cybelec N2X7E User Manual

N2X

Parameters

CYBELEC SA Tel. ++ 41 24 447 02 00 RUE DES UTTINS 27 Fax ++ 41 24 447 02 01 CH - 1400 YVERDON-LES-BAINS E-Mail: info@cybelec.ch SWITZERLAND

V-DOC-N2X-EN

Information in this document is subject to change without notice, and does not represent a commitment on the part of CYBELEC SA. The software described in this document is furnished under a license agreement or nondisclosure agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against the law to copy the software on any medium except as specifically allowed in the license or nondisclosure agreement.

In view of the fact that numerical controls can be equipped with configurab le functions by the pr ess manufacturer for his own specific purposes, please refer to the manufacturer-supplied complementary instructions regarding the programming of these functions.

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N2X MANUAL V

ERSION

For the versions prior to the ones mentioned under version 3, please refer to N2X version 2.

ERSION

Valid for versions

ERSION

Valid for versions

 N2XDN and following

 N2XEM and following

 N2XFB and following

ERSION

Valid for versions

 N2XDW and following

 N2XEV and following

 N2XFK and following

 N2XDC2 and following

 N2XEB2 and following

 N2XFS and following

 N2XFHA and following

ERSION

Valid for versions

 N2XHC and following

 N2XFU and following

ERSION

Valid for versions

 N2XHB and following  N2XFU and following

February 02, 2006 Vers. 7.1

TABLE OF CONTENTS

LICENSE AGREEMENT FOR CYBELEC SOFTWARE..................................................................3

N2X BOARD IMPLANTATION.........................................................................................................7

N2X 200 board ....................................................................................................................7

N2X DIO 7xx board .............................................................................................................8

Carte MAX...........................................................................................................................9

N2X BOARD PARAMETERS...........................................................................................................11

CONVENTIONS AND DEFINITIONS...............................................................................................13

Conventions.........................................................................................................................13

Units for the "Encoder Resolution" parameter (P02) 13

Parameters with options 13

Definitions............................................................................................................................14

AC POSITIONING DIAGRAM .............................................................................................15

NAX TYPE POSITIONING ..................................................................................................15

DC POSITIONING DIAGRAMS...........................................................................................16

Unidirectional positioning with final approach overrun and advanced stop 16

Bidirectional positioning with final approach 16

Functioning of final approach (detail) 17

Direct bidirectional positioning 17

DESCRIPTION OF THE PARAMETERS.........................................................................................19

P00 Axis Type......................................................................................................................19

P01 Operating Mode............................................................................................................20

P02 Encoder resolution .......................................................................................................22

P03 Positioning Tolerance...................................................................................................23

P04 Advanced stop..............................................................................................................24

P05 Overrun distance..........................................................................................................24

P06 Slow speed distance ....................................................................................................24

P07 SP/SN Time .................................................................................................................25

P08 Acceleration time..........................................................................................................26

P09 Deceleration time .........................................................................................................26

P10 Positioning speed.........................................................................................................26

P11 Final approach speed...................................................................................................26

P12 Indexing speed.............................................................................................................27

P13 Manual slow speed.......................................................................................................27

P14 Manual high speed.......................................................................................................27

P15 Preset voltage ..............................................................................................................28

P16 Maximum voltage.........................................................................................................28

P17 Minimum voltage..........................................................................................................29

P18 Offset voltage...............................................................................................................30

P19 Closed loop tolerance...................................................................................................31

P20 Maximum following error..............................................................................................31

P21 Surveillance time..........................................................................................................31

P22 Proportional gain..........................................................................................................32

P23 Integral gain..................................................................................................................32

N2X7E.DOC

TABLE OF CONTENTS PAGE 1

P24 Differential gain............................................................................................................ 32

P25 Index mode..................................................................................................................33

P26 Index position ..............................................................................................................33

P27 Minimum limit -............................................................................................................34

Programming limits for the minimum and maximum limits depending on the resolution 34

P28 Maximum limit + .......................................................................................................... 34

ADJUSTMENT OF THE AXES FUNCTION PARAMETERS..........................................................35

Axis and verification definitions........................................................................................... 35

Verification of rotation and counting directions ................................................................... 35

Offset adjustment and minimum voltage............................................................................36

Adjusting the positioning parameters.................................................................................. 37

DC axis with PID adjustment 37 DC Axis in NAX mode (without PID loop) 41 AC Axis 42

Final regulation of the parameters......................................................................................44

Programming the secondary parameters 44

1st indexation of the N2X axes............................................................................................45

Procedure 45

ADDITIONAL N2X SOFTWARE ON MASTER...............................................................................47

N2X parameters..................................................................................................................48

Example AC 2 speed motor 51 Example DC Motor +/- 10VDC 53

INDEX..............................................................................................................................................55

PAGE 2 USER GUIDE N2X7

LICENSE AGREEMENT FOR CYBELEC SOFTWARE

ENERAL COPYRIGHT

The CYBELEC software is protected by Copyright, and all the copying rights are reserved. The CYBELEC software may only be installed and used in authorized equipments (PC or DNC). The user manuals are also covered by copyright, and all rights to use and to copy are reserved. This document may not, in whole or in part, be copied, photocopied, reproduced, translated or reduced

without prior consent, in writing, from CYBELEC.

PECIAL DISKETTE COPYRIGHT

The legal users of this software product are authorized only to copy the contents of the diskette into the memory of the computer to run the program, and to make one backup copy of the original diskette for safety purposes in case of loss of the original program.

Unauthorized copying, duplicating, selling or otherwise distributing this product is a violation of the law.

PECIAL EPROM COPYRIGHT

The CYBELEC DNC and CNC units in which the original software made by CYBELEC has been replaced by a copy not made by CYBELEC, and without written authorization of CYBELEC, will immediately lose their warranty.

ARRANTY

CYBELEC does not warrant that its software products will function properly in every computer and programming enviro nment.

The limitations of use of a software product and its technical specifications are decided by CYBELEC only; CYBELEC solely is entitled to decide upon conformity and performance of a given software.

The CYBELEC software does not compensate for incompatibilities in operating system revisions or versions.

Running the CYBELEC software under various revisions or vers i ons, or switching between d ifferent versions or revisions may result in loss or alteration of data.

LICENSE AGREEMENT PAGE 3

OFTWARE UPDATE SERVICE

Purchase of the CYBELEC software entitles the user, during one year, to delivery of software updates of the "correction" type.

During the use of a revised or corrected version of the software it may occur that data (program, parameters, etc.) is lost, or that the equipment or its connections need to be modified; these effects are not always foreseeable and do not engage CYBELEC's responsibility.

ERMINATION

This agreement shall automatically terminate upon any act of bankruptcy by or against licensee, upon any assignment for the benefit of creditors of the licensee, upon any attachment execution of judgement or process against licensee or its assets that substantially inhibits its ability to do business, or upon dissolution of licensee.

CYBELEC has the right to terminate this agreement immediately, should the licensee violate the aforementioned conditions.

Within 30 days of termination of this agreement for any reason, licensee shall at his option, either:

 return to CYBELEC or authorized dealer all existent copies of such software and related materials, or  furnish to CYBELEC evidence satisfactory that the original and all copies of the software, in whole

and in any form, have been destroyed.

IMITATION OF LIABILITY

The foregoing warranty is instead of all other warranties, expressed or implied. Licensee further agrees that CYBELEC shall not be liable for any lost profits, lost savings, loss of use, or

other incidental or consequential damages arising from the use or inability to use the software, or for any claim or demand against licensee by any other party.

In no event shall CYBELEC be liable for consequential damages, even if CYBELEC has been advised of the possibility of such damages.

CYBELEC does not warrant that the functions contained in the software will meet the licensee's requirement or that the operation of the software will be totally error free.

Should the software prove defective, the licensee (and not CYBELEC or an authorized dealer or representative) will assume the entire cost of all necessary service, repair or correction.

CYBELEC warrants the diskettes, EPROMS or other magnetic support or cassettes on which the programs are supplied to be free of defects in material and workmanship under normal use for a period of 90 days from the date of shipment to the licensee as evidenced by a copy of the packing slip.

PAGE 4 USER GUIDE N2X7

IMITATION OF REMEDIES

CYBELEC's entire liability and the licensee's exclusive remedy shall be as follows: The replacement of any diskettes or EPROMS or magnetic support media or cassettes not meeting

CYBELEC's limited warranty and which materials are returned to CYBELEC or an authorized CYBELEC representative with a copy of the packing slip, or

If CYBELEC or its representative is unable to deliver replacement diskettes, magnetic support media, EPROM or cassettes which are free of defects in materials or workmanship, the licensee may terminate this agreement under the terms and conditions herein mentioned, and the purchaser's money will be refunded.

ENERAL

The licensee acknowledges that he has read this agreement, understands it and agrees to be bound by its terms and conditions.

The licensee agrees to hold CYBELEC harmless on all liability associated with licensee's breach of this agreement including, but not limited to, all reasonable attorney's fees and court costs, if any.

This license agreement shall be governed by Swiss law; place of jurisdiction is Lausanne, Switzerland.

AINTENANCE

CYBELEC will provide one year of software maintenance.The extent of maintenance, and response time for furnishing same, shall be at the sole discretion of CYBELEC.Maintenance shall normally include correction of errors in code, correction of errors in supporting documentation, update versions of the covered software which may be released by CYBELEC during the maintenance period.

In no event shall CYBELEC be obliged to provide technical support in attempting to resolve problems or difficulties resulting from licensee's modification of the licensed software; any such modification by licensee is entirely at licensee's own risk.

LICENSE AGREEMENT PAGE 5

This page has been left blank intentionally.

PAGE 6 USER GUIDE N2X7

N2X BOARD IMPLANTATION

N2X 200

BOARD

N2X

B I

SP1

SN1

GV1

SP2

SN2

GV2

24V

SP1 SN1 GV1 SP2 SN2 GV2

IN0

IN1

IN2

IN3

IN4

IN5

D3 D4

AN 1

B 3

AN 2

ENCODER AXIS 0

LED SIGNAL A AXIS 0 LED SIGNAL B AXIS 0 LED INDEX AXIS 0

ENCODER AXIS 1

LED SIGNAL A AXIS 1 LED SIGNAL B AXIS 1 LED INDEX AXIS 1

OUT SIGNAL SP1 AXIS 0 OUT SIGNAL SN1 AXIS 0 OUT SIGNAL HS1 AXIS 0 OUT SIGNAL SP2 AXIS 1 OUT SIGNAL SN2 AXIS 1 OUT SIGNAL HS2 AXIS 1 OUT + 24V GND

LED SIGNAL SP1 AXIS 0 LED SIGNAL SN1 AXIS 0 LED SIGNAL HS1 AXIS 0 LED SIGNAL SP2 AXIS 1 LED SIGNAL SN2 AXIS 1 LED SIGNAL HS2 AXIS 1

INPUT PAUSE AXIS 0 INPUT SERVOAPM. OK AXIS 1 INPUT ZONE INDEX AXIS 0 INPUT PAUSE AXIS 1 INPUT SERVOAMP. OK AXIS 1 INPUT ZONE INDE X AXIS 1 N.C. GND LED SIGNAL INPUT PAUSE AXIS 0

LED SIGNAL INPUT SERVOAMP. OK AXIS 0 LED SIGNAL INPUT PAUSE AXIS 1 LED SIGNAL INPUT SERVOAMP. OK AXIS 1

+/-10V ANALOG OUTPUT SIG N AL AXIS 0 0V ANALOG AXIS 0 +/-10V ANALOG OUTPUT SIGNAL AXIS 1 0V ANALOG AXE 1

N2X BOARD IMPLANTATION PAGE 7

N2X DIO 7

XX BOARD

CYBAN

LED SIGNAL A AXIS 0 LED SIGNAL B AXIS 0 LED INDEX AXIS 0

AXIS 0

ENCODER AXIS 0

LED SIGNAL A AXIS 1 LED SIGNAL B AXIS 1 LED INDEX AXIS 1

AXIS 1

ENCODER AXIS 1

LED SIGNAL A AXIS 2 LED SIGNAL B AXIS 2 LED INDEX AXIS 2

AXIS 2

ENCODER AXIS 2

LED SIGNAL A AXIS 3 LED SIGNAL B AXIS 3 LED INDEX AXIS 3

AXIS 3

ENCODER AXIS 3

DIO 7xx

OFFSET

CYBAN

CYBIO CYBIO CYBIO CYBIO CYBIO CYBIO

ANALOG OUTPUT +/-10V AXIS 0 GND OUTPUT AXIS 0

ANALOG OUTPUT +/-10V AXIS 1 GND OUTPUT AXIS 1

ANALOG OUTPUT +/-1 0V AXIS 2 GND OUTPUT AXIS 2

ANALOG OUTPUT +/-1 0V AXIS 3 GND OUTPUT AXIS 3

OUTPUT SIGNA L SP AXIS 0 OUTPUT SIGNA L SN AXIS 0 OUTPUT SIGNA L HS1 AXIS 0 INPUT SIGNAL PAUSE AXIS 0 INPUT SIGNAL SERVOAPM. OK AXIS 0 INPUT SIGN AL ZONE INDEX AXIS 0

OUTPUT SIGNA L SP AXIS 1 OUTPUT SIGNA L SN AXIS 1 OUTPUT SIGNA L HS1 AXIS 1 INPUT SIGNAL PAUSE AXIS 1 INPUT SIGNAL SERVOAPM. OK AXIS 1 INPUT SIGN AL ZONE INDEX AXIS 1

OUTPUT SIGNA L SP AXIS 2 OUTPUT SIGNA L SN AXIS 2 OUTPUT SIGNA L HS1 AXIS 2 INPUT SIGNAL PAUSE AXE 2 INPUT SIGNAL SERVOAPM. OK AXIS 2 INPUT SIGNAL INDEX ZONE AXIS 2

OUTPUT SIGNA L SP AXIS 3 OUTPUT SIGNA L SN AXIS 3 OUTPUT SIGNA L HS1 AXIS 3 INPUT SIGNAL PAUSE AXIS 3 INPUT SIGNAL SERVOAPM. OK AXIS 3 INPUT SIGNAL INDEX ZONE AXIS 3 INPUT +24V INPUT GND

PAGE 8 USER GUIDE N2X7

ARTE

MAX

N2X BOARD IMPLANTATION PAGE 9

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PAGE 10 USER GUIDE N2X7

N2X BOARD PARAMETERS

--AXES-- -X- Inherent values

0 Axis type -- 0=DC DC/AC 1 Operating mode -- 0 DC/AC 2 Encoder resolution ---,--- 100,000 DC/AC 3 Positioning Tolerance -,-- 0,01 DC/AC 4 Advanced Stop -,-- 0,00 DC/AC 5 Overrun Dist +--,-- 0,00 DC/AC 6 Slow Speed Distance --,-- 0,00 DC/AC 7 SP/SN Time -,--- 0 DC/AC 8 Acceleration Time -,--- 0,500 DC 9 Deceleration Time -,--- 0,500 DC/AC 10 Positioning Speed ----,-- 30,00 DC 11 Final Approach Speed --,-- 0,00 DC 12 Indexing Speed ----,-- P10/2 DC 13 Manual Slow Speed ---,-- P10/8 DC 14 Manual High Speed ----,-- P10/2 DC

Types of parameters

15 Preset Voltage +-,--- 0,000 DC 16 Maximum Voltage -,--- 9,999 DC 17 Minimum Voltage -,--- 0,000 DC 18 Offset Voltage +-,--- 0,000 DC 19 Closed loop tolerance (%) +-- 100 DC/AC 20 Max. Following Error --,-- disabled DC 21 Surveillance Time -,--- disabled DC/AC 22 Proportional Gain ---- 1000 DC 23 Integral Gain ---- 500 DC 24 Differential Gain ---- 0 DC 25 Index Mode -- 0 DC/AC 26 Index Position +-----,-- DC/AC 27 Minimum Limit - +-----,-- DC/AC 28 Maximum Limit + +-----,-- DC/AC

* Parameters temporarily not or partially in use

N2X BOARD PARAMETERS PAGE 11

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PAGE 12 USER GUIDE N2X7

CONVENTIONS AND DEFINITIONS

ONVENTIONS

NITS FOR THE "ENCODER RESOLUTION" PARAMETER

(P02)

All times are programmed in seconds. All voltages are programmed in Volts. Note: The unit of voltage for the parameters is the Volt (mV) to

facilitate their programming.

Example: 0.2 = 200 mV

 All distances are in units.  All speeds are in units/s.

ARAMETERS WITH OPTIONS

 The parameters which are programmed in bits (eg index mode and

operating mode) are defined by additioning the values of the chosen bits:

D0 = data0 = Value 1 D1 2 D2 4 D3 8 D4 16 D5 32 D6 64 D7 128 Example: In a parameter where the bits of the chosen options are D0, D1,

D3 and D6, the programming is as follows: 1+2+8+64 = 75.

CONVENTIONS AND DEFINITIONS PAGE 13

EFINITIONS

Master

LSW+

LSW-

AC Axis

defines the numerical control software used by the N2X. The "Master" software is the part the operator sees and uses.

Positive direction.

Negative direction.

High speed.

Low speed.

See parameter with options (previous page).

Maximum limit positive.

Minimum limit negative.

Defines a movement as described in the AC positioning diagram page. It is a positioning which manages for example a 2-speed three phased (AC) unsynchronized motor. Not to be confused with "brushless" motors.

DC Axis DC

Defines an axis movement commanded by a nominal variable applied voltage of -10V to +10V DC. This management is suitable for conti nuous current motors with servo-amplifiers, "brushless" motors, unsynchronized motors equipped with frequency servo-amplifiers with an input voltage ±10V, etc.

PAGE 14 USER GUIDE N2X7

AC POSITIONING DIAGRAM

(

)

with positive overrun

Slow speed dis tance

SP+HS

Temp o

SP / SN

Overrun distance

SRET

NAX TYPE POSITIONING

Speed

Tolerance

Advanced stop(SAAV)

SN+HS

Fig. 1

without speed adjustment

Fig. 2

This type of positioning is selected by programming the proportional (P22) and differential (P24) gain parameters at 0.

CONVENTIONS AND DEFINITIONS PAGE 15

DC POSITIONING DIAGRAMS

NIDIRECTIONAL POSITIONING WITH FINAL APPROACH

OVERRUN AND ADVANCED STOP

IDIRECTIONAL POSITIONING WITH FINAL APPROACH

Fig. 3

PAGE 16 USER GUIDE N2X7

Fig. 4

UNCTIONING OF FINAL APPROACH (DETAIL

Positioning value

Deceleration time

Advanced stop

Final approach speed

Slow speed distance

Fig. 5

)

IRECT BIDIRECTIONAL POSITIONING

Positioning value

Acceleration

time

Deceleration time

Fig. 6

Positioning speed

CONVENTIONS AND DEFINITIONS PAGE 17

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PAGE 18 USER GUIDE N2X7

DESCRIPTION OF THE PARAMETERS

The number which precedes each parameter designates the parameter described in this notice. On certain CNC's, this number has no relation with the number of the parameter of the same name which appears on the DNC. The name of the parameter is used for reference.

A translation of these parameters is available at the end of this notice. IMPORTANT: The text which follows each parameter is its definition.

For adjustment of an axis, the procedure described in the "Parameter adjustment" chapter (page 35) must be followed in order to understand the interaction between the parameters.

P00 A

XIS TYPE

D0 & D1

D2 Rotary axis: P28 indicates the Modulo value of the axis.

Remark : The auto-offset system (D1 for P01) cannot be used in modes

 Mode 0: DC Axis (±10V/SP/SN)  Mode 1: AC Axis or electrovalve (SP/SN/HS)  Mode 2: DC axis with a command voltage of

0 to +10V or 0 to -10V The voltage polarity is determined by the polarity of the parameter 15. (Preset Voltage)

With D2, the "Unotour" mode is accessed. In absolute movement, the N2X chooses the shortest possible way in order to reach the position specified in the Modulo. Max. movement is 1 revolution.

DC axis (+/- 10V / validation) The rotation direction is given by the polarity sign of the voltage, the servo-amplifier being validated by the SP signal. (Only N2XF_ & N2XE_)

1 and 2.

DESCRIPTION OF THE PARAMETERS PAGE 19

P01 O

PERATING MODE

Closed loop:

In this mode the N2X makes sure that the axis does not move away farther than the tolerance value (P03) of the target position ( ⏐position⏐ ≤ ( ⏐target position⏐ ± tolerance)).

P19 indicates to the N2X at what distance from the target position (% of P03) the regulator must be switched on.

DC axis (D0, mode 0 or 2): PID is switched on.

AC axis (D0, mode 1): An automatic positioning is carried out

immediately. This positioning will follow the normal rules of the AC mode, i.e., with overrun. If the bi-directional positioning mode is chosen (without overrun), the axis will "return" to the Slow speed distance (P06) before positioning.

Offset recuperation:

The automatic offset compensation is active only at a standstill when the axis is in the tolerance zone. If the offset is greater than 100mV, the electric offsets must be regulated. The N2X surveys the axis offset and will give a voltage in the opposite direction to the axis movement. Also functions for an open loop (DATA 0 not programmed). In this case, the SP and SN outputs are permanently active. It is not recommended to use this mode on its own but rather put it with the closed loop regulation (D0 + D1).

Positioning at maximum speed (not yet managed):

This operating mode permits rapid positioning. A very small or zero acceleration time may also be chosen in this operating mode. The speed Vmax can only be obtained if a positioning speed (P10) superior to the axis speed at maximum voltage (P16) is programmed. If however, the axis reaches the speed programmed in the P10 parameter, the N2X regulates the axis to a maximum at that speed.

PAGE 20 USER GUIDE N2X7

Positioning in "Positioning at maximum speed" mode (D2 = 1)

Maximum voltage (P16)

Fig. 7

Remark: If D5 and D6 are programmed simultaneously, only the D5

SP/SN signals not permanent in closed loop mode:

Operation identical to closed loop mode, except the SP and SN signals are not active when the axis is within the tolerance zone (see also P07 SP/SN TIME). This mode may be used for an hydraulic axis, the SP/SN signals could then manage ( by using the P07) the pressur ing up of the valves. In most cases, the automatic offset recuperation cannot be used in this mode. This mode is only valid if D0 is programmed.

Voltage Umin during regulation:

If this bit is programmed, the N2X does not take into account the minimum operating volt age when it regulates at the reference value with the integral gain.

Inversion of encoder count i ng direction ( quadrature mode).

Up/Down counting mode:

Input A = clock Input B = counting direction.

function is validated, the D6 function being ignored.

DESCRIPTION OF THE PARAMETERS PAGE 21

P02 E

NCODER RESOLUTION

This parameter defines the number of encoder impulses, that the DNC receives per unit displayed (millimeters, degrees etc).

This parameter permits to work always with the maximum resolution allowed by the encoder (using multiplication by 4).

This parameter allows to define a resolution up to 3 digits after the decimal point. This possibility allows to use practically any number of encoder impulses for a given range and mechanical system. The examples below demonstrate the use of this parameter. In the case where the resolution does not allow to find a number of < 3 digits after the decimal point, an example of the calculation of the resultant error allows you to determine whether the error is acceptable or not.

Important : see P27

Examples Lets take a mechanical kit, motor / ball screw directly coupled, to simplify the

examples.

Ball screw : pitch = 8mm/t

Example 1: Display ----,--

Example 2: Display ----,--

Example 3: Display ----,--

MINIMUM LIMIT

Encoder: 200 imp/r.

Encoder: 250 imp/r.

Encoder: 100 imp/r.

, programming limit.

Resolution: (200 * 4):8=100.000 that is 100 imp/mm In this case we have 1 impulse per 100th mm. (P02 = 100.000)

Resolution: (250 * 4):8=125.000 that is 125 imp/mm In this case there is no longer one impulse per 100th mm. The axis and the display behave as in example 1. (P02 = 100.000)

Resolution: (100 * 4):8=50.000 that is 50 imp/mm In this case it is not possible to position every 100th mm, but only every 2/100ths. The display increments by 2/100ths.

Example 4: Display ----,--

Example 5: Display ----,--

PAGE 22 USER GUIDE N2X7

Encoder:

40 imp/r.

Ball screw : pitch = 15/32" (that is11,90625mm/t)

Encoder: 500 imp/r.

Resolution: (40 * 4):8=20.000 that is 20 imp/mm In this case the display increments by 5/100ths.

Resolution:

(500 * 4) : 11,90625 = 167,979

In this case the resolution allows correct display for the whole length of the trajectory, due to the 3 digits defined after the decimal point.

Ball screw : pitch = 5/8" (that is15,875mm/t)

Example 6: Display ----,--

Distance covered : 1000mm Theoretical number of impulses : 1000 x 125.984252 = 125984,252 Theoretical number of impulses = -125984,000 ___________

Difference in number of impulses 0,252 Difference in mm 0.252 : 125.984252 = 0.002mm

Other method : Programmed displacement * theoretical resolution

-----------------------------------------------------------------= effective distance

DNC resolution

1000 * 125,984252

--------------------------- = 1000.002 that is a difference of 0.002mm

125,984

Encoder:

500 imp/r.

Calculation of the accumulated error

Resolution:

(500 * 4) : 15,875 = 125,984252

In this case, the resolution obtained has more than 3 digits after the decimal point. (P02 = 125.984) There will thus be an accumulated error as a function of the distance covered. The encod er giving the minimum error for the distance covered must be selected.

P03 P

OSITIONING TOLERANCE

This parameter defines the distance around the positioning value in which the axis is considered to be in position. In order to execute a positioning, the axis must be outside the tolerance zone of the chosen value. (AC or DC)

Note: See P01

AC Axis: With closed loop regulation (P01 = 1), if the axis is located

outside the tolerance zone, it immediately repositions automatically. This positioning follows the normal positioning rules for AC mode, that is with overrun. If two way positioning is chosen (without overrun), the axis "overruns" at the

SPEED DISTANCE

The closed loop regulation operates when the axis lies within the tolerance zone. But, the axis is considered outside the tolerance zone (seen from the exterior) the moment it passes the tolerance value.

(P06) before repositioning.

SLOW

DESCRIPTION OF THE PARAMETERS PAGE 23

P04 A

DVANCED STOP

This parameter defines the distance in front of the programmed position where the positioning orders and the voltage are cut. This allows precise positioning of the axis by compensation of the breaking distance due to the drive inertia.

Note: The advanced stop is not applied until the deceleration ramp

has been entered. In the case of a positioning with final approach, the advanced stop is not applied until after the final approach is started. No positioning is possible in the except when P05 is programmed greater than P04. To prevent any troubles with AC axis, please programme P03 greater or equal than P04.

This parameter can also be used in order to accelerate the end of the positioning of DC or brushless axes. When programming P03 = P04, the axis card signals the end of the positioning as soon as the axis has reached the tolerance zone of the target position.

ADVANCED STOP ZONE

P05 O

P06 S

VERRUN DISTANCE

The programming of this parameter allows a uni or bidirectional positioning of the axis.

The

POSITIONING

defined). For unidirectional positioning, the direction of the end of positioning is

defined by the polarity of this parameter: + = end of positioning in a positive direction (SP)

- = end of positioning in a negative direction (SN)

is bidirectional if this parameter is programmed at 0 (or not

LOW SPEED DISTANCE

DC axis

This parameter defines the distance of the final approach. It is only active when the final approach must be equal to the overrun distance

(if programmed) in order for the positioning or overrun to be executed. Note: Programming this parameter is unnecessary if NAX type

positioning is chosen.

AC axis

This defines the distance before the advanced stop where the engagement of the axis is changed from high to slow speed (GV output).

If this parameter is programmed at 0, the positioning of the axis is made with a single speed.

PAGE 24 USER GUIDE N2X7

With DNC's equipped with N2X 102 or 103 boards, the GV output can only be used if the indexation mode (P25) is defined without an index zone. (Only one input-output is available either for the GV or the index zone).

P07 SP/SN T

DC axis

This delay is used in four different places:

IME

 At the start of positioning where the SP/SN orders are not switched on.

This delay is used to introduce a dephasage between the switching on of the SP/SN orders and the start of the management of the lead voltage. This allows the system (eg. hydraulic pressure) to "prepare" itself before the departure of the axis.

 At the end of positioning at the overrun value.

After reaching the return value, the SP/SN delay is used to stabilize the axis before starting positioning at the target value.

 At the end of positioning on the target value.

After reaching the target value, the SP/SN orders are maintained (with zero lead voltage) during the SP/SN delay to allow the servo-amplifier to stabilize the axis at zero speed.

 During closed loop regulation with D0 and D1 of P01 programmed:

when the axis leaves the tolerance zone, the SP/SN signals are activated "SP/SN Time" seconds before the regulator intervenes. Inversely, when the regulator has taken the axis to the aimed for value, the same management is applied at the end of positioning at the aimed for value.

Attention

For master softwares released before september 1990, (Refer to the list of main standard software below) and supplied with N2XDN, N2XEM, N2XFB and later software versions, the parameter P07 SP/SN Time (previously "overrun time") must be programmed to 0 with the following N2X softwares:

Main software list : SNXEAE2 and later versions SAXDAE2 and later versions GTXDAB and later versions VTXDAE and later versions

AC axis

This parameter corresponds to the waiting time before a change in the positioning direction.

When changing the positioning direction, the positioning orders are stopped for the time programmed in this parameter.

This allows time for the axis to stop before positioning in the other direction.

DESCRIPTION OF THE PARAMETERS PAGE 25

P08 A

CCELERATION TIME

This parameter defines the linear acceleration time of the axis from 0 to the

POSITIONING SPEED

(P10).

P09 D

P10 P

ECELERATION TIME

DC axis

This parameter corresponds with the linear deceleration time of the axis form the positioning speed (P10) to 0.

Note: When the software allows the operator to choose speeds less

than the " positioning speed, the acceleration and deceleration times are reduced and adapted automatically.

AC axis

This time corresponds to the axis stabilization time after the (SP/SN) commands have been cut at the arrival at the advanced stop value. Effectively, the cutting of the displacement commands being made at an appreciable speed, the axis will continue, because of its inertia, to move during a certain time before stabilizing on the positioning value. The P09 is used to take into account this axis stabilization time before considering that positioning is finished.

POSITIONING SPEED

OSITIONING SPEED

" (P10), for speeds less than the

This parameter defines the maximum axis speed for mode.

Programming limits :

P10 * P02 < 2500.00 units/sec

P11 F

PAGE 26 USER GUIDE N2X7

INAL APPROACH SPEED

This parameter (if programmed) defines the type of DC positioning with final approach. It defines the axis speed at the end of positioning.

Programming limits: P11 * P02 < 625.00 units/sec

POSITIONING

in automatic

P12 I

NDEXING SPEED

This parameter defines the speed used to take up the index, or for leaving the index zone. If this parameter is not programmed, the index speed will be equal to half the P10 speed.

Note : In AC mode, these movements will always be made at the

lowest speed.

Programming limits identical to P10.

P13 M

P14 M

ANUAL SLOW SPEED

This parameter defines slow speed in manual mode. If this parameter is not programmed, the manual slow speed will be equal to an 8th of the P10 speed.

ANUAL HIGH SPEED

This parameter defines high spee d in manual mode. If this parameter is not programmed, the manual high speed will be equal to a half of the P10 speed.

DESCRIPTION OF THE PARAMETERS PAGE 27

P15 P

RESET VOLTAGE

This parameter determines the preset control voltage for an axis, regardless of the influence of the P-I-D regulator.

This voltage is programmed for the maximum positioning speed (P10), and automatically adapted proportionally for all other speeds (Manual, acceleration, deceleration etc.).

For DC axes, programming of this parameter is especially useful for drive systems which do not allow high gains. (E.g. hydraulic axes or drive systems with considerable play).

The programmed value must not exceed the lead voltage for positioning at maximum speed (P10).

If P15 has a negative sign, the applied voltage furnished by the N2X is inversed. It is an inversion of the applied voltage polarity without changing the references.

This parameter must be programmed for type 2 axes (controlled with a voltage of 0 to +10 V or 0 to -10 V) and NAX-type positioning. (See "DC axis in NAX mode", page 41).

The sign of the parameter determines the polarity of the lead voltage for a type 2 axis.

Type 2 axis : commanded by a voltage included between 0 and 10 V only or 0 and -10 V only.

P16 M

Programming limit : The following ratio must be respected. P15

--------- < 0,077

P10*P02

P15 [Volt] P10 [units/s] P02 [impulse/unit]

AXIMUM VOLTAGE

When calculating an output DA voltage, the axis card limits the voltage to a maximum at that voltage at the value programmed in P16.

This voltage must correspond to the voltage with which the axis reaches its maximum speed.

This parameter is optional but can be programmed to insure a certain safety if at maximum speed the voltage is relatively weak (1 to 7 VDC for ex.).

PAGE 28 USER GUIDE N2X7

P17 M

INIMUM VOLTAGE

This value is the minimum voltage which must be applied to the axis in order to move it.

This parameter is particularly useful for overlap valves. Example of an overlap valve :

Speed

Lead voltage

Offset

Minimum volta

In this example, the offset voltage (P18) is used to make the two movement directions symmetrical.

Fig. 8

DESCRIPTION OF THE PARAMETERS PAGE 29

The figure above describes the functioning of the minimum operating voltage . Ur (U regulator) being the voltage supplied by the regulator, to which is superimposed the value of the offset and Umin, which gives the applied voltage Uc (U applied) furnished by the axis card.

Umin

Offset

U r

P18 O

Note: The automatic offset compensation (D1 P01) is purposeless if

the system requires a minimum voltage.

FFSET VOLTAGE

Permits compensation of the drive offset. (N2X board offset voltage, potential difference between the N2X, the servo-

driver etc.) It can also be used to make the functioning of an overlap valve symmetric

(see figure 8). Note: This parameter is added to the offset measured if an automatic

offset compensation is programmed (D1 P01).

Tolerance zone

Fig. 8a

PAGE 30 USER GUIDE N2X7

P19 C

LOSED LOOP TOLERANCE

This parameter indicates to the N2X at what distance of the target position (% of P03) the regulator must be activated in order to maintain the axis within the positioning tolerance (P03).

See P01. If this parameter is set to 0, with P01, Closed Loop, at 1, when the axis

regulates at the position, the voltage on the regulator is maintained even if the axis returns to the tolerance zone, which in this case corresponds to one impulse. In no rmal functioning mode, t he regulator d oes not intervene any more as soon as the axi s has been brought back to its close d loop position.

P20 M

P21 S

AXIMUM FOLLOWING ERROR

This parameter defines the maximum deviation between the theoretic and real axis position.

If the maximum is exceeded, the positioning of the axis is stopped and an error is displayed in the interactive field.

This is a security parameter. It is thus recommended to program it correctly.

To do this, once the axis is perfectly adjusted, a series of positionings at full speed should be made and this parameter reduced until the limit at which the axis functions without creating any errors is found. T hen a value giving a safety margin is programmed (increase approx. 20%). The values found are largely dependant on the reaction time of the drive system.

If not programmed = no test is made.

URVEILLANCE TIME

This parameter defines the maximum time which passes between the reception of two impulsions by the axis board from the moment an axis movement is commanded.

An error is signalled in the event of a malfunction. If an error occurs, an emergency stop is made.

It is a security parameter. It is thus recommended to program it correctly.

To do this, once the axis is perfectly adjusted, a series of positionings at minimum spee d should be made and this parameter reduced until the limit at which the axis functions without creating any errors is found. Then a value giving a safety margin is programmed (increase approx. 20%).

The values found are largely dependant on the reaction time of the drive system.

DESCRIPTION OF THE PARAMETERS PAGE 31

P22 P

ROPORTIONAL GAIN

This gain intervenes during the entire positioning of the axis as well as during the running of a closed loop.

This parameter corrects the difference between the real axis position and theoretical trajectory.

P23 I

P24 D

NTEGRAL GAIN

The integral gain can intervene at the end of positioning when the theoretical trajectory finishes before the end of positioning.

It is especially active during the closed loop regulation, when in position. Note: The closed loop regulation in position is switched on as soon as the

axis has reached its tolerance value.

IFFERENTIAL GAIN

The differential regulation is active during the whole of positioning as well as during a closed loop in position.

This parameter is used especially for stabilizing the drive system during acceleration and deceleration.

Its programming is needed particularly for servo-valve drives and hydraulic valves, and also for DC motor drives without tacho.

Note: Programming 0 on parameters P22 and P24 defines the NAX

type of functioning mode. In this mode, no speed adjustment is made during positioning until the beginning of the deceleration ramp is reached, and the preset voltage (P15) is used. A linear deceleration ramp is applied in relation to the distanced covered (and not in relation to time).

PAGE 32 USER GUIDE N2X7

P25 I

NDEX MODE

If this parameter is not programmed, the DNC does not require an index on the relevant axis.

An error is signalled if at the beginning of indexing, the axis lies on the index zone, having programmed an index mode with an index zone but without an automatic outlet from the zone.

if index zone 24 V

if index 5 V (if not indexing uniquely on the index zone)

if index take up in SN (if not SP)

when taking the index maintains the axis in the index zone. (If not automatically leaves the index zone).

axis equipped with an absolute encoder (compatible). (This option is only available on certain Master softwares).

Authorization to use relative 2 mode. The counter is reset before the start of positioning (This option is only available on certain Master softwares).

N2XF_ and N2XH_ only:

Set of continuous indexing mode. If the conditions set by D0 and D1 are respected, the axis will index. However, the D1 weight is essential.

P26 I

AC axes

For the AC axes, on the N2X 102 and 103 boards, a two-speed (GV) function is not possible unless the index is 5 V, the index zone input being no longer available (used for the HS output).

As only one Input/output is available per axis, the index zone function can only be used if the AC axis is not using the HS output for a second speed.

The programming or not of operation with an index zone in this parameter configurates the board with a "HS output" or an "index zone" input.

The programming of the slow speed distance also decides the utilization of the output for the HS.

NDEX POSITION

This parameter defines the index position at which the axis counter is loaded on reaching the index.

DESCRIPTION OF THE PARAMETERS PAGE 33

P27 M

INIMUM LIMIT

This parameter defines minimum axis limit. If this parameter is not programmed, the axis is never activated.

Attention: Certain software, having a configuration which can be

ROGRAMMING LIMITS FOR THE MINIMUM AND

modified, have the particularity to validate the axis using this parameter. It is thus indispensable to program this parameter as soon as the machine is installed.

The non-programming of this parameter in this type of software suppresses the axis display on the screen and necessitates a modification of the axis wiring list.

P28 M

MAXIMUM LIMITS DEPENDING ON THE RESOLUTION

The programming of t he minimum and maximum limits and the resolution encoder is limited to a ratio with the following formula :

(|P28 - P27|)*P02 must be less than 8386608 P28 = LSW+ in units P27 = LSW- in units P02 = Resolution encoder in impulses/unit |P28 - P27| = physical separation between the LSWs If P28 is programmed at 99999.99 and P27 at -99999.99, the maximum

RESOLUTION ENCODER

Note: only the overruns (or screw backlash adjustment) programmed in P5

will be able to bypass the electronic limit switches.

AXIMUM LIMIT

This parameter defines the maximum axis limit. Its programming is necessary for security reasons.

P02 will be 41.000 imp/unit.

Programming limits : see P27

PAGE 34 USER GUIDE N2X7

ADJUSTMENT OF THE AXES FUNCTION PARAMETERS

Important All parameters not mentioned will be considered as undefined.

Effectively, the different methods of adjustment take into account their inherent values.

XIS AND VERIFICATION DEFINITIONS

 Define the type of axis (P00):

Undefined = DC axis or brushless (±10 V)

 Define the resolution encoder (P02):

Undefined = 100.000 impulse/mm

 For DC or brushless axes:

Define the proportional gain (P22) at a low value (eg. 10). Define the integral gain (P23) at 0.

 Define the limits (LSW):

negative (P27) and positive (P28) with a sufficient safety margin, and in such a way that they can be reached with a manual movement (see P27 "Programming limits").

 Load a value into the axis counter:

(Axis set) taking into account the same origin as for the definition of the LSWs (P27 and P28).

ERIFICATION OF ROTATION AND COUNTING

DIRECTIONS

 Verification of the applied voltage:

Make a number of brief manual movements (manual LS) The rotational direction of the axis must correspond to that of the command (manual + or manua l -). If this is not the case two solutions are applicable: a) Inverse the applied voltage connections b) Program P15 at a negative value (eg. -0,001).

 Verification of the encoder:

Make a number of brief manual movements (manual LS) The counting direction (see position display) must correspond to that of the command (manual + or manual -). If this is not the case, inverse the encoder signals, or program the inversion of the counting direction (D5 of P01).

ADJUSTMENT OF THE AXES PAGE 35

FFSET ADJUSTMENT AND MINIMUM VOLTAGE

It is important to go through this stage of adjustment to balance the axis function before starting adjustment of positioning.

 AC axis (asynchronous 1 or 2 speed motors):

For an AC axis, it is not necessary to make this adjustment.

 DC axis or brushless without minimum voltage:

able to remain in closed loop so the automatic offset compensation does not cause any vibration. Just program D1 of P01. Make a manual movement, then when stopped verify that the system offset is less than 100mV.

Unable to remain in closed loop

a) Program the gain parameter P22 at 0. b) Try a manual movement in both direc tions.

Program a voltage opposite to the direction of movement in the offset voltage parameter (P18). Adjust P18 until the axis movement is as little as possible.

Remark: If the absolute value of the measured offset voltage is greater

than 100 mV, the cause must be found in the system. Such a high offset voltage is not considered to be normal.

 Axis with overlap voltage: (See P17)

(Typically for proportional valves) a) Program the parameters P17, P22 and P23 at 0. b) Increase the minimum voltage (P17) until an axis movement in

either direction during a manual displacement command (

c) Retain this value (Ua). d) Continue to increase P17 until an axis movement in the other

direction can be detected, and retain this value (Ub).

e) Program the value (Ua + Ub)/2 in the M

parameter.

f) The

overlap. The manner:

P18 = Ub - Umin (P17) if Ub corresponds to positive direction. P18 = Umin (P17) - Ub if Ub corresponds to negative direction.

keys) can just be detected.

OFFSET VOLTAGE

(P18) allows to symetrically adjust the

(P18) is programmed in the following

INIMUM VOLTAGE

(P17)

PAGE 36 USER GUIDE N2X7

DJUSTING THE POSITIONING PARAMETERS

All positioning tests can be made (unless otherwise specified) with movements in manual high speed (HS). The positioning values to be reached being, in this case, the positive and negative Limit Switches (LSW).

AXIS WITH

Important: The use of a digital storage oscilloscope, connected to the lead

a) Program the

(P14) to the nominal positioning speed recommended by the manufacturer.

b) Increase the

reach the level of HS speed (with a sufficiently long movement). That is a stable applied voltage situated between +9,5V and -9,5V depending o n the direction of movement.

PID

ADJUSTMENT

voltage, facilitates adjustment and interpretation of the results.

1) Determination of the POSITIONING SPEED parameter (P10)

POSITIONING SPEED

PROPORTIONAL GAIN

High speed positioning

(P10) and the

(P22) up to a value allowing to

MANUAL HIGH SPEED

~8-9V

Fig. 10

c) The lead voltage for the cruising speed should be in the region of 8V

or 9V (8V if important load variations are expected).

Three cases can be observed:

1. The lead voltage is located around the recommended values (Refer to paragraph "Determination of the positioning speed (c)", page

37). The speed (P10) can be considered as correct.

ADJUSTMENT OF THE AXES PAGE 37

2. The lead voltage is less than the recommended values (Refer to paragraph "Determination of the positioning speed (c)", page 37).

 If the programmed speed correspond in reality to the systems

maximum speed and the voltage for that speed is too weak (<7V), the servo-amplifier must be adjusted so that it needs, for this speed, a command voltage as near as possible to the recommended values.

 If on the contrary, the programmed speed does not correspond

to the maximum speed of the system, the P10 and P14 speeds can be increased until the required voltage is obtained.

3. The lead voltage is greater than the recommended values (9,5 to 10V). The programmed speed is too high and the system cannot function in good conditions at this speed.

 If the programmed speed really correspond to the performance

desired, either the system must be re-dimensioned (motor, servo-amplifier), or the system's functioning checked to find the cause of this unexpected performance.

 In the opposite case, measure the voltage again by decreasing

the speeds P10 and P14 until the desired voltage is obtained.

2) Determination of the PROPORTIONAL GAIN (P22)

a) Increase the

PROPORTIONAL GAIN

progressively until oscillations (vibrations) or an important overshoot of the target position (FC) occurs.

Fig. 11

b) Program P22 at a value equal to the proportional gain as found above

less 10 to 20%.

3) Determination of the DIFFERENTIAL GAIN (P24)

Programming this parameter is not usually necessary for all axes fitted with a currant loop. In all cases P24 is useful for improving the acceleration / deceleration ramps. It allows especially to program acceleration times which, without the differential gain, would have saturated the lead voltage.

a) First program P24 at 1 then progressively increase its value until

either oscillations (vibrations) or an overshoot occur.

PAGE 38 USER GUIDE N2X7

b) Program P24 at a value equal to the differential gain as found above

less 20%.

4) Determination of the ACCELERATION TIME (P08)

a) Program P08 at a value sufficient to allow to reach the maximum high

speed without saturating the lead voltage. (It is preferable to use an oscilloscope on the lead voltage)

P08

~0,5 s

Fig. 12a

b) Decrease progressively the acceleration time until a saturation during

the acceleration ramp appears.

P08 saturation +/-10V

Fig. 12b

c) Program P08 at a value equal to the limit acceleration time as found

above plus 10 to 20%.

ADJUSTMENT OF THE AXES PAGE 39

Fig. 12c

5) Determination of the DECELERATION TIME (P09)

a) Program P09 at a value sufficiently high to allow to reach the target

value without overshooting.

b) Decrease progressively the deceleration time until an overshoot

appears.

c) Program P09 to a value equal to the limit deceleration time as found

above plus 10 to 20%.

6) Determination of the INTEGRAL GAIN (P23)

a) Increase progressively the integral gain until a deterioration in the

positioning precision (Overshoot) is noted.

b) Program P23 to a value equal to the limit integral gain as found above

less 10 to 20%.

Remark: This value must be further reduced if, in the case of a

positioning in a closed loop (D0 of P01), oscillations or vibrations appear at the end of positioning.

Proceed with the final adjustment of the parameters (refer to page 44).

PAGE 40 USER GUIDE N2X7

DC A

XIS IN

NAX

MODE (WITHOUT

PID

LOOP

)

This mode is selected by programming the

DIFFERENTIAL

This type of positioning is especially useful for the axes which do not support the PID loop adjustment.

NAX positioning should also be easier to adjust for axes where performance is not the main criteria.

1) Definition of the main parameters

 Program the

taking into account the axis's dynamism.

Attention: A too short time would unnecessarily charge the system

 Program, initially, a relatively long

(usually 1.000s).

 Program the

manufacturer (the precision of this parameter is of only secondary importance). Program P14 at the same value.

 Program the

the maximum speed.

2) Determination of the FINAL APPROACH SPEED (P11) and the ADVANCED STOP (P04)

GAINS

(P24)

ACCELERATION TIME

(mechanics, motor, hydraulics etc.).

POSITIONING SPEED

PRESET VOLTAGE

to 0. (see NAX positioning diagram)

PROPORTIONAL

(P08) as short as possible but

DECELERATION TIME

(P10) recommended by the

(P15) at the voltage necessary to reach

(P22) and

(P09)

a) Program, initially, a

POSITIONING SPEED

the

b) Decrease progressively this value (P11) until relatively precise

positioning is obtained.

c) Regulate the value of the

as precise as possible.

3) Determination of the DECELERATION TIME (P09)

a) Decrease progressively the value of the

until a deterioration of the positioning precision is noted.

b) Program P09 to a value equal to the deceleration time as found above

plus 10 to 20%.

4) The INTEGRAL GAIN (P23)

can be determined, if you wish to use it, in the same way as in chapter "Determination of the integral gain" (page 40).

FINAL APPROACH SPEED

(P10).

ADVANCED STOP

(P11) equal to 10% of

(P04) to obtain positioning

DECELERATION TIME

(P09)

ADJUSTMENT OF THE AXES PAGE 41

AC A

XIS

1) Definition of the main parameters

a) For unidirectional positioning:

1 Program, initially, a relatively long

(eg. 15% of the maximum axis movement). The polarity of this parameter defines the direction in which you wish positioning to be finished.

2 Program, initially, an SP/SN

2.000s).

b) For a 2 speed AC axis :

Program, initially, a relatively long LS the maximum axis movement ).

c) The

a) Program P04 at 0 or verify that it is not programmed.

b) Make several manual LS movements (

c) Note the axis overshoot in relation to the reference position (the limit

DECELERATION TIME

dephasage between the cutting of the SP/SN orders and the end of positioning signal.

2) Determination of the ADVANCED STOP (P04)

direction in which positioning must finish. These movements must be made right up to the limit switch so that the axis can finish its positioning.

switch) and program this value on the advanced stop (P04).

parameter (P09) can be used to introduce a

OVERRUN DISTANCE

TIME

(P07) relativel y high ( eg.

DISTANCE

(P06) (eg. 10% of

or key) in the

(P05)

d) Make several other movements, of different lengths, (always on the

limit switch and in manual LS) and regulate, if necessary, the

ADVANCED STOP

obtained.

3) Determination of the LS DISTANCE (P06)

(only for a 2 speed AC axis)

a) Make several movements, up to the limit switch, in manual LS (always

in the direction of the end of positioning) then decrease progressively the LS distance until the positioning precision diminishes.

b) Program P06 at a value equal to the limit LS distance as found above

plus 10 to 20%.

(P04) until a positioning as precise as possible is

PAGE 42 USER GUIDE N2X7

4) Determination of the SP/SN TIME (P07)

(only for unidirectional positioning)

a) Make several positioning with overrun (in auto and semi-auto) and

observe, on the motor or position display, where the axis stops before changing direct ion.

b) Decrease progressively the SP/SN

(P07) until the axis changes

TIME

direction before stopping completely.

c) Program P07 at a value equal to the limit overrun time as found above

plus 10 to 20%.

5) Determination of the OVERRUN DISTANCE (P05)

(only for unidirectional positioning)

a) Make several positioning, with overrun, of different lengths (in auto

and semi-auto) then decrease progressively the

OVERRUN DISTANCE

(P05) until the positioning precision diminishes.

b) Program P05 at a value equal to the limit overrun distance as found

above plus 10 to 20%.

ADJUSTMENT OF THE AXES PAGE 43

INAL REGULATION OF THE PARAMETERS

ROGRAMMING THE SECONDARY PARAMETERS

Closed loop (DO P01), Tolerance (P02), High speed voltage (P15), etc.

1) Regulation of the MINIMUM and MAXIMUM LIMIT S (P27 and P28)

Program the min imum and maximu m limits for normal use of the axis .

2) Programming the INDEX MODE (P25)

(If you wish the origin to be taken automatically) Regulation of the i ndex value (P26).

Programming, if necessary, of the indexing speed (P12)

3) Verification and regulation of positioning

Finally several positioning (in auto and semi auto) must be made with long, average and then very short (minimum movement which can be asked of the axis) movements in both directions. Then regulate (if necessary) certain parameters to improve the precision or the rapidity of positioning.

For the DC axes, P14 (Vmax/2 by default) can be deleted or programmed at the desired value.

PAGE 44 USER GUIDE N2X7

INDEXATION OF THE

Note : The availability of this function depends on the "master"

software.

N2X

AXES

ROCEDURE

a) switch on the DNC or reset. b) position the stop manually against a known reference value (or against

c) select the axis set page (key in position 2), execute the set of the

d) select the Machine parameter pages (key in position 3)

e) press the start key

Remark : the taking of the index can only be done separately, axis by

the die for the X axis), or measure its position exactly.

axis(es), (refer to the DNC programming manual).

- program the index mode required.

- position the cursor on the "index value" field.

- the axis goes to take its index.

- once the index is found, the DNC displays the "Index OK" message in the interactive field.

axis.

ADJUSTMENT OF THE AXES PAGE 45

This page has been left blank intentionally.

PAGE 46 USER GUIDE N2X7

DDITIONAL

Choice of the 8 I/O configuration

N2X

In some cases, it's necessary to implant one or two axes managed by the master. The additional axes should not be complicated, only some operating modes are implanted. This or theses additional axes use inputs/ouputs and the encoder of the Y2 Axis (1

On DNC 60, it's possible to implant one axis at the master, for this, choose the 8 I/O configuration on the MACHINE PARAMETERS 01 and search configuration by default in the inputs/outputs pages or configure at least the output SP X3. When this is done, on the first machine parameters page, N2X software version is displayed.

The parameters who are not longer managed, are displayed with a dot after the parameter's number.

SOFTWARE ON MASTER

definite axis) or Y1.

N2X software on master

MACHINE PARAMETERS -01- IGNORE Softs: GIXMDP/ZIAMBA3 PIC:AA5 N2XMnf/ZZAMBA3 N2XSA1 Key:0 Language: [GB] FR GB DE IT ES PT SE NL CONFIGURATION 8 I/O: 1

X1: X1 X2: X2 00 Axis type __ __ 01 Operating mode __ __ 02 Encoder reso. (I/mm) ___.___ ___.___ 03 Tolerance 0.05 0.05 04 Advanced stop _.__ _.__ 05 Overrun distance ___.__ ___.__ 06 Slow speed distance __.__ __.__ 07 SP / SN time _.___ _.___ 08 Acceleration time 0.300 0.300 09 Deceleration time 0.400 0.400

OUTPUT CONFIGURATION IGNORE

Put 1 in this field to find configuration by default

SEARCH CONFIGURATION BY DEFAULT _

--- MB6 J10 --- 10100000 09: CuthAuth 10: Blade Up 11: F1Dig SP 12: F1Dig SN 13: F2Dig SP 14: F2Dig SN 15: F5Dig SP 16: F5Dig SN

--- MB6 J11 --- 00000000 09: 10: 11: 12: 13: 14: 15: SP X3 16: SN X3

N2X SOFTWARE ON MASTER

PAGE 47

N2X

PARAMETERS

For a complete description, see the paragraph above corresponding to the parameter.

- D0 & D1: Mode 0 (DC Axis +/-10V/SP/SN), mode 1 (AC Axis) et mode 2 (DC Axis with a command voltage of 0 to +10V or 0 to –10V) controlled, mode 3 non-controlled

- D4 DC Axis (+/-10V / Validation) controlled

- The other bits are not controlled.

- D0 Closed loop, makes a repositioning when leaving the positioning tolerance (mode DC et AC).

- D5 Inversion of t he counting dire ction.

- The other bits are not controlled.

P00 Axis Type

P01 Operating Mode

P02 Encoder resolution

- Parameter controlled according to N2X description.

P03 Positioning tolerance

- Parameter controlled according to N2X description.

P04 Advanced stop

- Parameter controlled according to N2X description.

P05 Overrun distance

- Parameter controlled according to N2X description.

P06 Slow speed distance

- Parameter controlled according to N2X description.

P07 SP/SN Time

- Parameter controlled only in AC mode.

P08 Acceleration time

- This parameter defines the linear acceleration time of the axis from the offset voltage to preset voltage (P15).

PAGE 48

P09 Deceleration time

- This parameter is used for the calculation of the braking ramp in case of stopping or returning.

USER GUIDE N2X7

P10 Positioning speed

- This parameter is used for the voltage calculation for:

- Positioning normal mode

- Positioning manual mode

- Positioning indexation mode.

P11 Final approach speed

- This parameter is used for the voltage calculation of the final approach. At the end of positioning, the output voltage is limited to the final approach voltage, even if the calculated voltage is lower.

P12 Indexing speed

- this parameter is used for the voltage calculation of the maximum voltage when indexing.

P13 P14 Manual slow speed and Manual high speed

- These parameters are used for the calculation of the manual voltages SS and HS.

P15 Preset voltage OBLIGATORY parameter

- This parameter is used as maximum voltage for the movements in positioning speed. For the other movement types, the used voltage is only a proportion of this voltage.

Example:

Manual slow speed

Manual voltage SS = Preset voltage —————————

Positioning speed

- If the sign of this machine parameter is negative, the output voltage is inverted (same as N2X).

P16 Maximum voltage

- Parameter non-controlled.

P17 Minimal operating voltage

- Parameter non-controlled.

P18 Offset voltage

- Parameter controlled according to N2X description.

P19 Closed loop tolerance

- Parameter non-controlled.

P20 Maximum following error

- Parameter non-controlled.

N2X SOFTWARE ON MASTER

PAGE 49

P21 Encoder surveillance time

- Parameter non-controlled.

P22 Proportional gain

- This parameter is used for the calculation of the voltage to apply on the axis. The output voltage is equal to the remaining distance up to the aimed dimension multiplied by the proportional gain. The resulting voltage is limited to the final approach voltage and the limitation voltage according to the movemen t type.

P23 Integral gain

- Parameter non-controlled.

P24 Differential gain

- Parameter non-controlled.

P25 Index mode

- Parameter partially controlled. The controlled data are the followings:

- D0 if 24V indexation zone.

- D1 if index 5V.

- D2 if index research in SN.

- D3 if axis blocking in the index zone with error message. No

automatic output possible.

- The other bits are not controlled.

P26 Index position

- Parameter controlled according to N2X description.

P27 et P28 Minimum limit - and maximum limit +

- Parameter controlled according to N2X description.

PAGE 50

USER GUIDE N2X7

XAMPLE

Attention: In this example, only minimums parameter which allow the

AC 2

SPEED MOTOR

operation of the axis have a value.

MACHINE PARAMETERS -01- IGNORE Softs: GIXMDP/ZIAMBA3 PIC:AA5 N2XSA1 Key:0 Language: [GB] FR GB DE IT ES PT SE NL CONFIGURATION 8 I/O: 1

X3: X3 00 Axis type 1 01 Operating mode 1 02 Encoder reso. (I/mm) 100.000 03 Tolerance 0.1 04 Advanced stop 0.2 05 Overrun distance ___.__ 06 Slow speed distance 1.50 07 SP / SN time 0.2 08 Acceleration time _.___ 09 Deceleration time 0.400

MACHINE PARAMETERS -02- IGNORE

X3: X3 10 Positioning speed 30.00 11 Fin.approach speed __.__ 12 Indexing speed ____.__ 13 Manual slow speed ___.__ 14 Manual high speed ____.__ 15 A priori voltage __.___

16.Maximum voltage

17.Minimum voltage

18 Offset voltage __.___

19.Closed loop toler.

20.Max. follow.error

21.Surveillance time

22 Proportional gain _____

23 Integral gain

N2X SOFTWARE ON MASTER

PAGE 51

(

)

MACHINE PARAMETERS -03- IGNORE X3: X3 24 Differential gain 25 Index mode 2 26 Index position 980.35 27 Min. limit - 50.00 28 Max. limit + 1000.00

The parameters at undef ( __.__ ) allow to improve the adjustment of the axis. Some parameters have a default value in spite of the fact they are at undef. See the description in the paragraph N2X Board parameters.

SP+HS

Tempo

SP / SN

Slow speed distance

Overrun distance

SRET

Speed

Tolerance

Advanced stop(SAAV)

SN+HS

PAGE 52

USER GUIDE N2X7

XAMPLE

Attention: In this example, only minimums parameter which allow the

DC M

OTOR

operation of the axis have a value.

+/- 10VDC

MACHINE PARAMETERS -01- IGNORE Softs: GIXMDP/ZIAMBA3 PIC:AA5 N2XSA1 Key:0 Language: [GB] FR GB DE IT ES PT SE NL CONFIGURATION 8 I/O: 1

X3: X3 00 Axis type 0 01 Operating mode 1 02 Encoder reso. (I/mm) 100.000 03 Tolerance 0.1 04 Advanced stop _.__ 05 Overrun distance ___.__ 06 Slow speed distance 1.50 07 SP / SN time _.___ 08 Acceleration time 0.300 09 Deceleration time 0.400

MACHINE PARAMETERS -02- IGNORE

X2: X2 10 Positioning speed 130.00 11 Fin.approach speed 5.00 12 Indexing speed 50.00 13 Manual slow speed ___.__ 14 Manual high speed ____.__ 15 A priori voltage +9.400

16.Maximum voltage

17.Minimum voltage

18 Offset voltage __.___

19.Closed loop toler.

20.Max. follow.error

21.Surveillance time

22 Proportional gain 10

23 Integral gain

N2X SOFTWARE ON MASTER

PAGE 53

MACHINE PARAMETERS -03- IGNORE X2: X2 24 Differential gain 25 Index mode 1 26 Index position 983.50 27 Min. limit - 35.00 28 Max. limit + 1000.00

PAGE 54

USER GUIDE N2X7

INDEX

1st indexation, 45 AC Axis, 14, 42 AC Positioning, 15 Acceleration time, 26, 41, 48 Adjustment, 35 Advanced stop, 24, 41, 42, 48 Axis display, 34 Axis is never activated, 34 Axis Type, 19, 48 Axis wiring list, 34 Bits, 13 Closed loop, 20, 25, 32 Closed loop tolerance, 49 Conventions, 13 Copyright, 3 Counting, 35 D0, 14

Index position, 33, 50 Index zone, 25 Indexing speed, 27, 49 Inertia, 24 Integral gain, 32, 40, 41, 50 Inversion of encoder count i ng, 21 Inversion polarity, 28 License, 3 LS, 14 LS

DISTANCE

LSW-, 14 LSW+, 14 Manual high speed, 27, 49 Manual slow speed, 27, 49 Master, 14, 25 Maximum following error, 31, 49 Maximum limit +, 34, 50

, 42

DC Axis, 14, 41 DC positioning, 16 Deceleration time, 26, 40, 41, 42, 48 Definitions, 14 Delay, 25 Differential gain, 32, 41, 50 Direction, 35, 42 Encoder resolution, 48 Encoder surveillance time, 50 End of positioning, 25 Final approach speed, 26, 41, 49 Final regulation, 44 Gain, 35, 36 HS, 14 Hydraulic axes, 28 Hydraulic valve, 32 Important, 35

Maximum voltage, 28 , 49 Minimal opera ting voltage, 49 Minimum limit -, 34, 50 Minimum voltage, 29 Motor drives without tacho, 32 N2X software on master, 47 NAX, 41 NAX positioning, 41 NAX type positioning, 15 Offset, 20, 30, 36 Offset voltage, 30, 49 Operating Mode, 20, 48 Oscillations, 38, 40 Overlap, 36 Overlap valves, 29 Overrun, 25

Overrun distance, 24, 42, 43, 48 Impulses, 22 Index, 27, 33 Index mode, 33, 50

INDEX PAGE 55

Overshoot, 38, 40

Parameters with options, 13

PID adjustment, 37

Polarity, 28 Positioning speed, 26, 37, 41, 49 Positioning tolerance, 48 Preset voltage, 28, 41, 49 Programming limits, 26, 27, 34 Proportional gain, 32, 37, 41, 50 Proportional valves, 36 Resolution, 22, 34 Saturation, 39 Security, 31 Servo-valve, 32 Slow speed distance, 24, 48 SN, 14 SP, 14 SP/SN time, 25, 42, 43 SP/SN Time, 48 Surveillance time, 31 Tolerance, 23, 49 Units, 13 Up/Down counting mode, 21 Values, 11, 13 Vibration, 36, 38, 40 Warranty, 3

PAGE 56 USER GUIDE N2X6

cybelec N2X7E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

LICENSE AGREEMENT FOR CYBELEC SOFTWARE

N2X BOARD IMPLANTATION

N2X BOARD PARAMETERS

CONVENTIONS AND DEFINITIONS

AC POSITIONING DIAGRAM

NAX TYPE POSITIONING

DC POSITIONING DIAGRAMS

DESCRIPTION OF THE PARAMETERS

Ball screw : pitch = 8mm/t

Ball screw : pitch = 15/32" (that is11,90625mm/t)

Ball screw : pitch = 5/8" (that is15,875mm/t)

Calculation of the accumulated error

For master softwares released before september 1990, (Refer to the list of main standard software below) and supplied with N2XDN, N2XEM, N2XFB and later software versions, the parameter P07 SP/SN Time (previously "overrun time") must be programmed to 0 with the following N2X softwares:

ADJUSTMENT OF THE AXES FUNCTION PARAMETERS

1) Determination of the POSITIONING SPEED parameter (P10)

2) Determination of the PROPORTIONAL GAIN (P22)

3) Determination of the DIFFERENTIAL GAIN (P24)

4) Determination of the ACCELERATION TIME (P08)

5) Determination of the DECELERATION TIME (P09)

6) Determination of the INTEGRAL GAIN (P23)

1) Definition of the main parameters

2) Determination of the FINAL APPROACH SPEED (P11) and the ADVANCED STOP (P04)

3) Determination of the DECELERATION TIME (P09)

4) The INTEGRAL GAIN (P23)

1) Definition of the main parameters

2) Determination of the ADVANCED STOP (P04)

3) Determination of the LS DISTANCE (P06)

4) Determination of the SP/SN TIME (P07)

5) Determination of the OVERRUN DISTANCE (P05)

1) Regulation of the MINIMUM and MAXIMUM LIMIT S (P27 and P28)

2) Programming the INDEX MODE (P25)

3) Verification and regulation of positioning

P00 Axis Type

P01 Operating Mode

P02 Encoder resolution

P03 Positioning tolerance

P04 Advanced stop

P05 Overrun distance

P06 Slow speed distance

P07 SP/SN Time

P08 Acceleration time

P09 Deceleration time

P10 Positioning speed

P11 Final approach speed

P12 Indexing speed

P13 P14 Manual slow speed and Manual high speed

P15 Preset voltage OBLIGATORY parameter

P16 Maximum voltage

P17 Minimal operating voltage

P18 Offset voltage

P19 Closed loop tolerance

P20 Maximum following error

P21 Encoder surveillance time

P22 Proportional gain

P23 Integral gain

P24 Differential gain

P25 Index mode

P26 Index position

P27 et P28 Minimum limit - and maximum limit +

INDEX