Additional Axes User`s Manual
Contents
1. nN Note X MSPR relay control signals Input 1 Output 1 are commonly used as to the second 6 axis AMP X Brake control in Hi4 controller consists of 6 axis board and 3 axis additional board only 9axes can be controlled respectively Therefore it is recommended that additional 3 axis board is commonly used for more than 10 axis combination 4 16 AHYUNDAI Additional Axes 4 9 10 axis combination the other example lst BD440 6 axis AMP Ld 2 axis AMP B i 2nd BD440 l B S 1 2 axis AMP B S 2 Mote 1 Robot axes 6 axes are set as default and can not be changed 2 1 servo 2 servo and 3 servo of 1 DSP in 1 Board are sequentially used for up to main 3 axis of robot 1 axis to 3 axis 3 1 servo 2 servo and 3 servo of 2 DSP in 1 Board are sequentially used for up to wrist 3 axis of robot 4 axis to 6 axis 4 In case of HR100P 4 axes robot 1 servo 2 servo and 3 servo of 1 DSP and 1 servo 2 DSP are used for 4 axes of robot links 5 16 AHYUNDAI Additional Axes 3 Robot type and auxiliary axis mechanical constant registration 3 1 Setting robot type and ae axis RTO Matsushita E i Matsush ta motor a gt HR1OOP gt HR120S HROO6 02 without R2 cable cover gt HROO6 03 with R2 cable cover 1 Though selection of PF2 System gt 5 Initialize gt 2 Selecting type of the2. __ F Hi4 controller maintenance manual abnormal Error Message Contents Countermeasure 14 16 AHYUNDAI Additional Axes A Attachment 4 Auxiliary servo parameter setting In manual mode enter engineering code R314 to enter PF2 System gt 3 Machine parameter gt 12 Servo parameter setting to set servo parameter of auxiliary axis 1 Servo loop gain Kp Position loop proportional gain Generally setting is identical to 1 axis E e Generally setting is identical to 1 axis Generally setting is identical to 1 axis Generally setting is identical to 1 axis Generally setting is identical to 1 axis Continuous current of motor Apeak x 100 Notel AMP maximum current Set Auxiliary AMP numbering for setting E Type HYUNDAI DRIVER IPM Capacity Main3axis Wrist3 axis 6Axis 2Axis Shunt resistor Main 3axis Aux1 axis Medium AMP Wrist 3axis Aux2 axis Year Month Serial no 15 16 AHYUNDAI Additional Axes Medium AMP is defined with respect to Shunt resistor value Shunt resistor mark in case of medium Drive Unit only 2mQ 93 75Apeak Shunt 4mQ 46 87Apeak resistor 8 m2 23 44Apeak mark 12ml 15 58Apeak 16m2 11 72Apeak Small AMP is defined with respect to Hall Sensor teat C B OPM Ra caren 20A al Sensor Rat curren 4V IOA 1875Apek 2 Position error level Setting val
3. encoder command current value changes according to direction with manual JOG movement to forward backward direction in each axis Start with low speed at the initial manual operation If there is no movement at current value check brake release 4 6 Check acceleration deceleration parameters and bit constant In order to protect main components in manipulator acceleration deceleration time must be set with respect to mechanical data Bit constant should be checked by comparison of monitoring distance value and measured distance of auxiliary axis 4 7 Check soft limit and set it if necessary Check input state of hardware limit 12 16 AHYUNDAI Additional Axes 4 8 During manual speed and auto operation if vibration and shaking is occured check mechanical assembly and tuning parameters acceleration deceleration servo loop gain 5 Completion Upon the completion of auxiliary axis setting copy Constant fileeROBOT C00 ROBOT CO1 to external memory devices HRview PC card via selecting PF1 Service 5 File manager 5 copy 6 Jogging amp Running 6 1 Jogging 1 If pressing AUX AXIS key in Teach Pendant LED blinks If pressing LFT S RHT S key manual operation for first auxiliary axis can be carried out 2 When LED of AUX AXIS blinks only auxiliary axis is operated 3 Operation according to status of COORD key is as follows JOINT CART Auxiliary axis in general operation Move to setting
4. 4 Connection and Inspection 4 1 Connect all cables and supply power to the controller If servo error is occurred at initial self diagnoses stage check servo parameters that are entered correctly according to the specification And check encoder line with the reference to Hi4 controller maintenance manual and signal connection 4 2 Check current setting axis Main S W V10 00 15 2002 03 15 Motion S W V07 05 2002 03 21 T P ver VO1 03 1999 05 31 1 0 ver gt VOO 00 0 00 00 DSP Version DSP1 S W V99 2000 12 31 DSP2 S W V99 99 2000 12 31 DSP3 S W 0 00 00 X Axis robot axis Tot Ax robot axis additional axis 4 3 Set reference position of encoder by selecting PF2 System gt 3 machine parameter gt 5 Setting encoder offset Make encoder value 0x400000 at the reference position of each axis 4 4 Select PF1 Service gt 1 Monitoring gt 1 Axis data press SHIFT t key to check 0x400000 in each axis data and press Motors ON Sp 500 MOVE L S 500mm sec A 0 T 0 D025 1 Current Command Angle Coord mm 400000 400000 0 0deg X 0 0 400000 0 0deg Y 400000 0 0deg Z 400000 0 0deg RX 0 0 0mm Ry BOWN Next X Axis data of T1 T2 on the screen is the distance from the origin of auxiliary axis on robot coordinate system In case of traveling axis coordinate value X Y Z Auxiliary coordinate value X Y Z Robot coordinate value X2 Y2 Z gt 4 5 In monitoring screen check
5. Hi4 Function Manual Additional Axes User s Manual Version 1 0 March 2002 AHYU HEAVY INDUSTRIES CO LTD Additional Axes 1 Introduction This document is prepared to guide users to set servo controlled auxiliary axis as to the robot Registration procedure E Preparation 1 Manipulator Robot Aux axis and wire harness 2 Controller auxiliary control unit or auxiliary servo amp BD440 1set in case of more than 3 aux axes and signal cables 3 Mechanical parameters for auxiliary axis Input data according to registration format Article 3 2 Assignment of auxiliary axis axis spec and configuration bit constant etc 4 Servo parameter for auxiliary axis Register input data as to motor and encoder spec to auxiliary axis servo parameters in format shown article 3 3 5 Auxiliary axis acceleration deceleration time Prepare input data of auxiliary axis acceleration deceleration time System PF2 3 Machine parameter 6 Accel amp Decel parameters E Registration of Robot type and auxiliary axis parameters After connection between controller and manipulator is carried out initialize system Input robot type and number of auxiliary axis and mechanical parameters of auxiliary axis and servo parameters Maximum auxiliary axis 6 axis x If these setting are set at the factory don t need to register the parameters Connectivity and Inspection Turn the controller power Off gt Connect wire h
6. and Panasonic are all in CCW 4 Phase shift at zero deg Input current phase angle at 0 position of encoder In general Yaskawa and Tamagawa 0 Panasonic 30 5 Number of poles lt 2 4 6 8 gt Enter number of poles in motor 6 Incremental Encoder lead phase at CCW lt A phase B phase gt 10 16 AHYUNDAI Additional Axes When shaft rotates in CCW direction at the front view of motor input lead phase either in A phase or B phase in incremental output value of encoder In general A phase leads in Tamagawa motor and B phase leads in Yaskawa and Panasonic motor 7 Momentary max current Ip Apeak Peak current to be resulted in motor must be input with peak value not rms value Enter the current value in reference to load calculation of auxiliary axis manipulator Setting value shall be lower than the maximum peak current and not be over 95 of the maximum current of AMP 8 Stall current Is Apeak Input stall current of motor as Peak If it is not shown in spec data sheet input rated current as peak However the current value must be less than current peak current 9 Maximum current of AMP Iamp Apeak Set maximum current of AMP Unit The maximum current is refer to Amp Maximum Current in Attachment Note 1 When Travelling axis GUN JIG axis are to be set at the same time register Travelling axis first GUN axis second JIG axis last in sequence order 11 16 AHYUNDAI Additional Axes
7. arness between manipulator and controller gt Turn the power On gt Set encoder calibration and set robot reference position axis constant if necessary Completion After setting auxiliary axis operation store the ROBOT CO1 file with the external memory HRview PCcard 2 Preparation 2 1 Check peripherals for the installation 2 2 Check data sheet for setting auxiliary axis 1 Mechanical constants of auxiliary axis 2 Servo parameters on auxiliary axis There are two methods in setting auxiliary axis servo parameter of Hi4 controller For the first method refer to 3 Robot type and auxiliary axis mechanical constant registration recommended For the second method refer to Attachment auxiliary axis servo parameter individual setting 3 Auxiliary axis acceleration deceleration 2 16 AHYUNDA Additional Axes 2 3 Combinations of BD440 and servo AMP as to number of axis 1 6 axes default 6 axes robot BD440 1 unit 6 axis AMP unit 7 8 axes default 6 axest Auxiliary 2 axes BD440 1lunit 6 axis AMP lunit 2 axis AMP 1 unit 9 12 axes default 6 axes Auxiliary 6 axes BD440 2 units 6 axis AMP 2 units MSPR I O in common 1 6 axes combination lst BD440 6 axis AMP 2 7 8 axes combination 6 axis AMP Biases 2 axis AMP B S 1 3 16 AHYUNDAI Additional Axes 3 9 12 axes combination recommended spec lst BD440 6 axis AMP 6 axis AMP NM aa
8. axis direction TOOL Position of tool center point is not changed in moving traveling axis 5 TCP coordinate value X Y Z Auxiliary coordinate X Y Z Robot coordinate X gt Y2 Z gt 6 Manual operation speed S8 speed level 25 of Maximum speed of auxiliary axis Limit within max 250mm sec 7 Move direction of Auxiliary axis follows user coordinate in user coordinate system 6 2 Running 1 Interpolation Off Each axis reaches simultaneously to target point 2 Linear Interpolation Linear interpolation movement trajectory pose of target point is executed 3 Circular Interpolation Circular interpolation movement of target point is executed 4 Shift Functions Offline Online Search Palletizing for shift applies only to robot and auxiliary axis moves only to the recorded position Specially in search function auxiliary axis must not be in movement in search operation step 5 Coordinated conversion Movement of auxiliary axis in original program must not have any changes because coordinated conversion converts only movement disposition as to robot and transfers target value of auxiliary axis in the same value 6 Relative program call function Do not move auxiliary axis in programming relative program It only applies relative position as to robot 13 16 AHYUNDAI Additional Axes 7 Troubleshooting 1 E0103 E0108 Contents Countermeasure Encoder and manipulator wiring and connection
9. ero Number of Poles Lead signal at CCW rotation Momentary max current peak Stall current peak 32 AMP type lt Mini gt Maximum current of AMP 93 75 A Upon the completion press PF5 Complete key Auxiliary servo parameter X Be informed that the following data can be changed according to design modification from manufacturer X According to load condition after setting each item PF2 System gt 3 Machine parameter gt acceleration amp deceleration parameters of 6 Accel amp Decel parameters 2 and PF2 System gt 3 Machine parameter gt 12 Servo parameter setting gt 1 Servo loop gain Kp positional gain and Kv velocity gain shall be adjusted in use 1 Encoder type 0 Yaskawa 1 Tamakawa 2 Panasonic 3 Panasonic Compact type HR controller can only provide absolute encoder Select encoder according to maker s spec 2 Encoder pulse lt 1024 2048 4096 8192 gt Number of encoder pulse in single rotation of motor In general Yaskawa 12bit encoder 1024 Yaskawa 15bit Encoder 8192 Panasoni 2048 Tamagawa 4096 3 Direction of rotation lt CCW CW gt Enter the CW direction of motor Rotation direction is incremental direction in encoder position when motor is viewed at the side of motor shaft When encoder value in increased as rotating in CCW it will be CCW When encoder value is increased as rotating in CW it will be CW In general Yaskawa and Tamagawa
10. r to set 7 auxiliary Default axis 6 axis Main 3 axis BD440 No 1 DSP No 1 1 3 axis Wrist 3 axis BD440 Nol DSP No 2 1 3 axis Auxiliary 1 axes BD440 No 1 DSP No 1 4 axis 2 Specification of axis Select one type of auxiliary axis in lt Travelling Gun Jig gt When specification of auxiliary axis is defined according to logical sequence of auxiliary axis keep sequence of Travelling gt Gun gt Jig must to be maintained 3 Axis configuration Select axis movement direction in lt Nothing X Y Z Rxyz gt In carriage type if left right axis is travel axis lt X gt is in movement and if forward backware axis is travel axis in lt Y gt is in movement When the reference position of robot manipulator is parallel to carriage axis in the installation select lt Y gt In GUN type refer to servo gun guide In JIG type refer to positioner synchronization function guide 4 Bit constant 9999 99999 9999 9999 Axis movement for 1 pulse in encoder is registered as mm 10000bit If coordinate value is incremented as forward direction is in the same direction with the rotational direction of reduction gear sign to numeric value is For example Motor at 100 turns 1m is moved Bit constant 1000 mm 100 rev x 8192 bit rev 0 0012207031 It becomes 12 20703 as setting to 10000 bit 5 Rated RPM 1 5000 Information to set automatically the maximum speed of auxiliary axis motor in Sy
11. robot in Manual mode select the type of robot and Press SET Te REO of additional axes rT Conveyor synchronization lt OFF Vibration canten mode lt OFF ON gt 2 Enter the number of auxiliary axis press PF5 Execute key to display following message in the guide line 3 As pressing SET YES key the menu shown in item 2 of menu 3 2 is displayed 6 16 AHYUNDAI Additional Axes 3 2 Auxiliary axis mechanical constant setting 1 Select PF2 System gt 5 System format gt 21 Additional axes setting in Manual mode System format Selecting type of the robot Setting usage of the robot X To be able to select item 21 Input Engineer code R314 in Manual mode Motors off Auxiliary axis 2 Set auxiliary axis constant Max 6 axis 14 39 38 Additional Axis 1 A 0 S 1 Axis position BD fJ DSP 1 Axis 4 Application lt Travelling Gun Joint pattern lt Nothing X Y Z Bit constant 0 Rated RPM Max stroke Pl 2 Press PF5 Complete key for completion 116 AHYUNDAI Additional Axes Description of Acuxiliary axis mechanical constant 1 Axis location enables user to define physical configuration of auxiliary axis BD 1 1 2 gt Assign BD440 board No 2DSP 1 Board DSP 1 1 2 gt Assign DSP No in BD440 board 4 axis 1DSP Axis 4 1 4 gt Assign axis No Example When1 1 4 is defined in orde
12. stem PF2 gt 3 Machine parameter gt 6 Accel amp Decel parameters Normally Acceleration Deceleration is assigned with the minimum value Operator can modify the setting by change the Accel time and 6 Max Stroke 1 30000 Information to set valid robot operation area soft limit of auxiliary axis System PF2 gt 3 Machine parameter gt 3 Software limit 8 16 AHYUNDAI Additional Axes 3 3 Auxiliary servo parameter setting Set the servo parameter to meet auxiliary axis driving condition Servo loop control Two setting methods In the first setting method user simply collects data reference to motor specification and enters the data without calculation process of each iterms In the second setting method input the data according to user calculation with respect to servo parameter format Attachment each auxiliary axis parameter setting The following explains the first setting method 1 Select PF2 System gt 5 Initialize gt 22 Servo eee axis in Manual mode Gysten Tormat Selecting type of the robot Setting usage of the robot Positioner group setting Endless axes oe Xx To be able to select item 22 Input Engineer code R314 in Manual mode Motors off Auxiliary axis 9 16 AHYUNDAI Additional Axes 2 Set auxiliary axis servo parameter Maximum 6 axis Encoder type lt 0 1 2 8 Encoder pulse lt 1024 Direction of rotation Phase shift at z
13. ue Deviation value to detect positional deviation error Measured value The maximum positional deviation value that has been occurred from the start of controller power on to present state Normally setting value is set as 1 2 times to 1 5 times of measured value 3 Motor and encoder type Decide according to motor and encoder spec Parameter Setting method Sl If forward direction is in CCW select 0 and CW select 1 2 Motor Pole no 2 1 Yaskawa 2 Tamagawa 3 Panasonic 7 Pannasonic Compact Encoder type S4 In CCW rotation of motor 0 if A phase leads 1 if B phase leads 5 0 Standard 1 Tamagawa Even 2 Tamagawa 21bitEven 3 Tamagawa 21 bitOdd PULS 1024 2048 4096 8192 PHSE 0 359 Normally Pannasonic 30 Current delay compensation due 3 3 P o PHVL 0 359 In general 10 40 to speed at 2000rpm 4 Current loop gain 1 Set according AMP capacity to be used 2 Setting value Parameter Smal AMP OS e A 5 Vibration control gain Ignored in auxiliary axis 6 Servo data setting for 2 axes sync Ignored in auxiliary axis 16 16 AHYUNDAI
Download Pdf Manuals
Related Search