>igita% )ystem >etection ))#. :?0$ Power )upp%y vo%tage is too high. ))1. :?09 +he ;eat )in is overheated. ))2. :?"0 +he K"5 B>& is anorma%%y %ow. ))3. :?"" +he vo%tage at the >& :in is anorma%%y high. ))4. :?"2 +he current at the >& :in is anorma%%y high. ))$. :?"3 rithmetic and Periphera% circuit parts are in an anorma% condition. ))&. :?"6 +he 4#' is in an anorma% condition. ))). :?"8 rithmetic and Periphera% circuit parts are in an anorma% condition. )),. to )). :?23 )&$.
),#. ),1.
)ome o! the aove a%arms a%so app%y to the Power )upp%y 'odu%e. ou can te%% y the description which ones may or may not.
),2. ),3.
I! a machine issues the *5" a%arm when spind%e orient is commanded whi%e the spind%e is running ut not when commanded !rom a standsti%%, chec the +& macro to e sure '5 has not een removed. I! the spind%e is running at an 4P' which is signi!icant%y higher than the spind%e orientation speed it may not e a%e to mae the transition !rom running to orientation in time to prevent the a%arm.
),4. ),$.
%arm *5" )E4I: )PIN>:E E44#4 :?2* can e caused y a parameter eing set wrong ut e!ore chasing this mae sure that the spind%e encoder is connected on the motor end as we%% as the amp%i!ier side. %so, i! the machine uses a separate position pu%se coder, mae sure it is connected on oth ends.
),&. ),). ),,. ),.
60$ )PIN>:E )E4I: :INA )+4+ /7:+ +his a%arm is generated when the spind%e contro% unit is not ready !or starting correct%y when the power is turned on in the system with the seria% spind%e. +he possi%e causes are
)#. )1. )2.
". Parameter set incorrect%y. 2. n improper%y connected optic ca%e or the spind%e contro% units power is o!!. )3. 3. -hen the N& power was turned on under a%arm conditions other than )7?0" or :?26 which are shown on )4. the :E> disp%ay o! the spind%e contro% unit. In this case, turn the spind%e amp%i!ier power o!! and per!orm )$. power up again.
6. Improper comination o! hardware. +his a%arm does not occur a!ter the system inc%uding the spind%e contro% unit is activated.
)&. )). ),. ). ,##. ,#1.
609 )PIN>:E :4' >E+E&+I#N spind%e amp%i!ier a%arm occurred in a system with a seria% spind%e. +he a%arm is indicated as M:?M (where is a numer on the disp%ay o! the spind%e amp%i!ier. )etting parameter 39*.* causes the spind%e amp%i!ier a%arm numer to appear on the &4+:&>.
,#2. ,#3.
I! an e@cessive spind%e a%arm occurs during rigid tapping, the re%evant a%arm !or the tapping !eed a@is is disp%ayed.
,#4. ,#$. ,#&. ,#).
*06 )PIN>:E #BE4;E+ )pind%e overheat was detected y the spind%e speed !%uctuation detection !unction (+ series.
,#,. ,#. ,1#. ,11. ,12.
965 )E4I: )PIN>:E &#''7NI&+I#N E44#4 +he hardware con!iguration is incorrect !or the seria% spind%e or a communication a%arm occurred. &hec the hardware con!iguration o! the spind%e. %so, chec that the hardware !or the seria% spind%e is connected secure%y.
,13. ,14. ,1$. ,1&.
965 )E4I: )PIN>:E &#''7NI&+I#N E44#4 +he hardware con!iguration is incorrect !or the seria% spind%e or a communication a%arm occurred. &hec the hardware con!iguration o! the spind%e. %so, chec that the hardware !or the seria% spind%e is connected secure%y.
,1). ,1,. ,1. ,2#.
968 )E&#N> )E4I: )PIN>:E &#''7NI&+I#N E44#4 &ommunication is impossi%e with the second seria% spind%e. &hec that the second seria% spind%e is connected secure%y.
,21. ,22.
I! you have an a%arm on an %pha spind%e amp%i!ier, the pro%em may actua%%y e the power )upp%y 'odu%e even though there is no a%arm disp%ayed on the P)'. +his is especia%%y true in the case o! a%arm 03 (:?03 on the spind%e amp. +his a%arm can e issued i! the P)' is not outputting the >& :in vo%tage ut a%so is not issuing an a%arm.
,23. ,24.
%arm *5" /I4)+ )PIN>:E :4' >E+E&+I#N, #n a machine that uses the high reso%ution encoder (norma%%y on a %athe with %ive too%ing chec the spind%e amp%i!ier. I! the a%arm code on the amp%i!ier is :?39, this indicates the !ai%ure to detect the one rotation signa% !or the &s contouring contro%. +his a%arm typica%%y occurs when the & a@is is commanded to a speci!ic position. 'ost o! the time this means that the two sensors o! the high reso%ution
encoder are not proper%y a%igned, /anuc has to mae the necessary ad
/or %arm *5" with :?68, everything is the same ut this a%arm means that the !au%t was detected whi%e in Mthread cuttingM operation.
,2). ,2,.
In either case the pro%em may e with how eccentric the drum is re%ative to the sensors. ccording to /anuc the run out o! the drum must e within !ive microns (.0002M. %so the drum must e s=uare with the !ace o! the sensor to within 20 microns. +he !ace o! the sensor shou%d e centered with the magnetic strip o! the drum.
,2. ,3#. ,31.
I! you have a%arm :?0* on the Power )upp%y (P)' and :?"" on the )pind%e mp%i!ier, there cou%d e a pro%em with the regenerative circuit o! the )pind%e mp. +his situation is norma%%y evident when the spind%e is ramping down, in particu%ar, !rom a high 4P'. +his is ecause when the spind%e dece%erates !rom a high rate o! speed, there is a %ot o! &E'/ to dissipate. I! there is a pro%em with the amp%i!ier which prevents it !rom eing dissipated it can cause an >& :in over vo%tage condition on the spind%e amp%i!ier (a%arm "". -hen the Power )upp%y sees this high vo%tage at its >& output it %oos %ie a %own !use o! the >& :in (a%arm 0*.
,32. ,33.
#n the %pha series )pind%e mp%i!ier, the coo%ing !an has a detection circuit. I! the !an stops, the contro% wi%% generate %arm 609.
,34. ,3$. ,3&. ,3). ,3,. 839. ,4#. ,41. ,42.
Power Supply Alarms
:?0" on the Power )upp%y 'odu%e means that the incoming & is ade=uate ut the >& :in vo%tage is %ow. +his norma%%y indicates that the P)' is de!ective ut you can disconnect the >& :in !rom the drives to determine i! the vo%tage is eing pu%%ed down y one o! them. -hen you have the :?0" you shou%d have :?30 on the )pind%e mp%i!ier since :?30 means there is a pro%em with the input power circuit. I! you disconnect the >& :in comp%ete%y you may get :?0* ecause the P)' thins the !use is %own. ou may have to try to eep one o! the drives connected.
,43. ,44.
:?02 on the P)' (power supp%y modu%e means there is a pro%em with the amp%i!iers coo%ing !an.
,4$.
:?03 means the temperature o! the heat sin o! the power supp%y has risen too high.
,4&. ,4). ,4,. ,4. ,$#.
:?06 means the >& :in vo%tage has dropped.
:?05 means the incoming & is anorma% (open phase or the main capacitor did not charge in the speci!ied amount o! time. +he >& :in may e shorted or the recharge current %imiting resistor is de!ective.
,$1. ,$2. ,$3. ,$4.
:?08 means the incoming & is de!ective (open phase.
:?0* means the >& :in is too high. +here cou%d e e@cessive power eing regenerated or the impedance o! the & supp%y is too high, an incoming & variation o! more than *C can cause this or a de!ective regeneration unit.
,$$. ,$&. 857. ,$,. ,$.
System Alarms
+he 950 P'& ))+E' :4' can e caused y a pro%em with the I#, particu%ar%y i! an e@terna% vo%tage is app%ied to the I# system.
,&#. ,&1. ,&2.
+he 9"" 4' P4I+ E44#4 a%arm may mean that the 'emory oard has !ai%ed ut it may a%so mean simp%y that the parameters have een %ost due to a ad attery. +he on%y way to !ind out is to do a memory c%ear. +urn the N& o!!, ho%d the 4E)E+ and the >E:E+E utton, turn the N& ac on whi%e ho%ding oth uttons. I! the a%arm goes away and is rep%aced with servo a%arms, etc. then the 'emory oard is proa%y o. t this point you must !o%%ow the procedures !or ringing ac a rain dead contro%. I! the &4+ is !%ashing +, go ahead and insta%% new atteries e!ore you start.
,&3. ,&4. ,&$. ,&&. ,&).
9"0 'IN 4' P4I+ +he 4' parity is re%ated to %ow order ytes. 4ep%ace the memory P&
oard. ,&,. ,&. ,)#. ,)1.
9"" 'IN 4' P4I+ +his 4' parity error is re%ated to high order ytes. 4ep%ace the memory P& oard.
,)2. ,)3. ,)4. ,)$.
9"2 );4E> 4' P4I+ +his parity error is re%ated to %ow order ytes o! 4' shared with the digita% servo circuit. 4ep%ace the a@is contro% P& oard.
,)&. ,)). ,),. ,).
9"3 );4E> 4' P4I+ +his parity error is re%ated to high order ytes o! 4' shared with the digita% servo circuit. 4ep%ace the a@is contro% P& oard.
,,#.
9"6 )E4B# 4' P4I+ +his is a %oca% 4' parity error in the digita% servo circuit. 4ep%ace the a@is contro% P& oard.
,,1. ,,2. ,,3. ,,4. ,,$. ,,&. ,,).
9"5 :>>E4 E>I+IN1 &))E++E 4' P4I+ +his 4' parity error is re%ated to %ow order ytes o! the %adder editing cassette. 4ep%ace the cassette.
,,,. ,,. ,#. ,1.
9"8 :>>E4 E>I+IN1 &))E++E 4' P4I+ +his 4' parity error is re%ated to high order ytes o! the %adder editing cassette. 4ep%ace the %adder editing cassette.
,2. ,3. ,4. ,$.
920 -+&;>#1 :4' +his is a watchdog timer a%arm or a servo system a%arm !or a@es "?6. 4ep%ace the a@is or master contro% P&.
,&. ,). ,,. ,.
92" )7 &P7 -+&;>#1 :4' +his a watchdog timer a%arm re%ated to the su &P7 oard or a servo system a%arm !or a@is 5 or 8. 4ep%ace the su &P7 oard or the a@is 58 contro% P&.
##. #1. #2. #3.
922 *$ I) )E4B# ))+E' :4' +his is a servo system a%arm re%ated to a@is * or $. 4ep%ace the a@is *$ contro% P&.
#4. #$. #&. #). #,. #. 1#. 11.
930 &P7 E44#4 +his is a &P7 error. 4ep%ace the master P&. 960 P& #4> IN)+::+I#N E44#4 P& oard insta%%ation is incorrect. &hec the speci!ication o! the P&
oard. 12. 13. 14. 1$.
96" 'E'#4 P& &#NNE&+I#N E44#4 +he memory P& is not connected correct%y. &hec that the P& is connected secure%y.
1&. 1). 1,. 1.
965 )E4I: )PIN>:E &#''7NI&+I#N E44#4 +he hardware con!iguration is incorrect !or the seria% spind%e or a communication a%arm occurred. &hec the hardware con!iguration o! the spind%e. %so, chec that the hardware !or the seria% spind%e is connected secure%y.
2#. 21. 22. 23.
968 )E&#N> )E4I: )PIN>:E &#''7NI&+I#N E44#4 &ommunication is impossi%e with the second seria% spind%e. &hec that the second seria% spind%e is connected secure%y.
24. 2$. 2&. 2). 2,. 2. 3#. 31. 32. 33. 34. 3$.
950 /7)E :#-N :4' a !use has %own. 4ep%ace the !use (K26E /"6. 980 )7 &P7 E44#4 +his is a su &P7 error. 4ep%ace the &P7 P&.
99$ 4#' P4I+ +his is a 4#' parity error. 4ep%ace the 4#' oard in which the error occurred.
3&. 3).
1enera%%y speaing, anytime you have Parity a%arms or most any 900 series a%arm the !irst step re=uired is norma%%y to c%ear out the memory y ho%ding the 4E)E+ and >E:E+E uttons whi%e turning on the N& power. +his wi%% de%ete a%% parameters and programs.
3,. 3. 4#.
%arms 9"0 to 9"6 (4' P4I+ E44#4 wi%% occur i! the 4' chips are removed and rep%aced even with the power o!! ecause o! the attery ac?up.
41. 42.
%arm 950 /7)E 4EA (K26E/"6 means that /"6 the 5.0 amp !use is %own. +his is the ottom !use on the !ront o! the Power 7nit. Its %ae%ed K26E.
43. 44. 4$. 4&. 4). 4,. 4.
"000 E+E4N: :4' +his a%arm was detected y the P'& %adder program. 4e!er to the re%evant manua% !rom the machine ui%der !or detai%s.
$#. $1. $2. 953. $4. $$. $&.
Sero Alarms
P%acing the &ontro% in E?)top wi%% remove the servo a%arms a%%owing you to enter the parameters y hand, ut rememer that i! you are in E?)top you can not communicate via 4)232.
$). $,. $.
I! a machining center eeps issuing the 630 a%arm whi%e per!orming a pec dri%% cyc%e, chec that the dri%% is sharp. +his is especia%%y true !or so!ter materia%s such as a%uminum and p%astic. I! the dri%% is du%%, the rotation o! the spind%e can pu%% the head into the wor maing it di!!icu%t !or the F a@is motor to stop within its In?position width setting. +his causes the 630 a%arm.
&#.
&1. &2.
)ometimes you might see an a%arm that says )#/+ +;E4': (i.e., 638 I) )#/+ +;E4':. +his a%arm is norma%%y seen during re!erencing (ero return. It asica%%y means that the a@is is %oading up whi%e traversing s%ow%y. common cause o! this is !or chips to ui%d up etween the ta%e and the motor or the earing housing. -hen this happens, in most cases, the motor is a%e to compact the chips enough to mae it a%most home ut the current re=uired is very high causing the a%arm.
&3. &4.
%arm 638 can e generated !or any a@is, the contro% wi%% speci!y on screen which a@is is at !au%t. i! !or some reason an a@is is not speci!ied, chec the :E> disp%ay on the amp%i!iers.
&$. &&. &).
In the case o! )ervo %arms a%ways con!irm that '&& is energied. /or an "$ contro% this norma%%y re=uires that the 26vdc on &6 is routed through the machine and ac to E)P. #n most machines this is accomp%ished y connecting the norma%%y open contacts o! a re%ay to &6. +his re%ay is energied y the E?)top circuit. '&& is norma%%y energied y passing the 220vac through &3 to the coi% o! '&& and ac out to another phase o! 220. In turn '&& supp%ies 220vac to power the P)7.
&,. &.
I! you get :?"2 on an amp%i!ier, try powering up with the motor %eads o!! o! the amp. I! you sti%% get :?"2 the amp%i!ier is a%most certain%y ad.
)#. )1.
I! you have trou%e with a%arm 329)P& and you chec the ca%e and it rings good, eep in mind that the ma@imum a%%owa%e resistance !or the 5 vo%t signa% on each conductor is on%y .5 ohms.
)2. )3.
4ememer that when dea%ing with these )eria% a%arms as we%% as some other )ervo %arms, a!ter you enter the correct Parameters, the a%arm wi%% not go away unti% you have cyc%ed not
)4. )$.
out 90C o! the time a%arm 6n0 indicates a ad motor, ut in some cases it may e an a@is oard, drive, or ca%e pro%em. I! you suspect a drive, it is usua%%y easier and etter to physica%%y swap with another a@is than to swap ca%es. I! you do swap ca%es, e sure to swap oth motor ca%es and encoder ca%es. +he encoder ca%es can e swapped at the @es P&.
)&. )).
I! a%arm 6n" wi%% not go away a!ter comp%ete%y cyc%ing power, chec the 26 B>& which is Mdaisy chainedM to the )pind%e and )ervo amps. s a %ast resort, try removing and rep%acing the connector under power.
),. ).
In the case o! a%arm 6"6 with an indication o! $. on the servo amp%i!ier, chec the motor power ca%e !or that amp%i!ier. conductor (7,B,- that is going to ground can cause this condition. )ometimes you may see this situation on a machining center with a mu%tip%e a@is amp%i!ier and you might suspect that the amp is ad ecause the a@is wi%% issue the 6"6 a%arm when the a@is moves. -hat may e, in !act, happening is that as the a@is moves it drags the a@is motor power ca%e into a position where it grounds out, since on an over machine the a@is motor ca%es run through a !%e@i%e wireway that moves with the a@is. I! a%arm 6"6 occurs, chec >iagnostic 200 and >iagnostic 206. ,1. +wo its o! >iagnostic 206 app%y to a%arm 6"6, they are it 5 and 8. it 5 is ,2. '&&, it 8 is #/). ,#.
,3. ,4.
)even its o! >iagnostic 200 app%y to a%arm 6"6, they are it 0(#/, "(/, 2(>&, 3(;B, 6(;&, 5(#B&, 8(:B.
,$. ,&. ,). ,,. ,. #. 1. 2. 3. 4. $. &. ). ,.
#/ #ver!%ow a%arm. / >isconnection a%arm. >& >ischarge a%arm. :E> 6 or 5 %ights. ;B #ver current a%arm. :E> " %ights. ;& norma% current a%arm. :E> $ %ights. #B& #ver current a%arm. :B :ow vo%tage a%arm. %% o! the its aove shou%d e 0. " indicates a !au%t o! that it. >iagnostic 200 app%ies to "8, "$ and 0 contro%s.
+he #/ it can e set i! certain parameters in the "$00 series are set wrong. ("8"$ contro%
. 1###.
pro%em with one o! the drives wi%% a%most certain%y generate a%arm
60". 1##1. 1##2.
Huite o!ten when you have the 60" B4> #// a%arm it means that the servo has not had power supp%ied to it y the energiing o! '&&. common cause !or this is an E?)top condition which prevents the power supp%y !rom sending power to the servo unit. In this case there wi%% e no a%arms disp%ayed on the amp%i!ier. I! you watch the drives during the N& power on se=uence, you can see it power is sent to the drive then '&& drops ac out which may indicate a pro%em with the amp%i!ier which the amp cannot detect or a pro%em with either the &P7 or the communication etween the amp and &P7. I/ the '&& contactor never energies, %oo !or a machine side pro%em such as the E?)top
1##3. 1##4. 1##$.
%arm 6"", 62", 63" means that there was an e@cessive deviation etween the commanded position and the actua% position during a@is movement. +he amount o! deviation which generates the a%arm is de!ined y parameter. +here are two things to %oo at !irst when the a%arm occurs, does
the motor actua%%y move when commanded or not. I! the motor does move a %itt%e then the a%arm is issued, chec the mechanica% portion o! the a@is !or tightness. I! the a@is is too tight the motor can usua%%y turn
600 )E4B# :4' ", 2th I) #BE4:#> "?a@is, 2?a@is over%oad signa% is on. 4e!er to diagnostics *20 or *2" !or detai%s.
1#11. 1#12. 1#13. 1#14. 1#1$. 1#1&. 1#1). 1#1,.
60" )E4B# :4' ", 2th I) B4> #// "?a@is, 2?a@is servo amp%i!ier 4E> signa% (>4> went o!!.
602 )E4B# :4' 3, 6th I) #BE4:#> 3?a@is, 6?a@is over%oad signa% is on. 4e!er to diagnostics *22 or *23 !or detai%s.
1#1. 1#2#. 1#21. 1#22. 1#23. 1#24. 1#2$. 1#2&.
603 )E4B# :4' 3, 6th I) B4> #// 3?a@is, 6?a@is servo amp%i!ier 4E> signa% (>4> went o!!.
606 )E4B# :4' N+; I) B4> #N Even though the nth a@is (a@is "?$ 4E> signa% ('&#N went o!!, the servo amp%i!ier 4E> signa% (>4> is sti%% on. #r, when the power was turned on >4> went on even though '&#N was o!!. &hec that the a@is card and servo amp%i!ier are connected.
1#2). 1#2,. 1#2. 1#3#.
605 )E4B# :4' FE4# P#IN+ 4E+74N /7:+ Position contro% system !au%t. >ue to an N& or servo system !au%t in the re!erence position return, there is the possii%ity that re!erence return position return cou%d not e e@ecuted correct%y. +ry again !rom the manua% re!erence position return.
1#31. 1#32. 1#33.
608 )E4B# :4' *, $+; I) #BE4:#> *, $+; I) B4> #//
*?a@is, $?a@is over%oad signa% is on. 4e!er to diagnostics *28 or *2* !or detai%s. *?a@is, $?a@is servo amp%i!ier 4E> signa% (>4> went o!!.
1#34. 1#3$. 1#3&. 1#3). 1#3,.
6n0 )E4B# :4' N+; I) E&E)) E44#4 +he position deviation va%ue when the nth a@is stops is %arger than the set va%ue. +his va%ue must e set in parameter !or each a@is.
1#3. 1#4#. 1#41. 1#42.
6n" )E4B# :4' N+; I) E&E)) E44#4 +he position deviation va%ue when the nth a@is moves is %arger than the set va%ue. +his va%ue must e set in parameter !or each a@is.
1#43. 1#44. 1#4$. 1#4&.
6n3 )E4B# :4' N+; I) :)I #BE4/:#+he contents o! the error register !or the nth a@is e@ceeded K? 2 to the 3"st power. +his error usua%%y occurs as the resu%t o! an improper%y set parameter.
1#4). 1#4,. 1#4. 1#$#.
6n6 )E4B# :4' N+; I) >E+E&+I#N 4E:+E> E44#4 Nth a@is digita% servo system !au%t. 4e!er to diagnostic *20?*2* !or detai%s. /or the 6n6 a%arm, there is a trou%eshooting !%ow chart in the /anuc 'aintenance 'anua%. -hen the a%arm occurs you need to chec >iagnostics *20 to *26 to determine i! the pro%em is %ow vo%tage, high vo%tage, etc.
1#$1. 1#$2. 1#$3. 1#$4. 1#$$.
6n5 )E4B# :4' N+; I) E&E)) );I/+ speed higher than 6000000 units was attempted to e set in the nth a@is. +his error occurs as a resu%t o! improper%y set &'4.
1#$&. 1#$). 1#$,. 1#$.
6n8 )E4B# :4' N+; I) >I)&#NNE&+I#N Position detection system !au%t in the nth a@is pu%se coder (disconnection.
1#&#. 1#&1. 1#&2. 1#&3.
6n* )E4B# :4' N+; I) P4'E+E4 IN,E&+ +his a%arm occurs when the nth a@is is in one o! the !o%%owing conditions (digita% servo system a%arm.
1#&4. 1#&$.
". +he va%ue set in parameter $n20 (motor !orm is out o! the speci!ied
%imit. 1#&&. 1#&).
2. proper va%ue (""" or ?""" is not set in parameter $n22 (motor revo%ution direction.
1#&,. 1#&.
3. I%%ega% data (a va%ue e%ow 0, etc. was set in parameter $n23 (numer o! speed !eedac pu%ses per motor 1#)#. revo%ution. 1#)1.
6. I%%ega% data (a va%ue e%ow 0, etc. was set in parameter $n26 (numer o! !eedac pu%ses per motor 1#)3. revo%ution. 1#)2.
1#)4. 1#)$.
5. Parameters $n$6 and $n$5 (!%e@i%e !eed gear ratio have not een
set. 1#)&. 1#)). 1#),. 1#). 1#,#. 1#,1. 1#,2. 1#,3.
8. n a@is se%ection parameter (!rom 289?2*6 is incorrect. *. n over!%ow occurred during parameter computation.
690 )E4B# :4' 5+; I) #BE4:#> 5?a@is, 8?a@is over%oad signa% is on. 4e!er to diagnostics *26 or *25 !or detai%s.
1#,4. 1#,$. 1#,&. 1#,). 1#,,. 1#,. 1##. 1#1.
69" )E4B# :4' 5+;, 8+; I) B4> #// 5?a@is, 8?a@is servo amp%i!ier 4E> signa% (>4> went o!!.
696 )E4B# :4' 5+;, 8+; I) B4> #N +he a@is card ready signa% ('&#N !or a@es 5 and 8 is o!! ut the servo amp%i!ier ready signa% (>4> is not. %ternative%y, when the power is app%ied the >4> is on ut the '&#N is not. 'ae sure the a@is card and amp%i!ier are connected.
1#2. 1#3. 1#4. 1#$.
695 )E4B# :4' 5+;, 8+; I) FE4# P#IN+ 4E+74N +his is a position contro% circuit error. It is %ie%y that a return to the re!erence position !ai%ed ecause o! an error in the N& or the servo system. 4etry a return to the re!erence position.
1#&. 1#). 1#,.
-hen woring on newer contro%s, "8, "$ etc., e aware that the a%arm numers do not wor the same as they did on the 0 contro%s. 7sing the 600 series a%arms as an e@amp%e, a%arms 600 through 605 mean the same thing on oth contro%s a!ter that the two contro%s diverge. %arm 6"0 on the "8"$ is the same as a%arm 6n0 on the 0. +he di!!erence is that in the case o! the "8"$ the !ai%ed a@is wi%% e disp%ayed on the screen with the 6"0. In the case o! the 0 contro% the n wi%% e rep%aced with the numer that identi!ies the !ai%ed a@is. Its important to e aware o! this ut you need to %oo very c%ose%y at the a%arm section o! the manua%.
1#. 11##. 11#1.
%arm 60" indicates that the B4> signa% is o!!. In other words, a servo amp%i!ier is not ready to run. ou have to determine i! the amp%i!ier is o!! ecause there is something wrong with it or i! there is an e@terna% cause. +he most %ie%y e@terna% cause is a pro%em with the "00 B& supp%ied to the amp%i!ier. I! this is missing the amp%i!ier wi%% not power up. +he pro%em is that this can =uic%y ecome a chicen or the egg pro%em. n easy way to !ind
the cu%prit is to have someone turn the N& on whi%e you watch the amp%i!ier. I! the >4> (1reen :E> comes on then goes ac o!!, there is something wrong with the amp%i!ier. I! it never comes on at a%%, the trou%e is e@terna% to the amp. In the case o! an %pha drive, the a%arm numer disp%ayed on the amp%i!ier wi%% norma%%y get you going in the right nytime you have %arm 6"9, chec the )ervo 'otor ca%es, especia%%y the motor %ead ca%e. +his a%arm is o!ten a ad connection. 11#2. 11#3.
I! the machine is in E?)top mode, the "00 B& wi%% not e present. +he e%ectrica% drawings !or the machine shou%d show this circuit as we%% as how it ties in with '&& etc.
11#4. 11#$. 11#&. 11#).
+he aove condition does not app%y to %pha drives.
nytime a machine disp%ays %arms 600, 60$, 6"$ and 626 (maye more i! the machine has more a@es, chec the :E> disp%ays on the amp%i!iers. I! they are a%% %an, the & :in is proa%y missing. +his comes in on &" o! the power supp%y and goes out on &" to &" o! the spind%e amp%i!ier. /or most app%ications, this is where the 220 vac stops. +his & vo%tage is typica%%y 220 and is norma%%y !ed direct%y to the power supp%y through two !uses. +his is determined y the machine ui%der and it is rare !or the vo%tage to go through anything ut a !use. +his vo%tage is converted to 26 B>& which is !ed !rom connector &2 o! the power supp%y to &2 o! the spind%e amp%i!ier !rom &2 o! the spind%e amp%i!ier to &2 o! the !irst servo amp%i!ier and so on. +his 26 B>& is what supp%ies the power to a%% o! the other drives to power the 11#,. :E>s, contro% circuits, etc. 11#. 111#. 1111. 1112. 1113. 1114. 111$. 111&. 111). 111,. 111. 112#. 1121. 1122. 1123. 1124. 112$. 112&. 112). 112,. 112. 113#. 1131. 1132.
PMC Alarms 800 P'& :4' INB:I> IN)+47&+I#N n inva%id instruction interrupt occurred in the P'&. 80" P'& :4' 4' P4I+ P'& 4' parity error occurred. 802 P'& :4' )E4I: +4N)/E4 P'& seria% trans!er error occurred. 803 P'& :4' -+&;>#1 P'& watchdog timer a%arm occurred. 806 P'& :4' 4#' P4I+ P'& 4#' parity error occurred.
805 P'& :4' #BE4 )+EP +he ma@imum a%%owa%e numer o! P'& %adder program steps was e@ceeded.
1133. 1134. 113$. 113&. 113). 113,. 113. 114#. 1141. 1142. 1143. 1144. 114$. 114&. 114). 114,. 114. 11$#. 11$1. 11$2. 11$3. 11$4. 11$$. 11$&. 11$). 11$,. 11$. 11&#. 11&1. 11&2. 11&3. 11&4. 11&$. 11&&. 11&). 11&,. 11&. 11)#. 11)1. 11)2. 11)3. 11)4. 11)$. 11)&. 11)). 11),. 11). 11,#. 11,1. 11,2. 11,3.
808 P'& :4' I# '#>7:E ))I1N'EN+ +he assignment o! I# modu%e signa%s is incorrect. 80* P'& :4' I# :INA n I# %in error occurred. +he detai%s are %isted e%ow. 80* 0"0 L &ommunication error ():& master interna% register error 80* 020 L n ):& 4' it error occurred (veri!ication error. 80* 030 L n ):& 4' it error occurred (veri!ication error. 80* 060 No I# unit has een connected. 80* 050 32 or more I# units are connected. 80* 080 L >ata transmission error (no response !rom s%ave. 80* 0*0 L &ommunication error (no response !rom the s%ave. 80* 0$0 L &ommunication error (no response !rom the s%ave. 80* 090 n N'I (!or other than a%arm codes ""0 to "80 occurred. 80* "30 L n ):& (master 4' parity error occurred (detected y hardware. 80* "60 L n ):& (s%ave 4' parity error occurred (detected y hardware. 80* "80 L ):& (s%ave communication error. L :0 -atchdog timer ># c%ear signa% received L I4" &4& or !raming error
11,4. 11,$. 11,&. 11,). 11,,. 11,. 11#. 1191. 112. 113. 114.
-atchdog timer a%arm Parity error L indicates a hardware error.
Oertrael Alarms
n #BE4+4BE: :4' as we%% as some other pro%ems can occasiona%%y e cured y resetting the 1rid. +he procedure !or resetting the 1rid is as !o%%ows
11$. 11&. 11).
". +urn the contro% o!! 2. Press the P ey and the &an ey simu%taneous%y whi%e turning the contro% ac on 11,. 3. ;o%d oth eys unti% the !ina% screen is disp%ayed 11. 6. +urn the contro% o!! again 12##. 5. +urn the contro% ac on norma%%y 12#1. 12#2.
+his is especia%%y use!u% !or over trave% a%arms since this procedure causes the contro% to ignore stored stroe %imits. n important point to rememer is that a!ter per!orming this procedure, the contro% must e turned o!! and ac on norma%%y. +he reason is that a!ter resetting the grid the stroe %imits wi%% e ignored !or as %ong as the power remains on no matter how %ong that may e. +his wi%% prevent the machine !rom stopping when a stroe %imit has een reached, a potentia%%y dangerous condition. &yc%ing power norma%%y causes the contro% to once again chec stored stroe %imits. %so, per!orming a Fero 4eturn wi%% put the stroe %imits ac into e!!ect. 'ae sure this ero return is done at a %ow !eed rate (i.e. 25C
12#3. 12#4. 12#$. 12#&. 12#). 12#,. 12#.
5n0 #BE4+4BE: KN E@ceeded the nth a@is K side stored stroe %imit ", 2. +he 5n0 a%arm is generated due to an over trave% o! either the !irst or second stroe %imit.
121#. 1211. 1212. 1213. 1214. 121$. 121&. 121). 121,. 121. 122#.
5n" #BE4+4BE: ?N E@ceeded the nth a@is ? side stored stroe %imit ", 2. 5n2 #BE4+4BE: KN E@ceeded the nth a@is K side stored stroe %imit 3. 5n3
1221. 1222. 1223. 1224. 122$. 122&. 122). 122,. 122. 123#. 1231. 1232. 1233. 1234.
#BE4+4BE: ?N E@ceeded the nth a@is ? side stored stroe %imit 3. 5n6 #BE4+4BE: KN E@ceeded the nth a@is K side hardware #+. (' series 5n5 #BE4+4BE: ?N E@ceeded the nth a@is ? side hardware #+. (' series
5n6 #BE4+4BE: + KN I) +he too% moved eyond stored stroe %imit 6 in the positive direction o! the nth a@is. (+ series
123$. 123&. 123). 123,.
5n5 #BE4+4BE: + ?N I) +he too% moved eyond stored stroe %imit 6 in the negative direction o! the nth a@is. (+ series
123. 124#. 1241. 1242.
520 #BE4+4BE: + ?F I) +he too% moved eyond the hardware over trave% position in the positive direction o! the F a@is.
1243. 1244. 124$. 124&.
590 +##: P#)+ IN+E4/E4EN&E :4' + K I) too% post inter!erence a%arm was issued whi%e the too% was moving in the positive direction a%ong the a@is.
124). 124,. 124. 12$#.
59" +##: P#)+ IN+E4/E4EN&E :4' + ? I) too% post inter!erence a%arm was issued whi%e the too% was moving in the negative direction a%ong the a@is.
12$1. 12$2. 12$3. 12$4.
592 +##: P#)+ IN+E4/E4EN&E :4' + KF I) too% post inter!erence a%arm was issued whi%e the too% was moving in the positive direction a%ong the F a@is.
12$$. 12$&. 12$). 12$,.
593 +##: P#)+ IN+E4/E4EN&E :4' + ?F I) too% post inter!erence a%arm was issued whi%e the too% was moving in the negative direction a%ong the F a@is.
12$. 12&#.
I! an a@is wi%% ero return oay, ut issues a so!t %imit over trave% a%arm when you try to e@ecute 12$, chec the va%ue o! the second stored stroe %imit. It shou%d norma%%y e 0.
12&1. 12&2.
I! an a@is continua%%y over trave%, whi%e trying to per!orm re!erence return there a !ew things you can wor with. #! course, the easiest thing to try is maing the so!t %imits ine!!ective y ho%ding P and &N&E: whi%e powering up the N&. +his wors in the ma
12&3.
12&4. 12&$. 1266. 12&). 12&,.
Ot!er Alarms
-hen a%arm 60" occurs without any ovious cause and the drives simp%y disp%ay ?? (Not 4eady, the P)' (Power )upp%y 'odu%e may e at !au%t. +his may have to do with the !act that the seria% ca%e which is used !or communication with the servo amp%i!iers, spind%e amp%i!iers, etc. connects to the power supp%y.
12&. 12)#.
In the event o! an %arm 90 (norma% 4e!erence Position 4eturn which eeps occurring, one o! the !o%%owing parameters cou%d e set incorrect%y
12)1. 12)2. 12)3. 12)4.
5"$?52" 559?582 5"*
12)$. 12)&. 12)). 12),. 12). 12,#.
533 3.6 536 ".5
I! you have a pro%em with a machine that issues 0"" N# /EE>4+E &#''N>E>, at times when no !eed movement is eing commanded, particu%ar%y during a too% change, mae sure that 1" is not moda%. good practice is to program a 10 in a program e!ore the too% change either as a preparatory command, in the %oc with the too% inde@ or yet another way is to mae parameter 3602.0(10 0 so the contro% wi%% power up in 10 mode.
12,1. 12,2.
%so, when parameters are %ost, Parameter 5"* (:oop 1ain wi%% ecome ". In this case, %arm 6"0 or 620 or 630 wi%% e generated ut this parameter wi%% not cause a%% three at once. +he typica% va%ue !or this parameter is 3000.
12,3. 12,4. 12,$. 12,&.
*00 #BE4;E+ &#N+4#: 7NI+ &ontro% unit overheat. &hec that the !an motor operates norma%%y, chec the air !i%ter.
12,). 12,,. 12,. 12#. 121. 122. 123.
'?Net %arm
$99 '?NE+ IN+E4/&E :4' +his a%arm is re%ated to a seria% inter!ace !or an e@terna% P'&. +he detai%s are %isted e%ow.
124. 12$. 12&.
$99 000" norma% character (character other than transmission codes received.
12). 12,. 12. 13##. 13#1. 13#2. 13#3. 13#4. 13#$. 13#&. 13#). 13#,. 13#. 131#. 1311. 1312. 1313. 1314. 131$.
$99 0002 ME+M code error. $99 0003 &onnection time monitor error (parameter 686. $99 0006 Po%%ing time monitor error (parameter 685. $99 0005 Bertica% parity or !raming error detected. $99 025* +ransmission timeout error (parameter 688. $99 025$ 4#' parity error
