Doosan NHM Series User manual

Machine Tools
APC Recovery
(NHM/NHP Series)

1
NHM/NHP Series NHM/NHPAPCE2C
Table Of Contents
1. APC Manual Operating Recovery Method........................................................... 3
2. Pallet Change (M60) Sequence Table................................................................ 5
3. Conditions of each sequence during Manual Step Operation................................ 7
4. APC SERVO AMP(A81) Machine Home Setting ................................................... 9
5. Manual opertation in the jog mode ................................................................. 11

2
NHM/NHP Series NHM/NHPAPCE2C
◈APC Recovery (NHM / NHP)
APC
NHP/NHM Series
Servo Motor
APC Set-Up Station
APC Arm

3
NHM/NHP Series NHM/NHPAPCE2C
1. APC Manual Operating Recovery Method
※If APC is stopped by any problems(Interference by WORK PEICE or FIXTURE or TOOL ,
PEMERGENCY STOP, POWER OFF) while changing pallet(M60, M61, M62), you have to
manually operate to return APC to correct Position.
1) Remove the error cause of STOP and
“Power On”
⇒“Machine Ready”.
2) Select
“JOG”
MODE in MAIN O.P Panel.
3) Select “Manual”
on Manual / Auto Selection S/W
(Toggle Switch) of APC OP. Device.
Main O.P Panel
(None CE)
(CE)
(CE)
APC O.P Device
APC O.P Device

4
NHM/NHP Series NHM/NHPAPCE2C
4) Press
“CUSTOM1”
Key on NC FUNCTION Key.
⇒
“CUSTOM1 WINDOW”
Screen will be Displayed.
5) Press Soft Key
“PMC-SW”.
⇒ATC, APC Manual Screen will be displayed.
6) In ATC, APC Manual Screen, Press
“APC-ON” to
select APC.
⇒APC Manual Mode will change
“DISABLE”
to
“ON”
.
7) Please refer to
“Pallet Change Sequence Table”
.
Move a cursor to select the operation want to
run(①∼⑤) and Press Cycle start push button
switch on Main OP Panel Devic.
Operate this process until APC retrutn to Iinitial
Position.
8) When APC MANUAL OPERATION process is
finished, press softkey
“OFF”
.
⇒It's selected APC auto mode. Displayed a APC
MANUAL mode from
‘ON’
to
‘DISABLE’
.

5
NHM/NHP Series NHM/NHPAPCE2C
2. Pallet Change (M60) Sequence Table
Start (M60 Command)
Y,Z-Axis 2
nd
Ref.
Position ?
★AL 2326 “APC OP Manual Mode” ON
Select “Auto” on Auto/Manual switch on APC OP
.
Device. (X7.2, PMMD.M = 0, SA91)
No
Yes
▪ Y,Z Axis return to 2nd Ref. Position
Program : G00 G91 G30 Y0.Z0. ;
▶Y,Z Axis return to 2nd Ref. Position
Program : G00 G91 G30 Y0.Z0. ;
B-Axis Ref. Position Command
▶B-Axis return to 2nd Ref. Position
Program : G00 G28 B0. ;
B-Axis Ref.
Position ?
▪ B-Axis return to 2nd Ref. Position
Program : G00 G28 B0. ;
Yes
No
Man APC OP
Auto Mode ?
Yes
No
Y,Z-Axis 2nd Ref. Position Command
Set-Up Switch On ?
★AL 2325 “APC SET-UP SWITCH UNPUSH” ON
Press “Set-Up Switch” on APC OP Device.
Check : X7.1, SETU.M, SB92
Yes
No
Pallet Unclamp
1
▪ OUTPUT : Y5.5(PAUC.R) –YV62 Pallet UNClamp
▪ COMPLETE : X11.4(RPTCL..M) –SP61 Pallet Clamp
On
Off
Pallet Unclamp
O.K ?
No
★AL 2324 “
PALLET OR TABLE CLAMP/UNCLAMP
ALARM” ON
Check : TMB29
Yes
APC Initial
Position ?
Yes
No
★AL 2068 “M61/M62 Command Illegal Pos.” ON
Check : TMR55
On
Go To “A”
APC ARM UP
2
▪ OUTPUT : Y5.6(PAUC.R) –YV71 APC ARM UP
▪ COMPLETE : X12.0(APUP.M) –SX71 APC ARM UP
On
On
APC Changer Up
O.K ?
Yes
No
★AL 2336 “APC CHANGER UP/DOWN ALARM
”
ON
Check : X12.0(APUP.M) –SX71 APC Up Check
X12.1(APDN.M) –SX72 APC Down Check
On
Off

6
NHM/NHP Series NHM/NHPAPCE2C
Pallet 2 Position ?
No
3-2
APC 180 CCW Rotation
▪ OUTPUT : Y10.1(POSI1.R.) APC SERVO POS1
▪ COMPLETE : X16.0(PPSO2.M) APC SERVO POS0 INPUT
APC 180 CCW
Rotation End O.K ?
On
`
On
Off
On
★AL 2337 APC Changer 180 CW/CCW Alarm” ON
Check : X16.0(PPSO1.M) APC SERVO POS0 INPUT
X16.1(PPSO2.M) APC SERVO POS1 INPUT
On
Off
Yes
“1”
Go To “2”
Yes
Check : X16.0(PPSO1.M) APC SERVO POS0 INPUT
X16.1(PPSO2.M) APC SERVO POS1 INPUT
Off
On
Go To “A”
“A”
Pallet 1 Position ?
No
3-1
APC 180 CW Rotation
▪ OUTPUT : Y10.0(POSI0.R.) APC SERVO POS0
▪ COMPLETE : X16.1(PPSO2.M) PS01
APC 180 CW
Rotation End O.K ?
On
`
On
Off
On
APC ARM Down
4
▪ OUTPUT : Y5.7(APDN.R) –YV72APC ARM Down
▪ COMPLETE : X12.1(APDN.M) –SX22 APC ARM Down
APC Down O.K ?
On
★AL 2336 “APC CHANGER UP/DOWN ALARM
”
ON
: X12.0(APUP.M) –SX71 APC ARM Up
X12.1(APDN.M) –SX22 APC ARM Down
On
Off
Pallet Clamp
5
▪ OUTPUT : Y5.5(PAUC.R) –YV62 Pallet UNClamp
▪ COMPLETE : X11.4(RPTCL..M) –SP61 Pallet Clamp
Pallet Clamp O.K ?
On
★AL 2324 “TABLE OR PALLET CLAMP ALARM”
ON
Check : X11.4(RPTCL..M) –SP61 Pallet Clamp
On
On
Off
“2”
Finish
★AL 2337 APC Changer 180 CW/CCW Alarm” ON
Check : X16.0(PPSO1.M) APC SERVO POS0 INPUT
X16.1(PPSO2.M) APC SERVO POS1 INPUT
On
Off
Yes
Yes
Yes
No
No
Yes
Go To “1”

7
NHM/NHP Series NHM/NHPAPCE2C
3. Conditions of each sequence during Manual Step Operation
①Pallet Unclamp
(K33.2)
▪ OUTPUT SIGNAL : Y5.5(PAUC.R) = 1 ▪ COMPLETE SIGNAL : X11.4(RPTCL.M) = 0
1) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
2) APC Manual Mode (X7.2 = 1)
3) Select
“Pallet Unclamp”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen.
4)
“CYCLE START”
(X36.1 = 1)
②APC ARM Up
(K32.6)
▪ OUTPUT SIGNAL : Y5.6(APUP.R) = 1 ▪ COMPLETE SIGNAL : X12.0(APUP.M) = 1
1)
Set-Up Door Close (X13.1 = 0)
2)
Operator Door Close Confirm (X6.6, X6.7 = 1)
3)
Y,Z,B Axis APC Position (Y,Z Axis 2
nd
Ref, B axis Ref)
4)
APC Down Check (X12.1 = 1)
5)
Pallet Unclamp (X11.4 = 0, Y5.5 = 1)
6) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
7) APC Manual Mode (X7.2 = 1)
8) Select
“APC Changer Up”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen
9)
“CYCLE START”
(X36.1 = 1)
③-1 APC 180 CW Rotation
(K33.0)
▪ OUTPUT SIGNAL : Y10.1(POSI1.R) =1 COMPLETE SIGNAL : X16.0(PPSO1.M) = 1
and X16.7(PVPF.M) = 1
1)
Set-Up Door Close (X13.1 = 0)
2)
Operator Door Close Confirm (X6.6, X6.7 = 1)
3)
APC 180CCW Position(X16.0 = 1, X16.1 = 0 or K32.4 = 1)
4)
APC ARM Up (X12.0 = 1)
5) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
6) APC Manual Mode (X7.2 = 1)
7) Select
“APC ARM Rotation”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen
8)
“CYCLE START”
(X36.1 = 1)
③-2 APC 180 CCW Rotation
(K33.1)
▪ OUTPUT SIGNAL : Y10.0(POSI0.R) =1 COMPLETE SIGNAL : X16.1(PPSO2.M) = 1
and X16.7(PVPF.M) = 1
1)
Set-Up Door Close (X13.1 = 0)
2) Operator Door Close Confirm (X6.6, X6.7 = 1)

8
NHM/NHP Series NHM/NHPAPCE2C
3) APC 180CW Position (X16.1 = 0, X16.2 = 1 or K32.4 = 1)
4)
APC ARM Up (X12.0 = 1)
5) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
6) APC Manual Mode (X7.2 = 1)
7) Select
“APC ARM Rotation”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen
8) APC OP Manual Start (X16.4 = 1) or
“CYCLE START”
(X32.5 = 1)
④APC ARM Down
(K32.7)
▪ OUTPUT SIGNAL : Y5.7(APDN.R) = 1 ▪ COMPLETE SIGNAL : X12.1(APDN.M) =1
1)
Y,Z,B Axis APC Position (Y,Z Axis 2
nd
Ref, B axis Ref)
2)
APC Changer CW or CCW Position(X16.0 = 1 or X16.1 = 1)
3)
Pallet Unclamp (X11.4 = 0, Y5.5 = 1)
4) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
5) APC Manual Mode (X16.7 = 1)
6) Select
“APC Changer Down”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen
7) APC OP Manual Start (X16.4 = 1) or
“CYCLE START”
(X32.5 = 1)
⑤Pallet Clamp
(K33.2)
▪ OUTPUT SIGNAL : Y5.5(PAUC.R) = 0 ▪ COMPLETE SIGNAL : X11.4(RPTCL.M) =1
1)
APC Down Check (X12.1 = 1)
2) Select Manual Mode by the mode selector switch on Main O.P PANEL (
“Jog”
or
“Handle”
Mode)
3) APC Manual Mode (X16.7 = 1)
4) Select
“Pallet Clamp”
in
“APC ON”
state on
“CUSTOM WINDOW”
Screen
5)
“CYCLE START”
(X32.5 = 1)

9
NHM/NHP Series NHM/NHPAPCE2C
4. APC SERVO AMP(A81) Machine Home Setting
※When you want to change the Hmoe position of APC CHANGER to solve problemes come
from operating errors or mechanical faults, please control ATC/APC SERVO AMP(A81) on
PDP.
※If APC CHANGER is on correct position after Manual Operation Recovery, it’s not necessary
to set home position at ATC/APC SERVO AMP(81).
※Press the Mode Key to
select APC Mode because APC/ATC use 2 AXES SERVO DRIVE
※When 2 AXIS is selected, Spot of the first digit in 7 segments is blinking.
1AXIS : APC (NOT BLINKING) 2 AXIS : ATC (BLINKING)
1 AXIS Status display 2 AXIS Status display
S
ET home position in the home position setting mode of Diagnosis display.
① Press the MODE key and change the display to Diagnosis display.
Status display Diagnosis display
MODE
MODE
MODE
ATC/APC Servo Drive[A81]

10
NHM/NHP Series NHM/NHPAPCE2C
② Press DOWN key and change the display to home position setting mode.
③Press SET key for more than 5 seconds and the display will set the parameter automatically
and the turn back the display to home position setting mode.
Press the SET Key
for more than 5 sec
※After setting the home position, turn the
APC/ATC SERVO AMP(A81)
power OFF and then
turn it ON in order to complete the setting.
SET

11
NHM/NHP Series NHM/NHPAPCE2C
5. Manual opertation in the jog mode
※This operation is useful, When APC is need fine tuning to solve mechanical faults
※Refer to as blew for select of APC
1AXIS : APC (NOT BLINKING) 2 AXIS : ATC (BLINKING)
1 AXIS Status display 2 AXIS Status display
① Before moving the APC, first open the electric cabinet and locate the servo drive that is
specific to the ATC/APC.
[-A81]
② Press the MODE key on the start screen
[r 0000]
of the servo drive to display
[ rd-off ]
.

[ rd-off ]
: Ready to operate the jog run
③ From the [ rd-off ] screen, press the down arrow button to display [ Jog.run ].

[ Jog.run ]
: Switch to the jog run mode
④ From the [Jog.run] screen, press the SET key to display [ Jr.0000].
 [ Jr.0000 ]
: Jog run mode

12
NHM/NHP Series NHM/NHPAPCE2C
⑤ From the
[Jr.0000 ]
screen, use the up/down arrow keys
to rotate the APC in a desired direction. In such a way,
adjust the pot position.
 Fine-tune the APC position
※ If you want to fine-tune the APC position, set parameter
#27 to a lower value.

13
NHM/NHP Series NHM/NHPAPCE2C
Revision History
APC Recovery NHM/NHP Series
Version
Year/Month
Revision history
Created by
01
2012. 11
Created a draft(NHM/NHPAPCE2B)
Donghyung.Kang
/
Gwangho.Lee
02
2012. 12
Add chapter 4,5(NHM/NHPAPCE2C)
Donghyung.Kang
/
Gwangho.Lee
03
04
05
06
07
08
09
10