Anilam 5000M CNC User manual

www.anilam.com
5000M CNC
Motion Setup/Testing
Utility

CNC Motion Setup/Testing Utility
P/N 70000636A - Warranty
All rights reserved. Subject to change without notice. iii
23-December-05
Warranty
ANILAM warrants its products to be free from defects in material and workmanship for one (1)
year from date of installation. At our option, we will repair or replace any defective product upon
prepaid return to our factory.
This warranty applies to all products when used in a normal industrial environment. Any
unauthorized tampering, misuse or neglect will make this warranty null and void.
Under no circumstances will ANILAM, any affiliate, or related company assume any liability for
loss of use or for any direct or consequential damages.
The foregoing warranties are in lieu of all other warranties expressed or implied, including, but
not limited to, the implied warranties of merchantability and fitness for a particular purpose.
The information in this manual has been thoroughly reviewed and is believed to be accurate.
ACU-RITE Companies, Inc. reserves the right to make changes to improve reliability, function or
design without notice. ACU-RITE Companies, Inc. assumes no liability arising out of the
application or use of the product described herein. All rights reserved. Subject to change
without notice.
Copyright 2005 ACU-RITE Companies, Inc.

CNC Motion Setup/Testing Utility
P/N 70000636A - Contents
All rights reserved. Subject to change without notice. v
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Introduction ................................................................................................................... 1
Accessing the MST Utility ............................................................................................ 1
Activating the MST Screen ........................................................................................... 2
MST Soft Keys ............................................................................................................... 3
Clearing a Prompt Field or Message (F1) ........................................................................................... 4
Selecting an Axis................................................................................................................................. 4
Entering a Password ........................................................................................................................... 4
Checking Axis Resolution (F2) ............................................................................................................ 5
Starting Reference Mark.................................................................................................................. 6
Detecting the Index Pulse (F3)............................................................................................................ 7
Canceling the Active MDI or Test Command ...................................................................................... 7
Activating Manual Data Input Mode (MDI)........................................................................................... 7
Balancing Motion Control Axes ........................................................................................................... 8
Servo Amplifier Test Board ................................................................................................................. 8
Test Board Installation..................................................................................................................... 9
Test Points ...................................................................................................................................... 9
Jumpers......................................................................................................................................... 10
Balancing the DSP
2
Board (F6) ......................................................................................................... 10
ANILAM Amplifier Parameter Files.................................................................................................... 12
Balancing Servo Amplifier Outputs (F6) ............................................................................................ 12
Setup Parameter Verification......................................................................................................... 12
Motion Setup and Testing (MST)................................................................................................... 14
Amplifier Faults ................................................................................................................................. 16
Tuning (F8)........................................................................................................................................ 16
Saving Final Values .......................................................................................................................... 19
Miscellaneous Tests (F9) .................................................................................................................. 20
CanBus Test.................................................................................................................................. 20
Rigid Tapping Test ........................................................................................................................ 22
Save Amp Settings ........................................................................................................................ 24
Amplifier Test Link ......................................................................................................................... 24
Reset Amplifier .............................................................................................................................. 24
BackUp Amp Settings.................................................................................................................... 25
Restore from BackUp .................................................................................................................... 25
Exiting the MST Screen (F10) ........................................................................................................... 25
In dex........................................................................................................................................ Index-1

CNC Motion Setup/Testing Utility
P/N 70000636A
All rights reserved. Subject to change without notice. 1
23-December-05
Introduction
This section describes how to use the ANILAM Motion Setup/Testing
(MST) Utility. The MST provides commands that carry out motion-specific
setup and testing in order to tune the servo system and the Proportional,
Integral, and Derivative (PID) filter parameters of a CNC.
A basic knowledge of machine operation and programming is required.
Refer to the 5000M CNC Programming and Operations Manual, P/N
70000508, for details on how to program and operate the control.
Setup includes the following procedures:
Servo Amplifier Balancing
Servo Amplifier Signal Gain Setting (motor step response is displayed
in open loop)
Instructions are provided for amplifier balancing and signal gain setting
when using the ANILAM AC Brushless Digital Servo Amplifiers and
motors. The servo amplifiers provided by ANILAM are completely digital;
parameter settings are done by communicating to the amplifier using the
Servo Amplifier Communications Cable, P/N 33001389, between the
amplifier's J1 connector and the CNC's RS-232 port. The digital amplifier
eliminates the need for adjusting trim pots and provides overall better
performance. Make sure cable is connected when doing any amplifier
adjustments; disconnect cable when done. If using amplifiers not
provided by ANILAM follow the manufacturer's guidelines for balancing,
signal gain setting, and overall adjustments.
The CNC provides the following troubleshooting tools:
Detection of Index Pulse
Detection of counts between index pulses (actual resolution)
Tuning for the optimal PID values
The following General Status information is displayed:
Display of active CNC status codes
Display of machine position, feedrates, RPM, dwell, and override
Accessing the MST Utility
Access the Motion Setup/Testing Utility (MST) from the Software Options
Screen. This screen activates automatically once the CNC has started
successfully.
To activate the MST Utility:
1. Start the CNC.
2. Press (F10) to continue, as prompted. The Software Options screen
is displayed.
3. Highlight Motion Setup/Testing, and press ENTER. The MST screen
activates.

CNC Motion Setup/Testing Utility
P/N 70000636A
2 All rights reserved. Subject to change without notice.
23-December-05
Activating the MST Screen
The axis positions displayed correspond to the current position. The
Graphics Area displays step responses for the Signal Gain and Tuning
functions. Refer to Figure 1 and Table 1.
5MSTSCRN
General Status
Graphics Area
Active Status Codes
Prompt Area
Message Area
Soft Keys
Figure 1, CNC Motion Setup/Testing Screen
Table 1, MST Screen Areas and Descriptions
MST Screen Area Description
General Status Shows Active Modes, Machine Position for each axis, RPM, Dwell,
Spindle Speed and Feedrate, Active Axis, and other information
regarding the status of the CNC.
Graph Area Displays step responses for the Signal Gain and Tuning functions.
Prompt Area Displays messages regarding information that must be entered.
Active Status Codes Active G-codes codes.
Message Area Displays error messages.
Soft Keys Function keys (F1–F10) located below the LCD on the console to
activate the functions, as labeled.

CNC Motion Setup/Testing Utility
P/N 70000636A
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MST Soft Keys
NOTE: Select an active axis before you select an MST command
(F1–F9).
NOTE: The CNC soft keys are displayed while the MST screen is
active.
Access MST utility features using the labeled soft keys located beneath
the LCD on the console. Press the corresponding soft key (F1–F10) to
activate the function.
Refer to Table 2 for soft key names and functions.
Table 2, MST Soft Key Functions
Soft Key Name Function
F1 ClrFld
Clears prompt field in SigGain and Tuning tests.
F2 ResChk
Calculates the resolution of the active axis.
Troubleshooting tool.
F3 IndexP
Detects Index Pulse and displays an indicator
beside the Active Axis line of the MST screen.
Troubleshooting tool.
F4 MANUAL Cancels Manual Data Input (MDI) or test
command.
F5 MDI Activates MDI Mode.
F6 Balance
Sends out the signal needed to Balance the
outputs of the system (0.0 VDC). Used to
balance the Motion Control Board and the Servo
Amplifiers.
F7 SigGain
Enables you to set the servo amplifier signal gain
for the active axis.
F8 Tuning
Activates the Tuning Pop-Up menu, which allows
the CNC to determine optimum PID values from
the given parameters and save the results.
F9 Misc
Miscellaneous tests displays a pop-up menu with
options for: CanBus Test and Rigid Tapping
Test. For AC motors only additional options
display on the pop-up menu: Amplifier Test Link,
Reset Amplifier, BackUp Amp Settings, and
Restore from Backup. These tests can only be
activated with the Servo Amplifier Test Board
installed. See “Servo Amplifier Test Board.”
F10 Exit Returns the CNC to the software selection
screen.
(SHIFT +F4) Home Performs a Homing Sequence on active axis.

CNC Motion Setup/Testing Utility
P/N 70000636A
4 All rights reserved. Subject to change without notice.
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Clearing a Prompt Field or Message (F1)
Press ClrFld (F1) to clear an erroneous entry. This soft key is available
during the Signal Gain and Tuning tests.
Selecting an Axis
NOTE: Select an active axis before you select an MST command
(F1–F9). If no axis is selected, the CNC displays an Error
message that prompts you to do so.
Use the following keypad keys to select and activate the corresponding
axes:
Activates/Deactivates X-axis
Activates/Deactivates Y-axis
Activates/Deactivates Z-axis
S
Activates/Deactivates U-Axis (if available)
S
Activates/Deactivates W-Axis (if available)
S
Activates/Deactivates Spindle Axis
The active axis is displayed in the upper-left corner of the General Status
area of the MST Screen.
Entering a Password
When you enter the MST Utility and press Balance (F6), Signal Gain
(F7), or Tuning (F8), the CNC prompts for the password. Enter the
appropriate password, and press ENTER. Refer to 5000M CNC Setup
Utility Manual, P/N 70000509, “Section 1, Password Restricted
Parameters.”
The soft key activates. If the password has been entered successfully,
the CNC will not prompt for the password again, unless you exit and
re-enter the MST Utility.
X
Y
Z
S
U
W

CNC Motion Setup/Testing Utility
P/N 70000636A
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Checking Axis Resolution (F2)
Refer to Figure 2. Press ResChk (F2) to calculate the actual resolution
for the active axis. In the Graphics Area of the screen, the actual
resolution and the resolution in the Setup are displayed for comparison.
In addition the screen displays:
The number of times the system tested for resolution (Total Cycles:)
The number of times that the encoder lines detected do not match the
number of encoder lines in the setup (Errors:). An error indicates that
something is wrong, either in the setup parameters or in the hardware.
The actual number of encoder lines found by the test (Encoder Lines:)
The resolution and counts per revolution found. (Encoder
Resolution:)
NOTE: Resolution should be four times the number of encoder lines.
Once this test is activated, you must move the axis for at least two
encoder revolutions via MDI Mode, Jog Mode, or manual move. The
CNC performs the calculation continuously until motion stops.
NOTE: This test is not available for axes with linear scales.
NOTE: Do not perform this test during Rapid Mode. Use it in Feed
Mode only.
5RESCHK
Figure 2, CNC Resolution Check (ResCheck) Screen

CNC Motion Setup/Testing Utility
P/N 70000636A
6 All rights reserved. Subject to change without notice.
23-December-05
Starting Reference Mark
This procedure is only necessary during setup of the system and only
when the encoder is type **EverTrack
TM
.
1. Select the axis you want to setup.
2. Press F2 (Resolution Check) to display a pop-up menu with two
options:
EverTrack Test
Save Current Mark
NOTE: Type must be specified as EverTrack on the Resolution – Setup
screen in the Setup Utility.
3. Select EverTrack Test. The Setup Utility displays:
Encoder Resolution
Encoder Type
Starting Mark (N)
The following information is displayed as the test is in progress:
mm between marks
Current Mark (N)
4. To determine the Starting Mark, move the axis to the right-most end of
the EverTrack encoder (as you look at the encoder). Note that you
must move the axis so that the Current Mark display
changes/transitions at least twice (about two inches). If you are within
2 inches of the right-most end of the encoder, move in the opposite
direction (left) a few inches, and then move back to the right-most end
of the encoder. The Current Mark display also shows the proper sign.
5. Once you have found the right-most mark, press F2 and select Save
Current Mark to store the Current Mark in the configuration file as the
Starting Mark entry.
– or –
Write down the Current Mark (sign included) and go the Setup Utility’s
Starting Mark choice and enter the information.
- - - - -
**EverTrack
TM
EverTrack
TM
is a Trademark of ACU-RITE Companies, Inc.

CNC Motion Setup/Testing Utility
P/N 70000636A
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23-December-05
Detecting the Index Pulse (F3)
Refer to Figure 1, CNC Motion Setup/Testing Screen. When you press
IndexP (F3), the CNC displays a flashing “I” each time it detects an Index
Pulse. The flashing “I” replaces the axis name (X, Y, Z, U, W, or O) of the
active axis. The index pulse indicator (flashing “I”) for the spindle axis is
displayed on the RPM field. The figure shows the axis display when the
CNC has detected an index pulse in the (active) X-axis. Refer to
Figure 3.
To detect an index pulse:
1. Move the active axis to check for the presence of an index pulse.
2. On systems with rotary encoders with index pulses, the index pulse
should be detected once per revolution.
3. On systems having linear scales, the index pulse should be detected
where the linear scale specifies location of the index pulse.
Figure 3, Index Pulse Indicator
Canceling the Active MDI or Test Command
Press MANUAL (F4) to cancel an active Manual Data Input (MDI) or test
command.
Activating Manual Data Input Mode (MDI)
Press MDI (F5) to activate the MDI Mode. (Refer to the 5000M CNC
Programming and Operations Manual, P/N 70000508, for information on
MDI programming.)