osai 10 CNC AMP User Manual

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10 Series CNC AMP

Software Characterization Manual

Code: 45006667V Rev. 10

PUBLICATION ISSUED BY:

OSAI S.p.A. Via Torino, 14 - 10010 Barone Canavese (TO) – Italy

e-mail: sales@osai.it Web: www.osai.it

Edition: July 2001

IMPORTANT USER INFORMATION

This document has been prepared in order to be used by OSAI. It describes the latest release of the product. OSAI reserves the right to modify and improve the product described by this document at any time and without prior notice. Actual application of this product is up to the user. In no event will OSAI be responsible or liable for indirect or consequential damages that may result from installation or use of the equipment described in this text.

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10 Series CNC - AMP Software Characterization Manual

UPDATES FOR THE PRESENT RELEASE

General

This publication has been issued with the software release 6.1. This page lists the modifications to the manual in this edition.

PAGE TYPE OF UPDATE

INDEX updated

CHAPTER 1

Pages 26, 27, 28 added: a new paragraph concerning the “Variable Servo Error”

CHAPTER 3

Page 28 Page 31

updated: the description for position errors with/without VFF changed: axis homing type (admitted values from 0 to 4) in the parameter configuration

UPDATING

CHAPTER 4

Pages 3, 8 Page 21

CHAPTER 5

Page 27 Page 31

APPENDIX A

Page 20 added: error messages and recovery actions for AM193 and AM194.

added: the field “Alternative Interp. Plane” in the process configuration added: a usage note in the definition of the G code in the “Interp. Plane” field

updated: the description for position errors with/without VFF updated: axis homing type (admitted values from 0 to 4) in the axis configuration

10 Series CNC - AMP Software Characterization Manual (10)

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Preface

10 Series CNC - AMP Software Characterization Manual

PREFACE

This manual describes the characterization phase of the 10 Series CNC system through use of the AMP (Adjustable Machine Parameters) and Servo Monitor utilities. AMP allows the operator to enter all the necessary parameters and information to configure the system and the various machining processes. The Servo Monitor allows the operator to perform a tuning of the system in order to achieve optimum performance.

The manual is intended for the operator that has in charge the system characterization after installation.

REFERENCES

Read first:

• 10 Series CNC : Product Specification For further information:

• 10 Series CNC : User Guide

• 10 Series CNC : Programmer Guide

10 Series CNC - AMP Software Characterization Manual (05) 1

Preface

10 Series CNC - AMP Software Characterization Manual

SUMMARY

In this guide the operator will find a short description of all the configuration parameters as well as the procedures for defining them.

1. General Concepts

Contains a description of the numerical control terms used within the manual.

2. AMP

Provides a general description of the AMP configuration procedures.

3. Global Parameters Configuration

Describes the data entries used for configuring the global parameters.

4. Process Configuration

Describes the data entries used for configuring the processes.

5. Axis Configuration

Describes the data entries used for configuring the axes.

6. Human Interface Configuration

Describes the data entries used for configuring the human interface.

7. The Servo Monitor

Describes the Servo Monitor Utility.

8. DSI Service Channel

Describes the DSI Service Channel Utility.

9. Emergency Diagnostic

Describes the Emergency Diagnostic Utility.

A. AMP - Error Messages

Contains the list of error messages completes this guide.

B. Generation of Help Files for OEM Softkeys

Contains instructions to generate help files for OEM defined softkeys.

C. Axis calibration from file

Contains instructions to introduce calibration points of an axis.

2 10 Series CNC - AMP Software Characterization Manual (05)

Preface

10 Series CNC - AMP Software Characterization Manual

TERMINOLOGY

Some terms appearing throughout the manual are explained below. Control Refers to the 10 Series CNC numerical control unit comprising front panel unit and

basic unit.

Front Panel Is the interface module between machine and operator; it has a monitor on which

messages are output and a keyboard to input the data. It is connected to the basic unit.

Basic Unit Is the hardware-software unit handling all the machine functions. It is connected to

the front panel and to the machine tool.

Is connected to developments or circumstances which can make damages to the system, to the equipments or to the operators.

Is connected to the information that it is necessary take in consideration in order to avoid damages to the equipment in general.

Is connected to the operations that it is necessary to execute carefully in order to assure the full success of the application.

10 Series CNC - AMP Software Characterization Manual (05) 3

Preface

10 Series CNC - AMP Software Characterization Manual

END OF PREFACE

4 10 Series CNC - AMP Software Characterization Manual (05)

10 Series - AMP CNC Software Characterization Manual

INDEX

GENERAL CONCEPTS

SYSTEM ARCHITECTURE................................................................................... 1-1

CLASSIFICATION OF THE MACHINE AXES .........................................................1-3

SERVO LOOP..................................................................................................... 1-4

Position tolerance....................................................................................... 1-5

Dead zone................................................................................................. 1-6

Travel limits................................................................................................ 1-6

Homing cycle .............................................................................................1-7

Manual/automatic switch search.................................................................. 1-9

Miscellaneous axis parameters ....................................................................1-10

Operating limits ..........................................................................................1-12

Measuring cycle .........................................................................................1-12

Coordinate display modes ........................................................................... 1-12

SPLIT AXES....................................................................................................... 1-13

DUAL AXES ........................................................................................................1-15

AXES WITH ROLLOVER..................................................................................... 1-16

DIAMETER AXES................................................................................................ 1-17

AUXILIARY AXES ............................................................................................... 1-18

SPINDLE AXIS ................................................................................................... 1-19

Spindle axis with gears ............................................................................... 1-19

Spindle axis ramp....................................................................................... 1-20

Spindle with trasducer................................................................................. 1-21

Spindle orientation ......................................................................................1-21

Shared Spindle........................................................................................... 1-22

HANDWHEEL...................................................................................................... 1-23

PART PROGRAM-LOGIC INTERFACE ................................................................. 1-24

Synchronous mode..................................................................................... 1-24

Asynchronous mode ...................................................................................1-24

Language expansion ...................................................................................1-24

PSEUDO AXES................................................................................................... 1-25

VIRTUAL AXES .................................................................................................. 1-25

USER INTERFACE .............................................................................................. 1-25

Logic display ..............................................................................................1-25

OEM softkey ..............................................................................................1-25

VARIABLE SERVO ERROR ................................................................................. 1-26

Index

10 Series CNC - AMP Software Characterization Manual (10) i

Index

10 Series CNC - AMP Software Characterization Manual

AMP

SOFTKEY........................................................................................................... 2-1

AMP main menu ........................................................................................ 2-2

Help.......................................................................................................... 2-3

Activate..................................................................................................... 2-4

Select ....................................................................................................... 2-4

Characterization menu softkeys ...................................................................2-5

Operativity notes ........................................................................................ 2-7

Data Entry Storage .....................................................................................2-7

ENTER/EXIT THE CHARACTERIZATION............................................................... 2-8

Edit Comment............................................................................................ 2-10

Backup...................................................................................................... 2-10

Delete....................................................................................................... 2-11

Print.......................................................................................................... 2-11

AMP print utility error messages.................................................................. 2-18

GLOBAL PARAMETERS CONFIGURATION

HARDWARE (10/310, 10/110 AND 10/510 SYSTEM)............................................. 3-2

HARDWARE (10/565 and 10/585 SYSTEMS)........................................................ 3-5

GENERAL INFORMATION................................................................................... 3-8

LOGIC CONFIGURATION ....................................................................................3-10

Boolean Variables ...................................................................................... 3-10

Boolean Var (Variabili boolean).................................................................... 3-10

Short Variables .......................................................................................... 3-12

Double Variables ........................................................................................ 3-14

Auxiliary Axis General Information................................................................ 3-16

Select Auxiliary.......................................................................................... 3-18

Auxiliary Axis Characterization.................................................................. 3-19

Notes on characterization of digital drivers .................................................... 3-31

Physical Conn............................................................................................ 3-32

Axis Calibr .................................................................................................3-34

OPTIONS ........................................................................................................... 3-36

DOS Real-time ...........................................................................................3-37

END User Dos ........................................................................................... 3-38

DOS Graphics............................................................................................ 3-39

PROCESS CONFIGURATION

SELECT PROCESS .............................................................................................4-2

PROCESS CONFIG............................................................................................. 4-3

Proc Char.................................................................................................. 4-3

Proc Variables ........................................................................................... 4-9

Progr Char................................................................................................. 4-13

M Codes ....................................................................................................4-16

G Codes.................................................................................................... 4-20

GTL (Geometrical Technological Language) ................................................. 4-23

Virtual Axes............................................................................................... 4-25

E Parameters .............................................................................................4-27

User Variables ........................................................................................... 4-28

ii 10 Series CNC - AMP Software Characterization Manual (10)

10 Series CNC - AMP Software Characterization Manual

AXIS CONFIGURATION

AXIS CONFIGURATION ...................................................................................... 5-1

Axis General Information............................................................................. 5-2

Pseudo Axes ............................................................................................. 5-5

Spindle...................................................................................................... 5-6

Notes on the characterization of digital drivers............................................... 5-14

Probing...................................................................................................... 5-15

Select Axis ................................................................................................5-17

Axis Characterization.................................................................................. 5-18

Notes on the characterization of digital drivers............................................... 5-32

Axis Charact (Slave axis selected with "Select Axis")................................... 5-33

Axis Calibration ..........................................................................................5-34

Physical Connection ...................................................................................5-37

HUMAN INTERFACE CONFIGURATION

HUMAN INTERFACE ........................................................................................... 6-1

H.I. Gen Info............................................................................................... 6-2

Add Scr Config ...........................................................................................6-5

Process Screen ......................................................................................... 6-7

Select Menu .............................................................................................. 6-8

OEM SK Config.......................................................................................... 6-10

Select DE.................................................................................................. 6-13

DE Config.................................................................................................. 6-15

PPDIR Config .............................................................................................6-18

Index

THE SERVO MONITOR

USING THE SERVO MONITOR............................................................................ 7-2

ENABLING THE SERVO MONITOR ......................................................................7-3

CHANGE PARAM................................................................................................ 7-4

DEFAULT VALUES.................................................................................... 7-4

ALTERING A VALUE.................................................................................. 7-4

Null Offset ..................................................................................................7-5

Tolerance................................................................................................... 7-6

Dead Zone................................................................................................. 7-8

Backlash ...................................................................................................7-9

KC KV VFF ............................................................................................... 7-10

Servo Error................................................................................................. 7-12

Feed/Acc/Jrk ............................................................................................. 7-13

Spindle...................................................................................................... 7-15

Operative Limits ......................................................................................... 7-18

Split Param................................................................................................ 7-19

Broken wire................................................................................................ 7-21

CONFIGURING THE OSCILLOSCOPE................................................................. 7-22

Config. oscill.............................................................................................. 7-22

Feedrate on the profile ................................................................................ 7-24

Feed calculated (single axis) .......................................................................7-26

Following error (single axis) .........................................................................7-28

Feed and error on same axis....................................................................... 7-30

10 Series CNC - AMP Software Characterization Manual (10) iii

Index

10 Series CNC - AMP Software Characterization Manual

CONTINUOUS MODE.......................................................................................... 7-31

TRIGGER MODE................................................................................................. 7-31

DATA DISPLAY MODES ......................................................................................7-31

ANALYZING THE DATA (EXAME)......................................................................... 7-34

Main menu and graphics............................................................................. 7-34

Zoom......................................................................................................... 7-35

Time Enlarge.............................................................................................. 7-35

Dimension ................................................................................................. 7-35

Check ....................................................................................................... 7-36

Save ASCII ................................................................................................ 7-36

SAVING AND RESTORING DATA........................................................................ 7-37

Save.......................................................................................................... 7-37

Restore ..................................................................................................... 7-38

ERROR MESSAGES ............................................................................................7-39

DSI SERVICE CHANNEL

SETUP ............................................................................................................... 8-2

DESCRIPTION.................................................................................................... 8-3

SAVE ALL.......................................................................................................... 8-4

Format and syntax of the configuration file.................................................... 8-5

LOAD................................................................................................................. 8-8

SELECT AXIS .....................................................................................................8-12

READ BLOCK..................................................................................................... 8-14

WRITE DATA ......................................................................................................8-16

COMMAND......................................................................................................... 8-17

SAVE AX INFO................................................................................................... 8-18

show load log ....................................................................................................8-19

LOADING DSI DRIVErs PARAMETERS ................................................................ 8-20

Usage Mode .............................................................................................. 8-20

Application notes ........................................................................................8-21

Error messages.................................................................................................. 8-22

EMERGENCY DIAGNOSTIC

EmergenCY START ............................................................................................9-1

EMERGENCY DIAGNOSTIC Screen Softkeys.............................................. 9-2

TABLE RESET UTILITY....................................................................................... 9-4

Reset Request........................................................................................... 9-5

Select Tables............................................................................................. 9-6

Delete Tables............................................................................................. 9-7

LANGUAGE MANAGEMENT UTILITY................................................................... 9-10

Activate..................................................................................................... 9-13

Create....................................................................................................... 9-15

Delete....................................................................................................... 9-17

Text Handler .............................................................................................. 9-18

Text Types .................................................................................................9-19

Compare.................................................................................................... 9-21

Update...................................................................................................... 9-23

Show diff.................................................................................................... 9-24

Modify ....................................................................................................... 9-25

EDITOR FOR MODIFYING TEXT FILES ................................................................9-26

iv 10 Series CNC - AMP Software Characterization Manual (10)

10 Series CNC - AMP Software Characterization Manual

SoftkeyS of the editor FOR CONFIGURATION File MODIFICATION .................... 9-29

DELETE .................................................................................................... 9-29

INSERT..................................................................................................... 9-29

MODIFY.................................................................................................... 9-30

SK MODIFY............................................................................................... 9-31

DE MODIFY............................................................................................... 9-33

HELP MODIFY........................................................................................... 9-34

ERR MODIFY ............................................................................................ 9-36

ERROR ATTRIB ......................................................................................... 9-37

VIEW........................................................................................................ 9-38

BACKUP ................................................................................................... 9-39

RESTORE ................................................................................................. 9-40

EXIT.......................................................................................................... 9-41

OFF-LINE version of language utility................................................................. 9-42

GENERAL EXEC FILE COMPILING UTILITY......................................................... 9-44

DSI REBOOT CONFIGURATION.......................................................................... 9-47

CFG DSI Setup.......................................................................................... 9-48

DATA RESTORE................................................................................................. 9-49

error MESSAGES ............................................................................................... 9-50

Reset Tables Utility .................................................................................... 9-50

Utility Languages ........................................................................................9-52

Utility Compiler........................................................................................... 9-58

Utility DSI Reboot Configuration................................................................... 9-60

Index

AMP - ERROR MESSAGES

Message Description And Recovery Action........................................................ A-1

GENERATION OF HELP FILES FOR OEM SOFTKEYS

HELP file - menu association....................................................................... B-1

AXIS CALIBRATION FROM FILE

General ............................................................................................................. C-1

File Format ................................................................................................ C-2

Error conditions and messages ....................................................................C-3

10 Series CNC - AMP Software Characterization Manual (10) v

Index

10 Series CNC - AMP Software Characterization Manual

END OF INDEX

vi 10 Series CNC - AMP Software Characterization Manual (10)

Chapter

GENERAL CONCEPTS

This chapter provides a glossary of the terms used in the present AMP Configuration Guide. For users who are not familiar with NC technology it may serve as an introduction to the philosophy underlying system operation. Users with extensive NC experience can use it as a source of lexical reference. Special attention has been devoted to the classification of the axes and to the description of the characteristics of the various types.

Users already familiar with numeric control machines may use this chapter as a terminology reference.

SYSTEM ARCHITECTURE

The architecture of 10 Series CNC can be broken down into four partitions, each of which controls a specific set of features.

10 Series CNC - AMP Software Characterization Manual (10) 1-1

Chapter 1

General Concepts

HARD

DISK UNIT

UTILITIES

OPERATOR PA NEL

COMMUNICATIONS

OPERATING SY STEM

INTER-PROCESS COMMUNICATIONS

PROCESS

I/O

INTERFACE

FLOPPY

DISK UNIT

HUMAN

INTERFACE

The major function of each partition is as follows: Numerical Control Includes the part program interpreter, the axes interpolator and the process

manager for machining centers.

Utilities I ncludes a series of text-only and graphics packages that can be used by

the end user, the OEM or the technical assistance.

I/O Interface Controls the execution of the machine tool/control interface code that has

been developed by the OEM.

Human Interface Controls all the data input and display operations and the man/machine

interface.

1-2 10 Series CNC - AMP Software Characterization Manual (10)

Chapter 1

General Concepts

CLASSIFICATION OF THE MACHINE AXES

10 Series CNC can control the following types of axes: Coordinated axes These are physical axes that move in coordination with each other.

Each 10 Series CNC AMP process can move 6 simultaneous axes and up to 9 coordinated axes.

Auxiliary axes

Spindle axis

The axes can also be classified according to the type of move that they must carry out:

linear axis

rotary axis

split axis

dual axis

diameter axis

These are physical axes that are not requested to move in coordination with each other.

This is the tool-holder spindle. 10 Series CNC can associate one spindle with each process.

It is an axis moving on a rectilinear trajectory It is a coordinated axis programmable in degrees. It is a physical axis coupled to a pair of motors for synchronized

motion. It is an axis whose moves are dependent on the moves of the master

axis to which it is coupled. It is a coordinated axis that must be programmed and displayed with a

2 coefficient.

10 Series CNC - AMP Software Characterization Manual (10) 1-3

Chapter 1

General Concepts

SERVO LOOP

10 Series CNC permits to define the algorithms that are used for servo loop control of each axis. Such algorithms are based on three configurable constants, Kc, Kv and Kcs. 10 Series CNC uses these constants in the following formula:

= (Le * Kv + Vff) * Kc

out

Where:

Vout

Vff

The units of measure for the constants are: Le [mm], Kv [1/s], Vff [mm/s] (Le * Kv + Vff) represents a velocity. Therefore, Kc is a velocity-to-voltage conversion factor .

The control applies the following internal formula:

Where:

Le'

Vff

output voltage

lagging error

servo loop gain

velocity feed forward

out

is the lagging error expressed in "encoder pulses" is a function of the interpolation clock

is the voltage output by the Digital/Analog converter is the variance between the programmed axis

position requested by the control and the actual position measured by the position transducer

is the position loop gain is a velocity value that is proportional to the

programmed axis feedrate.

= Le' * K + Vff * Kc

K and Kc are calculated using parameters established in the system configuration. The formulas are:

1-4 10 Series CNC - AMP Software Characterization Manual (10)

is the result of multiplying Kc by Kv

Kc =

K =

Vm*60

60000

Cki

8192

* (Kv * 16.66666666...)

For the spindle, the formula is:

Vm Fm

8192

Kcs =

Where:

Vm = maximum voltage Fm = maximum velocity Pm = mechanical pitch

Pe = electrical pitch Cki = interpolator clock [ms]

8192 is the number of possible output levels for the D/A converter 10 is the maximum positive or negative voltage output of the D/A converter 60000 is the minute-to-millisecond conversion factor.

Chapter 1

General Concepts

Position tolerance

The position tolerance is the threshold within which the axis must position at motion end. If the axis is out of tolerance, the move is not considered terminated.

When a move ends, if the position control is active, the system checks that all the axes are in the programmed position and that their lagging error (Le) is smaller than the threshold configured in the "in position band" field.

To enhance the positioning accuracy, the "in position band" threshold must remain active during an interval specified in the "in position window" field. If it does not, or if the positioning error is out of tolerance after the interval specified in the "in position time-out", the system generates an emergency condition.

lagging error

in position band

in position window

in position time-out

10 Series CNC - AMP Software Characterization Manual (10) 1-5

Chapter 1

General Concepts

Dead zone

It is the threshold within which the D/A reference voltage output remains to zero irrespective of the position error.

The dead zone must be smaller than the position tolerance.

Travel limits

Each axis moves within the limits of an operating field, which is a function of the characteristics of the machine and can be established by means of physical and/or calculation devices which protect the axis from erroneous operation or loss of control.

ov er trave l+ opera tin g lim itend o f tra v e l -

overtrav el -

The axis travel limits may be controlled by:

• positive/negative end of travel microswitches

• positive/negative operating limits

end of travel+

opera ting lim it+

zero microswitch

NOTE:

In many applications zero microswitch can be coincident with end of travel.

1-6 10 Series CNC - AMP Software Characterization Manual (10)

Chapter 1

General Concepts

The microswitches start operating as soon as the machine is switched on whereas the operating limits, which are based on the axes positions, start operating only after the axes have been homed.

The overtravel microswitches are normally connected directly to the power circuitry of the axes. In order to enable the travel microswitches that are connected to the I/O board they must be managed

by the logic. Operating limits are managed directly by the control. While the control executes a special cycle,

such as tool or pallet change, the operating limits can be disabled or modified by the logic to allow displacements beyond the limits. Operating limits must be disabled/modified with standstill axes.

Homing cycle

Each time the system is switched on it is necessary to execute a homing cycle, i.e. to move the axes to the microswitch that is considered as the machine zero. The aim of this operation is to reset the internal counters that measure the axes positions. Axes home microswitch inputs are managed by the foreground logic, whose status can be read in status words SW03 and SW04 (refer to the "PLUS Application Manual").

This cycle is defined as home cycle.

I/O C AR D

FOREGROUND

I/O RIN G MODU LE

optical fiber

Ixx

The status of signals SW3 and SW4 must be interpreted as follows:

1= microswitch released 0= microswitch closed

10 Series CNC - AMP Software Characterization Manual (10) 1-7

Chapter 1

General Concepts

To invert this operation mode it is necessary to write the NOT operator in the logic equations. The homing cycle makes all the requests and signal controls that permit to refer the machine zero to the initial time.

A homing cycle can be broken down into four main steps:

1. Zero switch search

During this step the axis makes a linear displacement in search of the zero microswitch. As the contact with the microswitch occurs, the axis decelerates until it comes to a complete stop.

2. Zero switch release

n this step the axis reverts the direction of motion and moves until the zero microswitch is released. The return velocity is equal to the configured "home position feed" and cannot be altered by the "feed override".

3. Electric zero search

This step starts when the microswitch is released. The system waits for the electrical zero (i.e. marker ) to be read and then stops the axis.

4. Return to electric zero

After the system has acquired the coordinates in which the electrical zero was read, the axis is returned to the zero position.

If at cycle start the microswitch is already closed, the system will carry out only the last three steps. If the axis is configured with an optical linear scale, the microswitch is assumed to be missing and 1only the last two steps will be carried out: in this case the electrical zero switch search speed will be the one used in manual mode. The homing cycle will be interrupted if the system is reset or put on hold. To resume the cycle a CYCLE START command must be given.

1-8 10 Series CNC - AMP Software Characterization Manual (10)

F +

" h o m e l i m it s w it c h r e l e a s e d " d e t e c t e d b y P .L . U . S . a n d

" h o m e li m i t s w it c h p r e s s e d " d e t e c t e d b y P . L .U . S . a n d n o t i f i e d t o t h e s y s t e m

" m a nua l fe ed " - "m anu al" feed

n o ti f i e d t o t h e s y s t e m

m a rk er

"h om e fe ed"

AX IS H O M E D w /o nu ll offs e t

+ "m anu al" f eed

Chapter 1

General Concepts

A X IS H O M E D w ith nu ll offs e t

F -

Manual/automatic switch search

The switch search can be carried out manually or automatically. The "homing cycle type" field permits to define the switch search mode to be used in the homing cycle for each process.

Manual switch search

The characteristics of the manual switch search cycle to be carried out by the process axes are as follows:

1. prior to starting the cycle the operator must check that the selected direction of motion is compatible with the configured direction.

2. during the first step, i.e. while the axes are moving towards the microswitch, the operator must not release the CYCLE START pushbutton. If the command is to be sent by the logic, this means that no CYCLE STOP command must be given.

3. after the microswitch has been found the homing cycle will be completed even if the CYCLE START pushbutton is released and unless a RESET or HOLD command is given.

Automatic switch search

The characteristics of the automatic switch search cycle are:

1. the direction of motion is automatically selected by the control.

2. after the homing cycle has been launched, the operator can release the CYCLE START pushbutton. The cycle will be completed unless a RESET or HOLD command is given.

10 Series CNC - AMP Software Characterization Manual (10) 1-9

Chapter 1

General Concepts

Miscellaneous axis parameters

10 Series CNC also allows characterization of the following axis parameters:

1. null offset

2. home position

corrects the position of the zero microswitch defines a machine zero that is independent from both the physical

position of the zero microswitch and the actual axes displacement.

c (machine zero)

b (theoretical ho me switch )

a (physical home switch)

The positions shown in the figure are as follows: a) physical position of the zero microswitch

b) theoretical position of the zero microswitch

home positio

null offset

c) machine zero referred to the theoretical machine zero with respect to which all the other axis

position parameters are defined.

The examples that follow show how to use these parameters: correct microswitch position machine zero on the zero microswitch

a=b=c

absolute position

transducer

plane

physical ho me switch

0 0

theoretical

machine zero

null offset = 0 home position = 0

100

1-10 10 Series CNC - AMP Software Characterization Manual (10)

Chapter 1

General Concepts

microswitch position error machine zero on the microswitch

absolute position

transducer

plane

a=c

-5 0

null offset

physical home switch theoretical

machin e zero

no microswitch position error offset between machine zero and physical microswitch

a=b

absolute position

transducer

-100

null offset = +5 home position = 0

100

+1055

null offset = 0 home position = +100

100

plane

home position

physical home switch

theoretical

microswitch position error offset between the machine zero and the zero microswitch

theoretical

absolute position

transducer

plane

a c

-105 -100

null offset

physical ho me switch

machine ze ro

null offset = +5 home position = +100

+10550

home position

machine zero

10 Series CNC - AMP Software Characterization Manual (10) 1-11

Chapter 1

General Concepts

Operating limits

The operating limits are defined with respect to the machine zero (c) in the AMP.

Measuring cycle

The coordinates read by the axes boards are referred to the machine zero (c).

Coordinate display modes

10 Series CNC permits the display of the following axis coordinates:

Absolute coordinates

Machine coordinates

Work coordinates

Distance to go

Error

The example that follows illustrates an axes calibration sequence.

1. Set the "null offset" and "home position" fields in the AMP to zero.

2. Key in the corrections to the geometrical errors in the AMP. This corrections are based on the mecahnical distances to the physical microswitch.

3. Switch off and reboot the control.

4. Home the axis.

5. Move the axis to the position in which the zero microswitch should have been wired.

6. With the axis in this position read the "absolute position" coordinate.

7. Write this value in the "null offset" AMP field for the axis in object.

referred to the machine zero (c) referred to the machine zero (c) and including the origins programmed coordinates difference between programmed and machine coordinates difference between interpolated and real coordinates

8. If the home position is to be established on a value other than zero, write this value in the "home position" AMP field for the axis in object.

9. Switch off and reboot the control.

10. From this point, all the machine coordinates are measured with respect to the "machine zero".

11. If necessary, define the operating limits in the AMP. These limits are always referred to the "machine zero".

1-12 10 Series CNC - AMP Software Characterization Manual (10)

Chapter 1

General Concepts

SPLIT AXES

A split axis (gantry) is a physical axis coupled to a pair of motors or drives. Split axes are typical of large machines and of machines with special mechanical requirements, such as

From the User's standpoint, a split axis is seen as one single axis configured as a Master.

Servo motor 1

Axis

Servo motor 2

The parameters that configure a split axis are: SKEW It is the maximum acceptable disalignment between two physical axes. Two

maximum values are configured: the first one (Max Skew Error) is used both during movement for non referred axes and during the marker search; the second (Skew Error) is used for all other movements for referred axes and after the marker search.

When the current skew error exceeds the configured value, an emergency condition (Skew Error) occurs.

SKEW GAIN permits to specify the skew compensation value.

SKEW

When the split axis is enabled, the system calculates at each sampling the lagging errors of the master (Lem = Lagging Error Master) and the slave (Les = Lagging Error Slave).

The misalignement (SKEW) can be calculated as follows:

SKEW = Lem - Les

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Chapter 1

General Concepts

The result of multiplying the SKEW value by the SKEW GAIN can be used for calculating new lagging errors with the folllowing formulas:

Lem' = Lem + (Skew Gain * (Skew/2 ) )

Les' = Les - (Skew Gain * (Skew/2) )

If these new lagging errors are multiplied by a K constant, the resulting voltages on the D/A converter represent positive and negative skew compensations to be applied to the master and the slave.

Such compensation tends to re-align the axes correctly. In case of emergencies (servo, error, skew error ...) and of all operations generating disabling and

abling of a couple of split axes, it is necessary to refer the axes again in order to ensure correct application of configured null offset and home position parameters and recuperate the misalignment between the two physical axes that the activation/deactivation condition may have generated.

The figure illustrates how the wiring and/or the mechanical orientation permit to shift the counting direction of the position transducer or the rotation of the motor between the master and the slave. (T=transducer, M=motor)

MASTER

SLAVE

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DUAL AXES

Dual axes are two or more axes that follow an identical trajectory. A typical application of this feature are multiple heads and multi-spindles.

Axis 1

Axis 2

Servo motor 1

Servo motor 2

With dual axes, only the programming of the master axis is mandatory. The master-slave association must be defined by the program (refer to the UDA instruction in the

Programming Guide).

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Chapter 1

General Concepts

AXES WITH ROLLOVER

The axes with rollover are linear or rotary axes whose position is controlled by the system within a range from zero to the value configured in the "Rollover pitch" field.

The sign of the quote programmed for the axis with rollover indicates the rotation direction:

• positive, rotation is in a clockwise direction

• negative, rotation is in an anticlockwise direction.

Examples:

270

180

CLOCKWISE

ROTATION

359.999

ANTICLOCKWISE

ROTATION

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DIAMETER AXES

Diameter axes are coordinated axes that must be programmed and displayed with a 2 coefficient.

Example:

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Chapter 1

General Concepts

AUXILIARY AXES

Auxiliary axes are interpolated axes that are managed directly by the machine logic. This feature permits to control those axes that do not take part in the machining process but support

auxiliary functions such as tool change chains, part change gates, etc. 10 Series CNC can control up to 6 simultaneous auxiliary axes coordinated with one another. Auxiliary axes remain independent from machining axes and work in parallel with the machine tool

activities.

Example:

STEP POCKET

Step = Distance between two pockets Pocket = Generic position of a tool in the tool magazine.

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SPINDLE AXIS

The spindle axis is the axis on which the tool is mounted during the machining cycle. It may correspond to one of the machine axes.

SPINDLE

Chapter 1

General Concepts

Spindle axis with gears

Gears are speed reduction devices that can be installed between the motor and the spindle. They enhance the motor performance by allowing to reach a high torque at medium and low speeds.

10 Series CNC MC can control spindles with as many as four different gears. Prior to enabling a range it is necessary to configure the corresponding conversion factor between the

maximum voltage applied to the servo drive and the spindle velocity in rpm. It is also possible to configure various "servo loop gain" values for each gear used by the spindle with

transducer during spindle orientation. The parameters that configure this feature are:

• "Voltage for max RPM gear n"

• "Max speed for gear n".

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Chapter 1

General Concepts

Spindle axis ramp

10 Series CNC permits to configure whether the converter voltage is to vary uniformly (i.e. follow a variation ramp) or make a step when the programmed rotation speed varies.

In spindle drives this control is carried out by an input compensation net. By using the potentialities of the control unit and disactivating the compensation network it is

possible to optimize spindle functionality, mainly for threading cycles and orienting.

Examples:

Spindle axis without ramp.

Volt

+7.5

-7.5

Spindle axis with ramp.

Volt

+7.5

-7.5

To establish a ramp it is necessary to configure the "reversal time", i.e. the time employed by the spindle for switching from the maximum clockwise rotation speed to the maximum counter clockwise rotation speed with the gear that allows the lowest voltage/speed ratio. Such gear must also be configured.

If the ramp is not configured, these parameters must nevertheless be specified because they are used during tapping and boring canned cycles.

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Spindle with trasducer

The position transducer has two basic applications:

1. execution of threading and tapping cycles

2. spindle orientation to a defined position.

Spindle orientation

With 10 Series CNC spindle orientation is made possible by the $SORIENT machine logic function. To compensate the offset between the transducer electrical zero and the spindle physical zero it is

possible to define an "Offset for spindle orientation" in the AMP. The orientation cycle is carried out in interpolated mode and requires definition of the following

additional parameters to define the execution type.

Speed for Spindle Orientation

This parameter defines the threshold of speed below that the control enables spindle positioning. If the orientation request is made when the spindle rotates at a higher speed, the system will take the

spindle to a lower speed before enabling the positioning cycle.

Acceleration for Orientation

This parameter specifies the spindle acceleration during orientation. Since the gears and the loads affect the spindle response, it is advisable to assign to this parameter

a value smaller than the result of the following calculation:

where: VM Is the "Voltage for max RPM" defined for the gear used for setting the "Spindle

reversal time".

TR Is the "Spindle reversal time".

TR*0.5

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Chapter 1

General Concepts

Shared Spindle

The spindle can be shared among several processes i.e. it can be declared in a “master” process (Spindle field = Yes) and can be used by other processes simultaneously or not (Spindle field = Shared).

The spindle has to be declared with the same identifier in all processes which can use it, whereas the spindle's characterization parameters (Spindle section) need only be declared for the master process.

In order to use the functions associated with the Spindle (the S functions) in a process on programming level, the spindle has to be programmed in the process.

The management of the spindle's sharing among several processes is handled by the machine logic which has to accept the programming of the spindle in a process if it is already controlled by another process.

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HANDWHEEL

The handwheel is a position transducer connected to one of the encoder inputs of the axes board. It permits to move an axis by a distance that is proportional to the angle variation of the transducer position.

To ensure maximum accuracy, it must comply with the following requirements:

1. The axis to be moved must be a configured axis.

2. The axis and the handwheel must be configured on the same board.

3. The handwheel encoder input must not be associated to any other configured axis.

4. The axis associated to the handwheel must be in idle status, i.e. it cannot be in motion.

5. If the handwheel is active it is not possible to carry out axis motion and axis enable/disable operations directly on the axis.

6. Scale factor, representing the correspondence between handwheel impulses and distance to be covered by the axis, must be chosen correctly.

Scale factor in fact, must have a value sufficient to grant the axis a jumpless movement even when

the handwheel is moved very fast.

For ex.: if the scale factor is very high therefore, if each minimum movement of the handwheel

corresponds to a great axis movement, the axis itself could not be able to execute that movement correctly.

A SERVO ERROR may be generated in this situation. Modification of the configured servo error value might be necessary in order to

optimize the hamdweel's function (see "POSITION ERROR WITHOUT VFF" description in chapter 5 of this manual)

ENABLE/DISABLE of handwheel is prompted through logic functions (See PLUS Library Manual)

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Chapter 1

General Concepts

PART PROGRAM-LOGIC INTERFACE

The dialogue between the part program and the machine logic can be synchronous or asynchronous.

Synchronous mode

In this mode the part program makes a series of requests that must be acknowledged before execution. These functions include:

• motion start/end M functions

• spindle S functions

• tool T functions

• pseudo axes

T and S follow predefined rules, whereas M functions are configurable and can be adapted to more specific requirements (refer to Chapter 4, Section "M Codes").

Asynchronous mode

This mode exploits the possibility to render a series of machine logic variables visible to the part program. In the system configuration (see Chapter 3, Section "Logic Configuration") each variable must be associated to a mnemonics (which will be used by the part program) and to an optional initialization value. These variables do not lose their contents when the system is switched off.

Language expansion

Logic global variables make it possible for the part program to acquire information that is not directly accessible.

For example, the part program can learn the axis position by using an M function in order to command the PLUS logic to carry out the acquisition, write the result in a shared variable (GW or GD) and eventually authorize the part program to resume execution.

M100 (M to request the position of the W axis) @ COORD_W variable shared with PLUS

Part program:

N001 M3 X123.4 Y321.5 M100 N002 E10=@COORDINATE_W N003 Y(E10/2)

The logic can use global variables also as preset values or as non-volatile memory. To render these variables inaccessible to the part program they must not be associated to a mnemonics.

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PSEUDO AXES

Pseudo axes are written in the program without being associated to actual system axes. They are used for requesting the machine logic to execute specific functions. They have the same functionality of the PRELUDE M function.

Among the typical pseudo axes functions are: regulation of the water jet, management of secondary spindles, etc.

VIRTUAL AXES

They are used to define some functionalities in AMP like axes virtualization. The only parameter to be configured is the Axis ID. They don't have neither name nor characteristics.

USER INTERFACE

10 Series CNC provides a series of predefined video pages that can be enlarged to occupy the full screen or reduced to quadrants that display information about one topic. The size and contents of the video pages and the sequence in which they are displayed can be configured in the AMP (refer to the "Human Interface" chapter in this manual).

Logic display

With the $WSCREEN PLUS function it is possible to write alphanumeric and or semigraphic color characters in the display areas reserved for the machine logic.

The machine logic can also be used for developing those texts that vary through system operation. The SYNOPTIC EDITOR utility, that is also available in the PLUS environment (see Plus User manual), permits the predefinition for each screen of graphics that will be loaded at system bootstrap.

OEM softkey

The dialogue between the operator and the machine can be facilitated by creating a tree of softkey menus. The meaning of each softkey is application specific and can be established by the machine logic.

The softkeys are the tools that permit to give a command, i.e. enable a given machine logic area. Within each area it is therefore necessary to establish the procedures for command recognition and execution. In some cases, activation of the softkey must be accompanied by a data input.

The interactions between the system and the operator can be developed by composing the video screens that will be under machine logic control. Such screens prompt the operator to select a course of action by means of the OEM softkeys and/or to input additional bits of information.

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Chapter 1

General Concepts

VARIABLE SERVO ERROR

The “Variable Servo Error” feature consists in a new logic control of the Servo Error during axis moves. Usually the Servo Error is taken as absolute (i.e. it is directly compared with the axis tracking error).

This new feature allows to consider the Servo Error as an additional element to be added to the theoretical tracking error, the axis is accumulating during its move based on the programmed parameters (speed, gain, active or inactive VFF and VFF%).

During the move the algorithm calculates the theoretical axis error (based on its instantaneous speed) to which it adds the configured delta plus the error accumulated during the delay due to the positioning loop. Then this sum is compared to the tracking error.

The error accumulated during the feedback delay is calculated on the basis of the rapid acceleration and is equal to:

Epsi_delay = rapid acc / (kv * 16.6666)²

Here 'rapid acc' and 'kv' are in the measurement units of the AMP. THIS SUM IS ONLY CALCULATED ONCE AT START-UP AND NOT

CHANGED THEREAFTER.

In order to enable this feature you have to set the value of the movement Servo Error without VFF so that it is smaller than the theoretical error calculated with maximum speed (the “Maximum Feed” field in AMP) with VFF at zero. Once enabled, the algorithm becomes active for moves with as well as without VFF and takes the delta value from the pertinent configured Servo Errors.

The algorithm becomes active at the start of a move if a comparison shows that the Servo Error value is smaller than the theoretical maximum (which is calculated only once at start-up on the basis of the data configured in AMP). If this condition is not met, the algorithm does not start and the Servo Error is taken as an absolute value in the usual manner.

The algorithm does not become active if a VFF% equal to zero has been configured. If you want to enable it on an axis which moves with the predefined error only, you have to enter a value different from zero into the VFF% field.

The algorithm does not become active, when a VFF value equal to 100% has been configured on the axis during a VFF move (the theoretical error is then zero, therefore the value of the configured Servo Error is directly applied).

For Split axes the feature only works on the master axis. The feature is not enabled for spindle type axes, axes with digital interface and with the Electronic

Cam feature. Change of parameters by the Servo Monitor may change the Servo Error application algorithm.

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Example 1 :

maximum feed = 4000 mm/min acceleration = 300 mm/sec² Servo Loop gain = 1 Position Error with VFF = 5 mm Position Error without VFF = 5 mm VFF% = 100

The theoretical error for comparison at maximum feed without VFF results as 4 mm. Given that the “Position Error without VFF” is set to 5, the algorithm is not enabled and Servo Error

emergency is triggered, when the error exceeds 5 mm.

Example 2 :

maximum feed = 4000 mm/min acceleration = 300 mm/sec² Servo Loop gain = 1 Position Error with VFF = 1.5 mm Position Error without VFF = 2.5 mm VFF% = 100

As in the previous example the theoretical error is 4 mm. For moves with VFF the “Position Error without VFF” is set to 1.5, but the algorithm is not enabled,

because VFF is equal to 100%. Hence Servo Error emergency is triggered when the error exceeds

1.5 mm.

For moves without VFF the “Position Error without VFF” is set to 2.5 (i.e. smaller than 4). Therefore the algorithm is enabled and the error delta is 2.5 plus the delay equal to 300 / (16.666)² = 3.58. If the current feed is 2000 mm/min, Servo Error emergency is triggered when the error exceeds 2 + 3.58 =

5.58 mm.

Example 3 :

maximum feed = 4000 mm/min acceleration = 300 mm/sec² Servo Loop gain = 1 Position Error with VFF = 1.5 Position Error without VFF = 2.5 VFF% = 50

As before the theoretical error for comparison is 4 mm.

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General Concepts

For moves with VFF the error delta with VFF is 1.5. Assuming a feed of 2000 mm/min is programmed, the theoretical error is 1 mm (as the current feed will be with VFF at 50%). Therefore the Servo Error emergency triggers when the error exceeds 1 + 1.5 + 300 / (16.666)² = 3.58 mm.

For moves without VFF the error delta is 2.5. With a feed of 3000 mm/min the Servo Error emergency triggers when the error exceeds 3 + 2.5 +1.08 = 6.58 mm.

END OF CHAPTER

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Chapter

AMP

AMP (Adjustable Machine Parameters) is one of the utilities installed in the OEM Utility partition of the system. AMP allows the user to set the parameters that define the various processes to be run by the machining centre.

To enter the AMP utility, press the softkey UTILITY in the general 10 Series CNC screen.

HELP

OEM SOFTKEYS

UTILITY

10 Series CNC general screen

AMP utility selection

AMP

Access to the AMP utility is also possible with the system in emergency, i.e. by holding down key

[F1].

SOFTKEY

There are seven softkeys to handle the configuration environment: by pressing the right most softkey the operator can select the menu line that contains the desired

item with a loop cycle (the selected line is displayed in a different colours) the middle softkeys correspond to the items of the selected line. By pressing one of these softkeys,

the operator can access the desired data entry by pressing the left most softkey the operator can always return to the main menu.

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Chapter 2

AMP

AMP main menu

When AMP is activated, the first displayed menu is shown in the following picture:

date: dd/mm/yy

ACTIVATED AMP RUNNING AMP

time: hh:mm:ss

COMPILED

INFORMATION

BOX

CONFIGURATION

STATUS

Configuration

0 - 3

Adjust Machine Parameters

SELECTED AMP

3 0 0

-- A M P D I R E C T O R Y L I S T --

0 - DEFAULT 1 - DEFAULT 2 -

3 -

CURSOR

ACTIVATE SELECT

BACKUP

EDIT COMMENT

DELETE PRINT

SOFTKEYS

HELP

EXIT

AMP utility allows to manage 4 different configurations; this is very useful to switch from one configuration to another one.

The configurations are numbered from 0 to 3 and can associate a comment (that is displayed close the configuration number).

The desired configuration can be selected using the arrows keys:

The blue cursor will highlight the request configuration.

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AMP

INFORMATION BOXES

• Selected AMP

It is the selected configuration to be modified

• Activated AMP

It shows the configuration that will be used on the next power up.

• Running AMP

It shows the configuration that was used during the last (current) power up.

CONFIGURATION STATUS

• Y The AMP configuration has been compiled successfully

• N The AMP configuration has not been compiled or the compilation was not ended

successfully

• (Empty) The AMP directory is void.

CURSOR AND CONFIGURATION

• They highlight one of the 4 possible configurations.

SOFTKEYS

• They allows to activate the possible functions. They will be explained in detail in the following pages.

Help

At any moment during the AMP configuration, the user can display additional information about a certain parameter or sub menu by selecting the HELP softkey. This help text is displayed within a window on the right side of the screen and varies according to the context in which it has been activated: if the user has selected the HELP softkey when a menu is on the screen, the help text will contain information about that specific menu (data entries and associated parameters); if Help is activated when a data entry is on the screen, the help text will contain information about parameter values (range, restrictions, measuring, unit, etc.).

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Chapter 2

HARDWARE

LOGIC CONF

AMP

Activate

Activates the configuration (0-3) selected via the arrow keys and highlighted by the blue bar. The configuration number is displayed in the central information box. This configuration will be used by 10 Series CNC on the next power up.

Trying to activate a configuration that was not previously compiled, the error "AM155 AMP directory can not be activated: binary file does not exist" is generated.

To get information regarding the compilation, see also the section regarding the

SELECT softkey.

Select

Opens the characterization, this will be ended pushing the EXIT softkey. See also the "Enter/Exit the characterization" paragraph.

SELEC

first line

SELECT PROCESS

BACKUP

PROCESS CONFIG

AXIS CONFIG

AMP main menu

Characterization menu

OPTIONS

HUMAN INTERF

HELP

EXIT

third line

second line

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AMP

Characterization menu softkeys

The first line of the characterization menu included the following softkeys for global parameter configuration (chapter 3).

• HARDWARE data entry Hardware configuration of the system

• GENERAL INFO data entry General information for configuration

(measuring unit, number of configurable processes, logic

variables)

• LOGIC CONF sub menu (LOGIC CONFIGURATION)

• BOOLEAN VAR (Booleans variables)

• SHORT VAR (Short variables)

• DOUBLE VAR (Double variables)

• AUX GEN INFO (Auxiliary axes general information)

• SELECT AUX (Auxiliary axes selection)

• AUX CHARACT (Auxiliary axes characterization)

• PHYSICAL CONN (Physical connection)

• AXIS CALIBR (Axis calibration)

• Option sub-menu

• DOS REAL-TIME (Real-time DOS Interface)

• UND USER DOS (End User Dos utility)

• DOS GRAPHICS (DOS Graphic Utility Interface)

• HELP Help text

The second line includes the following softkeys associated to process related functions.

• SELECT PROCESS data entry (PROCESS SELECT)

It is meaningful for multi process systems only and allows to select the process to be configured. All the information that follows is related to the selected process.

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Chapter 2

AMP

• PROCESS CONFIG sub-menu (PROCESS CONFIGURATION)

• GTL (High level geometry)

• VIRTUAL AXES (Virtual axes)

• E PARAMETERS (E variables)

• USER VARIABLES (User variables)

• PRO CHAR (Process characterization)

• PROC VARIABLES (Process variables)

• PROGR CHAR (Program characteristics)

• M CODE (M code)

• G CODE (G code)

• AXIS CONFIG sub-menu (CO-ORDINATE AXES CONFIGURATION)

• AXES GEN INFO (Co-ordinate axes general information)

• PSEUDO AXES (Pseudo axes)

• SPINDLE (Spindle characterization)

• PROBING (Touch probe)

• SELECT AXIS (Axis selection)

• AXIS CHARACT (Axis characterization)

• AXIS CALIBR (Axis calibration)

• PHYSICAL CONN (Physical connection)

• HUMAN INTERF sub-menu (OPERATOR INTERFACE)

• HI GEN INFO (Operator interface general information)

• ADD SCR CONFIG (Additional screen configuration)

• COMMON SCREEN Not available

• PROCESS SCREEN (Process screen cycle)

• SELECT MENU (OEM menu selection)

• OEM SK CONFIG (OEM softkey configuration)

• SELECT DE (OEM data entry selec tion)

• DE CONFIG (OEM data entry configuration)

• PPDIR CONFIG (Part program directory configuration)

The third line of the menu includes the EXIT softkey

• EXIT (Exit for the characterization session).

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AMP

Operativity notes

When the user has selected the desired data entry with the proper softkeys, he can start defining the associated parameters with the alphanumeric keyboard.

The cursor is automatically positioned on the value field of each parameter. The operator can accept the displayed value or he can insert a new one. If necessary, the operator can move the cursor by using the arrow keys.

The correct range of values for each parameter is shown in the Help window that the operator can display by pressing the HELP softkey.

In some cases the permissible range is displayed as a list (for example, user variable names, coordinate axis names, etc.).

For each entered value, AMP performs range and congruency checks. In case of mistakes, the relevant error message is displayed (see Appendix A) and the cursor remains on the wrong parameter.

Some data entries can be listed on more than one screen page. The user can display the various pages by using [Pg Dn] and [Pg Up] keys.

Data Entry Storage

Once the data entry has been completed, the user can confirm and store it in the AMP files, by pressing the [Enter] key.

To abort a data entry it is possible to press the [Esc] key.

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Chapter 2

AMP

ENTER/EXIT THE CHARACTERIZATION

10 Series CNC manages up to 4 "on line" configurations. When the SELECT softkey is used to modify the selected configuration (0, 1, 2 or 3), this is copied in

a work directory. All the changes will be made in the work directory. Following configuration (press EXIT), there are 3 alternatives:

1. Perform the secondary calculations transforming the information entered (source files) into a configuration that may be used by the bootstrap (binary files).

2. Save the data entered without performing the secondary calculations (this may also be useful in cases where errors that cannot be eliminated at the time are signalled during the secondary calculations but you want to save the changes made in any case). In this case, any binary files generated previously are lost and care must be taken because, if the AMP directory was the active one, on rebooting the system will not find the binary configuration files and the control will have to be started in emergency mode to generate and activate an AMP configuration.

3. Do not save the new configuration. In this case any changes made are lost. If there were binary files for the previous configuration, these will be maintained as the source files from which they were generated have not been changed. You are advised to use this exit mode when entering the configuration for consultation to avoid losing the binary files.

Remember the meaning of the terms Source and Binary for the AMP utility: SOURCE FILES contain the information entered with the data entry. BINARY FILES files generated by the secondary calculations and actually used by 10

Series CNC to configure the machine on starting (BOOTSTRAP).

Examples:

• If you press SELECT (see figure) configuration no. 1 becomes the working configuration.

AMP directory Working directory

AMP0

Select

AMP1

AMP2

EXIT

AMP3

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Chapter 2

HELP

EXIT

-- EXIT --

Translate new parameters? (Y/N)

HELP

EXIT

-- EXIT --

Translate new parameters? (Y/N)

-- SAVE --

Save new configuration? (Y/N)

AMP

• After changing the configuration, press EXIT. The system asks if the secondary calculations are to be made. If the answer is "Y", the binary files

will be generated (if there are no errors, in which case you stay in the configuration stage); this is the case of alternative 1.

Characterization menu

New file generation data entry

On the other hand, if the answer is "N", the system will ask if you want to save the changes to the source files or not.

Characterization menu

New file generation data entry

If the answer in the SAVE data entry is "Y", the changes become operative (case 2). If the answer is "N", any changes made will be lost (case 3).

10 Series CNC - AMP Software Characterization Manual (06) 2-9

If the system is powered off while in the process of configuring a selected AMP directory, any changes made will be lost.

Chapter 2

Data Entry Edit Comment

-- EDIT AMP DIRECTORY COMMENT --

AMP main menu

EDIT COMMENT

DELETE

Backup Data Entry

BACKUP

-- B A C K U P --

AMP main menu

SELECT

AMP

Edit Comment

This softkey in the AMP main menu allows to insert/modify the comment associated to the configuration.

This comment must be used to identify a specific configuration (0-3) in the AMP DIRECTORY LIST.

NOTE:

# identifies the number of the current characterization To exit the data-entry, push EDIT COMMENT softkey again.

Backup

This softkey enter in the Backup utility. This utility allows to save, restore or copy an AMP configuration data-entry.

From

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Where:

-- DELETE --

Confirm delete AMP directory

Y/N) ?

From: It is the source directory.

It is one of the four AMP Directories; in this case it must be a number between 0 and 3.

To: Destination directory:

It is one of the four AMP directories (number between 0 and 3) or another directory defined by a complete path (i.e. a:\amp).

Obviously the BACKUP utility can be used to save or restore or copy configuration data.

Delete

DELETE softkey allows to delete an AMP configuration.

EDIT COMMENT

DELETE

AMP main menu

Chapter 2

AMP

Data entry delete

(

This utility is dedicated to printing of various configurations inside AMP memorised in directories: E:\AMP1AMP0,...AMP1,...AMP2,...AMP3.

AMP main menu

Main screen print utility

The utility can supply a print of each data-entry (with its frames and data inserted). Possibility to choose directory and process to which printed data must refer to, is envisaged; comments relative to the contents of the various directories are available on the utility's main display.

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Chapter 2

AMP

Data entries selectable in AMP are divided in homogeneous groups and for each of these groups it is possible to confirm or enable printing; the final print out will always be preceded by the hardware and software characteristics of the machine and by the information entered in the "Hardware" and "General" data entries.

The utility's output can be memorised in a file (path defined by user) or sent directly to the printer.

A M P D I R E C T O R I E S

AMP0: ........

AMP1: ........

AMP2: ........

AMP3: ........

Printing amp: #

SELECT DIR SELECT PROCESS SELECT PATH PRINT ABORT

NOTE:

# represents the number of the AMP selected.

HELP

EXIT

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AMP

Select dir

It is possible to select the directory where the configuration to print resides, through the "SELECT DIR" data-entry. In case no selection is made, data will refer to the last directory configured in amp.

Should the selected directory be empty or wrong, an error message is signalled.

A M P D I R E C T O R I E S

AMP0: ........

AMP1: ........

AMP2: ........

AMP3: ........

-- SELECT DIRECTORY --

- directory to be print:_

Printing amp: #

SELECT DIR SELECT PROCESS SELECT PATH PRINT ABORT

Directory to be print

Description: select the AMP directory to be print. Range: 0..3

Default value: none Unit: none

On accessing the PRINT utility, the data with which to perform printout of the AMP directory always refer to the AMP number displayed in the "Printing amp" box.

HELP

EXIT

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Chapter 2

AMP

Select process

At the selection of the mentioned data entry panel the number of configured processes is displayed. If the print of the data referring to all configured processes is required, the character '*' must be

inserted instead of the number of the process. If no selection is done, the data will refer to the first process.

PROCESS number configured : 1

-- SELECT PROCESS --

- selected process:_

Printing amp: #

SELECT DIR SELECT PROCESS SELECT PATH PRINT ABORT

Select process

Description: select process (or processes) whose data must be printed. Range: from 1 up to the maximum number of configured processes

Default value: none Unit: none

HELP

EXIT

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Chapter 2

Select path

Using the "Select path" data-entry, the set of information to be printed can be defined. The various data-entry that can be configured in AMP have been subdivided in the following groups:

- PROCESS PATH - E PARAMETERS

- HUMAN PATH - M CODES

- AXIS PATH - PLUS VARIABLES

- OPTIONALS PATH - AXIS CALIBRATION

- USER VARIABLES

-- PATH SELECTION --

- process path :

- human path :

- axis path :

- optional path :

- user variables :

- E parameters :

- M codes :

- plus variables :

- axes calibration

AMP

HELP

SELECT DIR SELECT PROCESS SELECT PATH PRINT ABORT

EXIT

The above-mentioned groups respectively include:

- PROCESS PATH:

- Process characterization

- User variables definition

- Process variables

- Program characterization

- G codes

- Pseudo axes

- Virtual axes configuration

- Probing

- Geometrical Technological Language

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Chapter 2

AMP

- HUMAN PATH:

- Hi general information

- Process screen loop

- Additional screen configuration

- PPDIR configuration

- Select OEM SK menu

- SK configuration

- Select OEM data entry

- OEM data entry configuration

- AXIS PATH

- Auxiliary axis general information

- Auxiliary axis characterization

- Physical connections

- Co-ordinate axes general information

- Slave axes general information

- Spindle

- Co-ordinate axis characterization

- Co-ordinate axis D.S.I. characterization

- Physical connections

- Slave axis characterization

- Slave axis D.S.I. characterization

- Physical connections

- OPTIONALS PATH:

- Dos Real-Time

- Dos Graphics

- End User Dos

- USER VARIABLES:

- User variables set up

- E PARAMETERS

- E parameters set up

- M CODES:

- M codes

- PLUS VARIABLES:

- Boolean variables set up

- Short variables set up

- Double variables set up

- AXES CALIBRATION:

- Axis calibration

NOTE:

D.S.I. is the abbreviation of Digital Standard Interface.

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Chapter 2

AMP

The print starts when the "SELECT DEVICE" data-entry is confirmed (PRINT softkey): The name of the device to which direct the output of the utility must be introduced using this data-

entry: this output device can be a file or a printer, both local or remote.

A:, E:, PRN are admitted as local devices; H:,....Z:, LPT1, LPT2, LPT3, if connected, are admitted as

remote devices. If the remote printer LPT1 is not connected, it coincides with PRN.

A M P D I R E C T O R I E S

AMP0 : ........

AMP1 : ........

AMP2 : ........

AMP3 : ........

-- SELECT DEVICE --

- device: a:\prt\printfil.asc

HELP

SELECT DIR SELECT PROCESS SELECT PATH PRINT ABORT

EXIT

NOTE:

In this case the directory PRT on floppy must already exist, otherwise an error will be returned.

Abort

Pressing the ABORT softkey an already started printing process can be interrupted. If the selected device is a file, the data referring to the data-entries read before this softkey pressing

will be stored in the file.

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Chapter 2

AMP

AMP print utility error messages

_______________________________________________________________________________

Code Message description and recovery action _______________________________________________________________________________ PR024 Seek error

It is generated when a positioning error occurs during a file reading or waiting phase.

PR025 Open file error

It is generated when an anomaly occurs during the opening phase of a file used by the print utility.

PR026 Read file error

It is generated when a reading operating in one of the AMP data base files is not successful.

PR027 Write file error

It is generated when a writing operation on an output file is not successful.

PR028 Memory allocation error

It is generated when an internal dynamic memory allocation fails.

PR030 Data-entry not found

It is generated when the information related to a data-entry to be printed are not found in the AMP files.

PR03 Unknown device

It is generated when the name of the output device selected with the "SELECT DEVICE" data-entry in not of the admitted devices.

PR032 Empty directory

It is generated when the AMP directory selected through the "SELECT DIRECTORY" data-entry is empty.

PR033 Process not configured

It is generated when the process selected in the "SELECT PROCESS" data-entry is not configured.

PR034 Output file not found

It is generated when an anomaly occurs opening the output print utility file, or when its path name is wrong.

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Chapter 2

_______________________________________________________________________________

Code Message description and recovery action _______________________________________________________________________________ PR035 Protected diskette

It is generated when the output device is a floppy and is write protected.

PR036 Driver not ready

It is generated when the output floppy is not inserted.

PR037 Print fault

It is generated when the output printer is not connected.

PR038 Print out of paper

It is generated when the output printer is out of paper.

PR040 Value out of range

Value out of permissible range

AMP

PR041 AMP configuration can not be read

It is generated when a process has been declared in AMP but is not configured: i.e. its presence has been set in the "GENERAL INFO" AMP data-entry, but it has been selected using the "SELECT PROCESS" AMP data-entry.

10 Series CNC - AMP Software Characterization Manual (06) 2-19

Chapter 2

AMP

END OF CHAPTER

2-20 10 Series CNC - AMP Software Characterization Manual (06)

Chapter

LOGIC CONF

AMP main menu

GLOBAL PARAMETERS CONFIGURATION

This chapter describes all the parameters related to the general system configuration: peripherals, memory, devices, processors, Logic information, optional features in the OEM partition, program verification, etc.. This aspect of the configuration is divided into four sections: Hardware, General Information, Logic Axis, Options configuration.

NOTE:

The parts described in this chapter are those that can be accessed from the first line of the characterization menu and are common to all the systems comprising the 10 Series CNC, namely: 10/310, 10/565 and 10/585.

An exception to this is the data entry for the Hardware configuration of the 10/310 system, on account of this, a distinction will be made between this system and the 10/565 and 10/585 systems.

SELECT

BACKUP

Characterization menu

HARDWARE

SELECT PROCESS

After the selection, the screen shows a characterization menu which allows the operator to access the desired parameters list.

NOTE:

For each parameter a brief description is provided, with the range, unit of measurement and the default value.

GENERAL INFO

PROCESS CONFIG

AXIS CONFIG

OPTIONS

HUMAN INTERF

HELP

EXIT

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Chapter 3

Global Parameters Configuration

HARDWARE (10/310, 10/110 AND 10/510 SYSTEM)

Status :

-- H A R D W A R E C O N F I G U R A T I O N --

- board code numbe : 11

- position loop clock : 3.0

- serial line device (port 1) : 0

- serial line device (port 2) : 0

- system clock : 10

- broken wire : Disable

- DSI baud rate (Mbit/s)

- TX power : 6

: 2

HARDWARE GENERAL INFO LOCAL CONFIG OPTIONS HELP

SELECT PROCESS PROCESS CONFIG AXIS CONFIG HUMAN

INTERFACE

Board code number

Description: determines code number of the board.

Board code no. Board type Sistem type

11 3 transducers 4 converters 10/310 and 10/110 12 4 transducers 6 converters 10/310 and 10/110 13 6 transducers 8 converters (only for 10/310) 10/310 14 6 transducers 8 converters 10/510 with OS_8510 15 4 transducers 6 converters 10/510 with OS_8510/1 16 8 axes DSI no transducers no converters 10/510 with OS_8510/2 17 8 axes DSI + 2 transducers + 2 converters 10/510 with OS_8510/3 18 5 axes DSI 10/510 with OS_8510/4 19 Reserved 20 Reserved

Range: 11/12/13/14/15/16/17/18/19/20 Default value: 11 Unit type: none

EXIT

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Chapter 3

Global Parameters Configuration

Position loop clock

Description: specifies the amount of time before the position loop is closed. Range: min 0.2/max 10 (with OS_8510/2 OS_8510/3 and OS_8510/4 min2/max 10)

Default value: 5.0 with resolution 0.1 Unit type: msec.

NOTE:

The value set for "Position loop clock" must be a multiple of the value assigned the "System clock".

Serial line device (port 1)

Description: it determines the driver type which can handle the serial port 1. Currently only the driver for handling the Teach Pendant (1), the asynchronous serial driver (2) or the serial driver for the DAC drives (3) are available.

Range: min 0/max 3 Default value: 0 Unit type: none

Serial line device (port 2)

Description: determines the type of driver that can manage serial port 2. The only drivers currently envisaged for management of serial port 2 are the Teach Pendent (1) and the Asynchronous Serial Driver (2) and the serial driver for the DAC drives (3) are available.

Range: min 0/max 3 Default value: 0 Unit type: none

If the driver a for the Teach Pendant (1) is enabled for both serial lines, the driver will only be mounted on serial line 1.

If the driver for the DACs (3) is enabled for both serial lines, the driver will only be mounted on serial line 1.

System clock

Description: the system clock. Range: min 2/max 10

Default value: 5.0 with resolution 0.1 Unit type: msec.

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Chapter 3

Global Parameters Configuration

Broken wire

Description: allows you to enable or disable broken wire control on all axes. Range: ENABLE/DISABLE

Default value: DISABLE Unit type: none

DSI baud rate (communication speed of the standard digital interface)

Description: defines the transmission speed for the boards 8520/2 /3 and /4. Otherwise this value is ignored.

Variation field: 2 or 4 Default Value: 2 Units: Mbit/s.

Tx power (transmission power)

Description: defines the transmission power of the optical signal in output of the boards. Otherwise this value is ignored.

Range: min 1 max 6 Default Value: 6 Units: none

3-4 10 Series CNC - AMP Software Characterization Manual (10)

HARDWARE (10/565 AND 10/585 SYSTEMS)

Status :

-- H A R D W A R E C O N F I G U R A T I O N --

- I/O board code number : 2

- axes board 0 code number : 1 position loop clock : 5.0

- axes board 1 code number : 0 position loop clock : 5.0

- axes board 2 code number : 0 position loop clock : 5.0

- axes board 3 code number : 0 position loop clock : 5.0

- serial line device (port 1) : 0

- serial line device (port 2) : 0

- system clock : 10

Chapter 3

Global Parameters Configuration

HARDWARE GENERAL INFO LOCAL CONFIG OPTIONS HELP

SELECT PROCESS PROCESS CONFIG AXIS CONFIG HUMAN

INTERFACE

In this data entry, users can define the system's hardware configuration data.

Status :

-- D. S. I. H A R D W A R E C O N F I G U R A T I O N --

- axes board 0 D.S.I. baud rate (Mbit/s): 2

- axes board 1 D.S.I. baud rate (Mbit/s): 2

- axes board 2 D.S.I. baud rate (Mbit/s): 2

- axes board 3 D.S.I. baud rate (Mbit/s): 2

Tx power: 6

Tx power: 2

1 of 2

EXIT

2 of 2

10 Series CNC - AMP Software Characterization Manual (10) 3-5

Chapter 3

Global Parameters Configuration

HARDWARE GENERAL INFO LOCAL CONFIG OPTIONS HELP

SELECT PROCESS PROCESS CONFIG AXIS CONFIG HUMAN

INTERFACE

EXIT

3-6 10 Series CNC - AMP Software Characterization Manual (10)

Chapter 3

Global Parameters Configuration

I/O board code number

Description: characterises the I/O board. The board is integrated, therefore any value from 1 to 4 will be accepted.

Range: 1/2/3/4 Default value: 2 Unit type: none

Axes board # code number (# = 0..10)

Description: it defines the axes board code:

I/0 board code Board type

0 None 1 OS 8020/4 (6 axes, 6 trasducers, 6 converters) 2 OS 8020/5 (4 axes, 3 trasducers, 4 converters) 3 OS 8020/6 (6 axes, 6 trasducers, 6 converters) 4 OS 8020/7 (4 axes, 3 trasducers, 4 converters) 5 OS 8025/2 (6 axes, 6 trasducers, 6 converters) 6 OS 8025/3 (4 axes, 3 trasducers, 4 converters) 9 OS 8026 (D.S.I., 0 trasducers, 0 converters)

10 OS 8026/2 (D.S.I., 3 trasducers, 1 converter)

Range: 0/1/2/3/4/5/6/9/10 Default value: 1 (axes board 0), 0 (axes board 1..10) Unit type: none

Position loop clock

Description: it specifies how many times it takes for position loop clock. Range: min 0.2/max 10

Default value: 5 with resolution 0.1 Unit type: msec

Serial line device (port 1)

Range: min 0/max 3 Default value: 0 Unit type: none

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Chapter 3

Global Parameters Configuration

Serial line device (port 2)

Description: it determines the driver type that handles serial port 2. The only drivers currently envisaged for the management of serial port 2 are the Teach Pendent (1) and the Asynchronous Serial Driver (2) and the serial driver for the DAC drives (3) are available.

Range: min 0/max 3 Default value: 0 Unit type: none

If the driver a for the Teach Pendant (1) is enabled for both serial lines, the driver will only be mounted on serial line 1.

If the driver for the DACs (3) is enabled for both serial lines, the driver will only be mounted on serial line 1.

System clock

Description: it is the system clock. Range: min 1/max 10

Default value: 10 with resolution 0.1 Unit type: msec.

Axes board (0..3) D.S.I. baud rate (Dialog speed of the standard digital interface)

Description: defines the transmission speed of the board (0..3), only if a D.S.I. board. The value is ignored otherwise.

Range: 2 or 4 Default value: 2 Unit type: Mbit/s

Tx power (Transmission power)

Description: it defines the strength of the optical signal coming out of the D.S.I. boards Range: min. 1/max. 6

Default value: 6 Unit type: none

3-8 10 Series CNC - AMP Software Characterization Manual (10)

GENERAL INFORMATION

Status :

-- G E N E R A L I N F O R M A T I O N --

- configuration measuring unit : MM

- Number of process : 1

- Search in memory : 0

- Logic Boolean variables num. : 0

- Logic short variables num. : 0

- Logic double variables num. : 0

- Tool preset modality : 0

Chapter 3

Global Parameters Configuration

HARDWARE GENERAL INFO LOCAL CONFIG OPTIONS HELP

SELECT PROCESS PROCESS CONFIG AXIS CONFIG HUMAN

INTERFACE

EXIT

This data entry allows the user to define general information such as measuring unit (millimeters or inches), number of processes (only for the multi-process unit), number of variables involved in the communication between the part program and the logic, etc.

Configuration measuring unit

Description: It is the measuring unit of the parameters marked with " * " in the subsequent data entries. It is also the default measuring unit of the control.

Range: INCHES/MM Default value: MM Unit type: none

Number of process

Description: It defines the number of processes to be configured. In mono-process systems, only the first process can be configured. In the multi process system, processes must be configured in sequential mode, starting from process 1.

Range: from 1 to 20 for multi process systems Default value: 1 Unit type: none

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Chapter 3

Global Parameters Configuration

Search in memory

Description: It allows you to enable or disable the search in memory feature. Range: 0 disabled, 1 enabled

Default value: 0 Unit type: none

Logic Boolean variables number

Description: It defines the number of Boolean type variables that will be used to achieve the handshaking between the part program and the logic. According to this number, the system will ask for the name and value of each variable.

Range: min 0/max 128 Default value: 0 Unit type: none

Logic short variables number

Description: It defines the number of Short type variables that will be used to achieve the handshaking between the part program and the logic. According to this number, the system will ask for the name and value of each variable.

Range: min 0/max 128 Default value: 0 Unit type: none

Logic double variables number

Description: It defines the number of Double type variables that will be used to achieve the handshaking between the part program and the logic. According to this number, the system will ask for the name and value of each variable.

Range: min 0/max 64 Default value: 0 Unit type: none

Tool preset modality

Description: It indicates how the tool offsets are calculated during the preset operation: if it is 0 the offset value is always positive; if it is 1 the offset is calculated as a positive or negative value depending on the set preset value and the axis position.

Range: 0/1 Default value: 0 Unit type: none

3-10 10 Series CNC - AMP Software Characterization Manual (10)

Global Parameters Configuration

EXIT

AXIS CONFIG

BOOLEAN VAR

SHORT VAR

DOUBLE VAR

LOGIC CONFIGURATION

By selecting this softkey, the operator can access the following submenu:

LOGIC CONF

Characterization menu

Logic configuration sub menu

HELP

AUX GEN INFO SELECT AUX

PHYSICAL CONN

This submenu allows the user to configure all the logic related information. The following pages illustrate each submenu and data-entry which is presented in the logic configuration.

AXIS CALIBRAUX CHARACT

Chapter 3

Boolean Variables Boolean Var

(Variabili boolean)

Status :

-- B O O L E A N V A R I A B L E S S E T U P --

name (max 11 ch.) address (0-255) index (0-15) value (0-1)

- 0 : 0 0

- 1 : 0 0

- 2 : 0 0

- 3 : 0 0

- 4 : 0 0

- 5 : 0 0

- 6 : 0 0

- 7 : 0 0

- 8 : 0 0

- 9 : 0 0

- 10 : 0 0

- 11 : 0 0

Page 1 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

NOTE:

"n" varies in function of the number of Boolean variables configured.

10 Series CNC - AMP Software Characterization Manual (10) 3-11

Chapter 3

Global Parameters Configuration

This data entry allows the configuration of the boolean type variables used by the part program to communicate with the logic. Each variable is defined by means of a logical name (whose first character must be " @ "), the address and index values and an initial value. If the logical name is only "@", the boolean variable is initialized but it is not known by the part program. The number of variables depends on the related value set in the "General Info" data entry.

Name

Description: it contains the name of a boolean type variable. The first character must be " @ ". Range: 11 char.

Default value: none Unit type: none

Address

Description: it is the boolean variable number. Range: min 0/max 255

Default value: 0 Unit type: none

Index

Description: it is the bit number inside the boolean variable. Range: min 0/max 15

Default value: 0 Unit type: none

Value

Description: it is the initial value of a boolean type variable. This value will be assigned to the associated variable at each power up.

Range: 0/1 Default value: none Unit type: none

3-12 10 Series CNC - AMP Software Characterization Manual (10)

Short Variables

Status :

-- S H O R T V A R I A B L E S S E T U P --

name (max 11 ch.) address (0-255) value (-32767+32767)

- 0 :

- 1 :

- 2 :

- 3 :

- 4 :

- 5 :

- 6 :

- 7 :

- 8 :

- 9 :

- 10 :

- 11 :

Chapter 3

Global Parameters Configuration

Page 1 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

NOTE:

"n" varies in function of the number of short variables configured.

This data entry allows the configuration of the short type variables used by the part program to communicate with the logic. Each variable is defined by means of a logical name (whose first character must be " @ "), an address value (defined in the symbol adapter package) and an initial value. If the logical name is only "@", the short variable is initialized but it is not known by the part program. The number of variables depends on the related value set in the "General Info" data entry.

10 Series CNC - AMP Software Characterization Manual (10) 3-13

Chapter 3

Global Parameters Configuration

Name

Description: it contains the name of a logic short type variable. The first character must be "@". Range: 11 char.

Default value: none Unit type: none

Address

Description: it is the index of the short variable. Range: min 0/max 255

Default value: 0 Unit type: none

Value

Description: it is the value of a logic short type variable. This value will be assigned to the associated variable at each power up.

Range: min -32767/max +32767 Default value: none Unit type: none

Be careful at the address overlap between boolean and short variables. The initial value of a short variables overlaps the boolean variables at the same address.

3-14 10 Series CNC - AMP Software Characterization Manual (10)

Double Variables

Status :

-- D O U B L E V A R I A B L E S S E T U P --

name (max 11 ch.) address (0-63) value (-99999. 99999+99999. 99999)

- 0 :

- 1 :

- 2 :

- 3 :

- 4 :

- 5 :

- 6 :

- 7 :

- 8 :

- 9 :

- 10 :

- 11 :

Chapter 3

Global Parameters Configuration

Page 1 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

NOTE:

"n" varies in function of the number of double variables configured.

This data entry allows the configuration of the double type variables used by the part program to communicate with the logic. Each variable is defined by means of a logical name (whose first character must be " @ "), an address value and an initial value. If the logical name is only "@" the double variable is initialized but it is not known by the part program. The number of variables depends on the related value set in the "General Info" data entry.

10 Series CNC - AMP Software Characterization Manual (10) 3-15

Chapter 3

Global Parameters Configuration

Name

Description: it contains the name of a double type variable. The first character must be "@". Range: 11 characters

Default value: none Unit type: none

Address

Description: it is the index of the double variable. Range: min 0/max 63

Default value: 0 Unit type: none

Value

Description: it is the value of a double type variable. This value will be assigned to the associated variable at each power up.

Range: min -99999.99999/max +99999.99999 Default value: none Unit type: none

3-16 10 Series CNC - AMP Software Characterization Manual (10)

Auxiliary Axis General Information

Status :

-- A U X I L I A R Y A X E S G E N E R A L I N F O --

axis identifier axis name interp. clock

- id 1 : 6 - axis 1 : a - clock 1 (ms): 20

- id 2 : - axis 2 : - clock 2 (ms): 20

- id 3: - axis 3 : - clock 3 (ms): 20

- id 4: - axis 4 : - clock 4 (ms): 20

- id 5 : - axis 5 : - clock 5 (ms): 20

- id 6 : - axis 6 : - clock 6 (ms): 20

Chapter 3

Global Parameters Configuration

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

The 10 Series CNC system can manage up to 6 auxiliary axes, not used in coordinate mode. This data entry allows the user to configure some characteristics of the axes, as name, servo loop time and interpolator time.

10 Series CNC - AMP Software Characterization Manual (10) 3-17

Chapter 3

Global Parameters Configuration

Axis identifier # (# = 1..6)

Description: it is a user defined number, unique in the system, used by the logic program to identify an axis.

Range: min 1/max 32 Default value: none Unit type: none

Auxiliary axis name # (# = 1..6)

Description: it defines the name of the auxiliary axis. Range: x/y/z/a/b/c/u/v/w/p/q/d

Default value: none Unit type: none

Interpolator clock # (# = 1..6)

Description: it gives the interpolator sampling rate for the auxiliary axis. Range: min 2/max 200

Default value: 20 Unit type: msec

3-18 10 Series CNC - AMP Software Characterization Manual (10)

Select Auxiliary

Status :

-- A U X I L I A R Y A X I S S E L E C T I O N --

auxiliary 1 : a auxiliary 2 : auxiliary 3 : auxiliary 4 : auxiliary 5 : auxiliary 6 :

- select axis : a

Chapter 3

Global Parameters Configuration

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

This data entry allows the user to select an auxiliary axis. The configuration parameters are available with the "AUX CHARACT" data entry.

Select axis

Description: It allows the user to select the auxiliary axis name. Range: depends on configured auxiliary axes

Default value: none Unit type: none

10 Series CNC - AMP Software Characterization Manual (10) 3-19

Chapter 3

(*/s x s)

Global Parameters Configuration

Auxiliary Axis Characterization

The "Auxiliary Axis Characterization" data-entry is split into 4 pages (5 pages if the answer in the "D.S.I. driven" field is "Y"). The following figures illustrate the contents.

Status : Axis name: a

-- A U X I L I A R Y A X I S C H A R A C T E R I Z A T I O N --

- axis type : LINEAR

- rollover : N

- D.S.I. driven : N

- linear optical encoder : N

- channel A polarity inversion : N

- channel B polarity inversion : N

- channel Z polarity inversion : N

- direction count : POSITIVE

- marker detection : EDGE

Page 1 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

Status : Axis name: a (*) Measuring unit = mm

-- A U X I L I A R Y A X I S C H A R A C T E R I Z A T I O N --

- rapid traverse feed (*/min) : 4000.00000

- rapid acceleration

- manual feed (*/min) : 30000.00000

- manual acceleration

- electrical pitch (pulses/rev) : 5000

- mechanical pitch (*) : 1.00000

- rollover pitch (*) : 360.00000

- rapid traverse voltage (Volt) : 7.500

- maximum feed (*/min) : 4000.00000

- home position feed (*/min) : 50.00000

- null offset value (*) : 0.00000

- home position value (*): 0.00000

- homing direction : POSITIVE

- percent of VFF (%): 100

- upper software overtravel

- lower software overtravel

: 300.00000

(*) : 99999.00000

(*) : -99999.00000 Page 2 of n

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Global Parameters Configuration

(s)

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

Status : Axis name: a (*) Measuring unit = mm

-- A U X I L I A R Y A X I S C H A R A C T E R I Z A T I O N --

- display pitch (*) : 1.00000

- servo loop gain : 1.00

- stand still servo loop gain : 1.00

- position error at stand still (*) : 0.00000

- position error with VFF (*) : 0.00000

- position error without VFF (*) : 0.00000

- in position band (*) : 0.00000

- in position wait (time out)

- in position window

- axis backlash (*) : 0.00000

- dead zone (*) : 0.00000

: 0.000 : 0.000

Chapter 3

Page 3 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

Status : Axis name: a

-- A U X I L I A R Y A X I S C H A R A C T E R I Z A T I O N --

- axis calibration points number : 2

- calibration points from file (Y/N) ? : N

Page 4 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

10 Series CNC - AMP Software Characterization Manual (10) 3-21

Chapter 3

Global Parameters Configuration

Status : Axis name: a

-- A U X I L I A R Y A X I S D. S. I. C H A R A C T E R I Z A T I O N --

- driver address : 1

- standard telegram : 3

- homing type : 1

- home switch pressed status : 0

- drive use motor transducer (Y/N)?: Y

Page 5 of 5

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

NOTE:

"n" depends on whether the answer in the "D.S.I. driven" field is "Y" or not; the fifth auxiliary axis characterization page will be opened only if it was "Y".

Axis type

Description: It defines the axis type. Range: LINEAR/ROTARY

Default value: LINEAR Unit type: none

Rollover

Description: It defines whether the axis is cyclic or not. In order to fully configure a rollover axis, a further parameter, "rollover pitch", is required to be configured.

Range: YES/NO Default value: N Unit type: none

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D.S.I. driven (drive with standard digital interface)

Description: determines whether the current axis is driven by a D.S.I. digital drive. Range: YES/NO

Default: N Unit type: none

Linear optical encoder

Description: it defines whether the current axis has a linear optical encoder that being the case, it assumes that only one marker is detected along the full stroke.

Range: YES/NO Default value: N Unit type: none

Channel A polarity inversion

Description: it defines the polarity for channel A. When this parameter is set to YES, the logic signal presented to the channel A input will be inverted.

Range: YES/NO Default value: N Unit type: none

Channel B polarity inversion

Description: it defines the polarity for channel B. When this parameter is set to YES, the logic signal presented to the channel B input will be inverted.

Range: YES/NO Default value: N Unit type: none

Channel Z polarity inversion

Description: it defines the polarity for channel Z. When this parameter is set to YES, the logic signal presented to the channel Z input will be inverted.

Range: YES/NO Default value: N Unit type: none

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Global Parameters Configuration

Direction count

Description: It defines whether the positive counting of the transducer corresponds to the positive direction of the axis.

Range: POSITIVE/NEGATIVE Default value: POSITIVE Unit type: none

Marker detection

Description: it defines the marker detection. If it is set to LEVEL, the axis position register is cleared whenever the prescribed logic levels are present on the channels A, B, Z. If it is set to EDGE, the register will be cleared whenever the Z marker has a valid transition.

If LEVEL the polarity of the channel syncronized with Z MUST NOT BE inverted..

See also the axis board section in the "10 Series CNC & GP Installation Guide" to select the marker selection correctly

Range: EDGE/LEVEL Default value: EDGE Unit type: none

Rapid traverse feed

Description: It is the maximum allowable feed of the axis in G0/1/2/3 (value >= Manual Feed). Range: min 0/max 999999999

Default value: 4000 Unit type: mm/min or inches/min for linear axes (or deg/min for rotary axis)

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Global Parameters Configuration

Rapid acceleration

Description: It is the axis acceleration during rapid motion (value >= manual acceleration). Range: min 0/max 99999.99999

Default value: 300 Unit type: mm/sec2 or inches/sec2 for linear axes (or deg/sec2 for rotary axes)

Manual feed

Description: It represents the maximum speed of the axes in manual mode (jog) (value <= rapid traverse).

Range: min 0/max 999999999 Default value: 3000 Unit type: mm/min or inches/min for linear axes (or deg/min for rotary axes)

Manual acceleration

Description: It is the acceleration rate used during feedrate movements (i.e. G01) and during manual mode movements (value <= Rapid Acceleration).

Range: min 0/max 99999.99999 Default value: 300 Unit type: mm/sec2 or inches/sec2 for linear axes (or deg/sec2 for rotary axes)

Electrical pitch

Description: It is the number of pulses per revolution supplied by the transducer multiplied by 4. For example, if the encoder supplies 1250 pulses/rev., the resulting value will be 5000 pulses. With linear transducer, it represents the number of pulses/rev., multiplied by 4, generated by the transducer on the distance declared as mechanical pitch.

Range: min 4/max 100000 Default value: 5000 Unit type: pulses

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Global Parameters Configuration

Mechanical pitch

Description: It is the distance covered by the axis per each revolution of the related transducer. With linear transducer, it represents the distance covered by the axis resulting from the number of pulses declared as electrical pitch (Note: the ratio between mechanical pitch and electrical pitch gives the axis resolution value).

Range: min 0.001/max 99999.99999 Default value: 1 Unit type: mm or inches for linear axes (or deg for rotary axes)

NOTE:

The relationship between mechanical pitch and electrical pitch is the axis's resolution value.

Rollover pitch

Description: It is the maximum count for a rollover axis. When this value is exceeded, the position display is reset to zero. For rotary axes, this parameter is generally set to 360°.

Range: min 0.0001/max 99999.99999 Default value: 360 Unit type: mm or inches for linear axes (or deg for rotary axes)

Rapid traverse voltage

Description: It is the voltage applied to the drive that corresponds to the maximum feed. The default value 7.5 avoids linearity problems of the D/A converter.

Range: min -10/max +10 Default value: 7.5 Unit type: volts

Maximum feed

Description: It defines the axis feed when the rapid traverse voltage is applied to the drive. Range: min 1/max 999999999

Default value: 4000 Unit type: mm/min or inches/min for linear axes (or deg/min for rotary axes)

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Home position feed

Description: It defines the axis feed, in the homing cycle, during the marker position search. This speed must be low to prevent missing the marker transition.

Range: min 1/max 99999.99999 Default value: 50 Unit type: mm/min or inches/min for linear axes (or deg/min for rotary axes)

Null offset value

Description: It allows an axis, during homing, to automatically move to the exact mechanical home position rather than to the marker of the axis' transducer. The difference between the marker position and the required mechanical home position is the null offset value. After completion of the homing cycle (including the null offset motion) the position of the axis will be zero.

Range: min -99999.99999/max +99999.99999 Default value: 0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Home position value

Description: It represents the zero position of the axis referred to the null offset position. Range: min -99999.99999/max +99999.99999

Default value: 0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Homing direction

Description: It represents the axis direction during the home switch search. Range: POSITIVE/NEGATIVE

Default value: POSITIVE Unit type: none

Percent of VFF

Description: It represents the percent of VFF to be used during the movement of an axis with VFF enabled.

Range: 0 ÷ 100 Default value: 100 Unit type: none

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Global Parameters Configuration

Upper software overtravel

Description: It is the positive operating limit of the axis measured from its home position (value > Lower Software Overtravel).

Range: min -99999.99999/max +99999.99999 Default value: 99999.0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Lower software overtravel

Description: It is the negative operating limit of the axis measured from its home position (value < Upper Software Overtravel).

Range: min -99999.99999/max +99999.99999 Default value: -99999.0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Display pitch

Chapter 3

Description: it represents the distance between two steps in an axis, programmed as number of steps.

Range: min 0/max +99999.99999 Default value: 1 Unit type: mm or inches for linear axes (or deg for rotary axes)

Servo loop gain

Description: It is the servo loop gain constant for the proportional control of the axis. Setting this parameter to 1 and moving the axis at 1000 mm/min, the following error will be 1 mm. If the feed is 1 ipm, the following error will be 0.001 inch.

Changing the value of the constant determines a variation of the following error (fe) depending on the equation fe = feed/(constant x 1000). If the velocity feed forward (VFF) is enabled, the above equation is no longer valid. Setting the servo loop gain to 0 determines an open loop condition of the axis.

Range: min 0/max 10 Default value: 1 Unit type: IPM/mil alias 16.6/sec

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Stand still servo loop gain

Description: It is the servo loop gain when the axis is centering the "In position band". Range: min 0/max 10

Default value: 1 Unit type: IPM/ml alias16.6/sec

Position error at stand still

Description: It is the maximum error allowed when the axis is in a standstill. Range: min 0/max 99999.99999

Default value: 0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Position error with VFF

Description: if the value declared in the field “Position error without VFF” is greater than the theoretical value calculated at the set highest feed and without VFF, it is the maximum admitted tracking error when the axis moves with VFF. If the value declared in the field “Position error without VFF” is smaller than the theoretical value calculated at the set highest feed and without VFF, the "Variable Servo Error" feature described in Chapter 1 is applied.

Range: min 0/max 99999.99999 Default value: 0 Unit type: mm or inches for linear axes (or deg for rotary axes)

Position error without VFF

Description: if the declared value is greater than the theoretical value calculated at the set highest feed and without VFF, it is the maximum admitted tracking error when the axis moves without VFF. If the declared value is smaller than the theoretical value calculated at the set highest feed and without VFF, the "Variable Servo Error" feature described in Chapter 1 is applied.

Range: min 0/max 99999.99999 Default value: 0 Unit type: mm or inches for linear axes (or deg for rotary axes)

In position band

Description: It is the tolerance around the programmed end-point within which the motion is considered finished. A null value disables the tolerance check.

Range: min 0/max 99999.99999 Default value: 0 Unit type: : mm or inches for linear axes (or deg for rotary axes)

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In position wait

Description: It is the maximum time allowed for the axis to be brought within and to stay inside the "in position band" tolerance (value >= In Position Window).

Range:min 0/max 65.535 Default value: 0 Unit type: sec

In position window

Description: it is the time that the axis must remain within the "position tolerance area". It will be rounded to a multiple of the corresponding position loop clock for that axis (value <= In Position Wait)

Range: min 0/max 65.535 Default value: 0 Unit type: sec

Axis backlash

Description: It defines the total amount of the axis backlash to be compensated for by the system. Range: min -99999.99999/max +99999.99999

Default value: 0 Unit type: : mm or inches for linear axes (or deg for rotary axes)

Dead zone

Description: It defines a position window around the end-point in which the servo control module will not output any voltage to the axis drive. As long as the axis remains in the dead zone the command to the drive will have a null value.

Range: min 0/max 99999.99999 Default value: 0 Unit type: : mm or inches for linear axes (or deg for rotary axes)

Axis calibration points number

Description: It defines the number of calibration points to be set to calibrate the axis. This parameter must be configured also when calibration points from file need to be introduced.

Range: min 0/max 1000 Default value: 0 Unit type: none

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Calibration points from file (Y/N)

Description: answer Y if a file including calibration points for the axis exists (File E:\OEM\AMPx\CLB_FILE.Id). Answer N if calibration points are introduced through data entry. For calibration file format see appendix C in this manual.

Range: YES/NO Default value: N Unit type: none

Driver address

Description: the address set on the axis driver providing unique identification of the driver inside the fibre optic ring.

Range: 1/254 Default value: 1 Unit type: none

Standard telegram

Description: identifies the type of axis and and servo mode of the motor connected to the digital driver.

Range: 1/6 where:

1 = reserved 2 = reserved 3 = Speed drive only spindle (without transducer feedback). This configuration is the equivalent

of an analog type spindle configure with converter only 4 = Normal or point-to-point axis 5 = Speed and/or position drive spindle. This configuration is the equivalent of a spindle driven

with converter and transducer 6 = reserved

Default value: 4 Unit type: none

Homing type

Description: defines the axis homing cycle for D.S.I. type axes. Range: 0/4 where:

0 = Homing managed by CNC: the physical switch must be connected to the CNC 1 = reserved 2 = reserved 3 = Homing managed by drive: the physical switch must be connected to the drive 4 = reserved

Default value: 3

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Unit type: none

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Home switch pressed status

Function not currently available.

Drive use motor transducer (Y/N)?

Description: the digital driver can use the transducer incorporated in the motor or an external one (e.g. optical encoder).

If you intend using the motor transducer, then answer with a Y. Range: YES/NO

Default value: Y Unit type: none

Probing Configuration

Description: determines the probing mode for digital drives Range: 0/2 where:

0 = the CNC programs the drive for probing on the positive ramp 1 = the CNC programs the drive for probing on the negative ramp 3 = the CNC does not program the drive assuming it has been set for probing on the positive ramp Default Value: 0 Units: none

Notes on characterization of digital drivers

•• Parameters with no effect for axes driven with the D.S.I. digital drive

CHANNEL A, CHANNEL B, CHANNEL Z, DIRECTION COUNT, MARKER DETECTION, RAPID TRAVERSE VOLTAGE, SERVO LOOP GAIN, STAND STILL SERVO LOOP GAIN, DEAD ZONE, MAXIMUM FEED , PERCENT OF VFF.

•• Parameters with no effect in cases of homing microswitch managed by CNC

LINEAR OPTICAL ENCODER, HOME POSITION FEED, HOMING DIRECTION.

•• ELECTRICAL PITCH parameter

The parameter ELECTRICAL PITCH, when digital drives are used (characterised with the default parameters: see the drive manual), must be declared in the following way:

• Linear axes: 10.000 x mechanical pitch

• Rotary axes: 3.600.000 x rev (360°)

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Physical Conn

Status : Axis name a

-- P H Y S I C A L C O N N E C T I O N S --

- board number : 0

- transducer : 0

- converter : 0

Chapter 3

Global Parameters Configuration

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

This data entry allows to enter the information necessary for axis connection configuration.

Board number

Description: It defines by which board will control the axis (value = number of servo boards - 1). Range: min 0/max 3

Default value: 0 Unit type: none

Transducer number

Description: It defines the number of the transducer associated with the current axis (i.e. the number of the connector).

Range: min 0/max 6 Default value: 0 Unit type: none

NOTE:

Zero means no transducer. For an axis controlled by D.S.I. digital drives, input the value 0. Version 10/510 systems when integrated with OS8510/3 coard, only have available channels 5 and 6.

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Converter number

Description: It defines the number of the converter associated with the current axis. Range: min 0/max 8

Default value: 0 Unit type: none

NOTE:

Zero means no transducer. For an axis controlled by D.S.I. digital drives, input the value 0.

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Axis Calibr

Status : Axis name a (*) Measuring unit = mm

-- A U X I L I A R Y C A L I B R A T I O N --

Theoretical position (*) error (*)

- 0 :0.00000 - 0 :0.00000

- 1 :0.00000 - 1 :0.00000

Chapter 3

Global Parameters Configuration

Page 1 of n

BOOLEAN VAR SHORT VAR DOUBLE VAR HELP

AUX GEN INFO SELECT AUX AUX CHARACT PHYSICAL CONN AXIS CALIBR

EXIT

NOTE:

This data entry allows the definition of the values required to calibrate the axis. For each point, a theoretical position and an error have to be fixed. For the intermediate positions, the system interpolates the error.

For adjusting for the geometrical errors see the specific paragraph in Chapter 5.

Theoretical position # (# = depends on axis calibration points)

Description: determines the theoretical axis position Range: - linear axes: min -99999.99999/max +99999.99999

"n" depends on the number of calibration points configured.

- rotational axes: min 0/max 359.99999 Default Value: 0 Units: - linear axes: mm or inch

- rotational axes: degrees

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Theoretical position # (# = depends on axis calibration points)

Description: It defines the configured axis theoretical position. Range: - Linear axes: min -99999.99999/max +99999.99999

- Rotary ax es: min 0/max 359.99999

Default value: 0 Unit type: - Linear axes: mm or inches

- Rotary axes: degrees

Error # (# = depends on axis calibration points)

Description: It defines the pitch compensation related to the theoretical position.. Range: - Linear axes: min -99999.99999/max +99999.99999 for linear axes

- Rotary axes: min -359.99999/max + 359.99999 for rotary axes

Default value: 0 Unit type: - Linear axes: mm or inches

- Rotary axes: degrees

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osai 10 CNC AMP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

INDEX

CLASSIFICATION OF THE MACHINE AXES

SERVO LOOP

SPLIT AXES

DUAL AXES

AXES WITH ROLLOVER

DIAMETER AXES

AUXILIARY AXES

HANDWHEEL

PSEUDO AXES

VARIABLE SERVO ERROR

ENTER/EXIT THE CHARACTERIZATION

GENERAL INFORMATION

LOGIC CONFIGURATION