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SUDX manual

1. lt ROTARTY TABLE HANDWHEEL CONTROL REAR PANEL YUASA CONTROL BOX Section 1 Lets get Started RISC PAIS AM Tr T Preliminary te Rill ould 1 DUMPS PrOPTARHTHHE TA Duns l Computer Programming te E ued cd 2 Loading Yuasa Terminal Program A mU Nu Me Cu EOE E EETRI 2 Haad Held Terminal cee 4 Hand needa verano es i ea 5 siue UPTO CNG dori sre aen incon wipes UDNCG Remote Wining Diagram va abd 6 Step TL 7 Remote Cycle uoi vocent ca el Rat 7 Remote Cycle 8 Section 2 UDNC Panel Controls Front PANES WUCHES 9 T TREO 10 igi
2. 54 Section 7 Maintenance Service i Parameters and Table Dimensions CREDIT POLICY 1 All returned goods must have prior authorization The MRA Merchandise Return Authorization Number must appear prominently on the shipping label Please refer to your original invoice number when reque ting MRA s Merchandise sent in without a MRA will be refused by our shipping department cain mite DE msi nE kirit f ifa 2 Defective goods will be replaced repaired or credited to you after the item has been inspected by our Service Department unless prior authorization has been made 3 Merchandise will not receive credit if itis no longer under warranty has been misused or has been altered or damaged by end user 4 If a unit is deemed and not repairable credit will be issued geb 1b fen ee T fre up Do fe EPS will pe dody wot HIM 55 5 Any warranty merchandise that is repairable will be repaired and sent back to the customer therefore no credit will be issued 6 There will be a 15 restocking charge on any and all items not returned in their original packaging amp or not covered by warranty 7 No other policy other than the foregoing will be authorized or accepted by Yuasa International SERVICE POLICY 1 Warranty cards must be on file
3. Go to Subroutine 0 G17 Terminate Subroutine 12 Subroutine 2 G90B30 Absolute index to 30 G8l Go to Subroutine 1 G17 Terminate Subroutine L3 Subroutine 3 G90B270 Absolute index to 270 G82 Go to Subroutine 2 G17 Terminate Subroutine F1000 Set Feedrate to 100 G80 Go to Subroutine 0 G81 Go to Subroutine 1 G82 Go to Subroutine 2 G83 Go to Subroutine 3 G70X2 Start Loop 2 times G83 Go to Subroutine 3 G71 End Loop M30 End Program Program sets feedrate to max 106 value calls subroutine 0 then subroutine 1 then subroutine 2 then subroutine 3 starts a 2 times loop to execute subroutine 3 end program This program if run with the Program Select switch in the M position would index as follows 90 0 180 909 09 30 1809 90 0 2709 30 180 90 0 270 30 1805 90 0 270 30 180 90 0 End Subroutines can be treated as subprogram in that by using the G30 G39 jump command or the b beginning of program b9 a subroutine can be selected and executed on a stand alone basis Subroutines can be called or jumped to conditionally or unconditionally A call will return to the main program when the G17 is seen A jump will not return but will instead treat a G17 as M30 or end of program Subroutines can be executed directly as a stand alone program by using the bn command return to program start where n can be used to specify the subroutine
4. SPINDLE 0 0 3 86 98 SPINDLE BORE PLACING DIRECTION HORIZONTAL VERTICAL GUIDE BLOCK WIDTH MAX WORK LOAD HORIZONTAL s VERTICAL TOTAL GEAR REDUCTION RATIO DIMENSION 7 91 1 22 6 69 254 E D dum PARTS BREAKDOWN PART NAME PACKING pr pem SEAL PLATE PACKING THROST PLATE 9 NEEDLE BEARING 12 FN1A4565 pres pre peers ROLLER GUIDE GUIDE 58 SOCKET BOLT COLLET CLOSURE SPINDLE COLLST CLOSURE HANDLE ROLLER HANDLE BOLT 1 INDICATOR GREASE NIPPLE HEX BOLT SEAL WASHER GUIDE BLOCK HEX SOCKET BOLT HANDLE BOLT 2 SPINDLE DEGREE WHEEL SOCKET SCREW ASX SOCKET BOLT BEN SOCKET SCREW PARALLEL KBY Bn e x nu B c x ME 18 gt m x WORM WHEEL M lt t gt lt N 2822 4 i gt gt Be 7 gt gt 4 nm COOLING FIN PACKING pic wr ee be fwest To HEX SOCKET BOLT HEX SOCKET BOLT xu een com E qoe COVER PAC
5. rn 11 G Code 11 M C de Description repr 14 Motion Buffer CM ET ILLA aL 16 Input Data Commands Characters eve 17 Special and Non Motion Command Descriptions 0 18 Section 3 4 Parameters and Alarm Descriptions Puis o M re 29 ro ip 25 Section 4 Trouble Shooting My Computer does not communicate to the UDNC 7000 0 0 36 My CNC does not Communicate to the UDNC e epus e pid 37 My Hand Held does not Communicate with the UDNC 38 Bot Code DeHmioDS decus repose pate up e D IPM TM ANE 38 HEROS ar 40 Section 5 Direct Operations through the 85 232 Fague IN cM 41 CODING Cru 44 MOR SER TING tabaci tlc E c ad mp Ime ine Rel ee 46 E LEN PHOTO 47 dB o crc 48 Section 6 Yuasa Terminal Program DY angi OGUINC icr 50 Yuasa TO Computer oeste tb oce Dunes D 50 Running Terminal ASEA 50 Terminal 51
6. 2 1 540 548 558 560 Oil gauge ZUM MAT ONE NEC DUNS DUE EFC E Hex socket set screw M5x12 6 15 46 Metal plate packing a eee 5 Worm metal plate Hex socket bolt Guide block _ Hex socket bolt Seal washer Hex head bolt Seal washer Hex head bolt Sub table Hex socket bolt Sub table cap 2 O Rins 725 1112 Oldham coup ing E E Hex socket set screu 1 LRT172213 67 Spacer 88 Spur gear 69 Washer 70 Hex socket bolt 71 Motor flange 72 Hex socket bolt 73 Solenoid air valve 74 Hex socket bolt 75 Quick joint elbou t ill lt e gt lt 2 c a n 7 Pressure switch 79 0 Ring 84 Spur gear M Parallel key 0 2 86 _DC Servo motor 87 Spring washer 88 Hex socket bolt 89 Motor cover 90 socket bolt 91 Motor cable set box 92 Hex socket bolt 6 18 4 Volute with box nut 96 97 Union 98 Muffler Motor cable Indicator Lid Hh 4 102 103 Hex
7. tried everything and still no communications Unplug the power cord and remove the cover from the UDNC Check the ribbon cables coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 and ask for technical assjstance with t NC Error Code Definitions AXIS LIMIT Motor is restricted or has failed Causes 1 Am phenol cable is not properly connected to UDNC Make sure motor cable is properly snugged 2 Stress to internal wires 1e broken motor cable coolant seepage have caused lines R S or V to break or short Perform a continuity test on these lines 3 Possible bad amplifier Unplug the UDNC Remove the Am phenol cable from the UDNC Take 3 4 solid core copper wires and strip 1 4 of insulation off each end Twist 1 end of all 3 wires together and electrical tape or cap Insert 1 wire into the socket of the UDNC Am phenol plug Place the 2 remaining wires in 5 and V respectively Apply power to UDNC and turn unit on watch the display read out f the AXIS LIMIT remains your amplifier is bad If the AXIS LIMIT is gone you may have a damaged motor Call the Yuasa Serv
8. YUASA SUDX Programable Indexer Operations and Service Manual Version 2 10 Yuasa International 10715 Springdale Ave Unit 3 825 North Cass Ave Ste 113 Santa Fe Springs CA 90670 Westmont IL 60559 562 941 8822 800 421 9763 630 986 0901 800 323 7427 YUASA Fax 562 944 9447 Fax 630 323 1094 CREDIT POLICY 1 All returned goods must have prior authorization The MRA Merchandise Return Authorization Number must appear prominently on the shipping label Please refer to your original invoice number when requesting MRA s Merchandise sent in without a will be refused by our shipping department All returns must be sent back pre paid 2 Defective goods will be replaced repaired or credited to you after the item has been inspected by our Service Department unless prior authorization has been made 3 Merchandise will not receive credit if jt is no longer under warranty has been misused or has been altered or damaged by end user 4 If a unit is deemed defective and not repairable credit will be issued Should part s be missing from the returned unit s the part s price will be deducted from the customer s credit 5 Any warranty merchandise that is repairable will be repaired and sent back to the customer therefore no credit will be issued 6 There will be a 15 restocking charge on any and all items not returned in their original packaging amp or not covered by warranty 7 No o
9. 95 or NT The Yuasa Terminal will not work properly in a multi tasking environment Do not use a Windows DOS prompt You must be completely exited into DOS and have no other applications running 3 My computer communicates with my CNC but not to UDNC Your CNC may require lines 2 and 3 of the cable to be crossed Null Modem Use a Standard cable or attach a Null Modem adapter to the end of the cable 4 I don t understand how to use the Yuasa Terminal Configure Menu a Confirm COM 1 or COM 2 see 1 b Confirm BAUD rate The default is 9600 This is an industry standard for most 286 and better computers If you are unsure of what baud rate to use leave it at 9600 C 8 bit or 7 bit Our default is 8 bit If you need to use a 7 bit rate you will also need to configure the dip switches inside the UDNC See Dip Switch Configure d Millisecond time out 35 default will work with 386 486x20Mhrz or better processors If you are using a 286 or slower than 20Mhrz 386 486 increase the time out to 50ms 50ms is a good starting point your true time out may be slightly higher or lower e Confirm the setting are correct and enter Y to save Your next screen will list the cards addressed A0 A7 and confirmation of communication Yes or NO If everything is correct AO should say YES 5 tried everything and still no communications Unplug the power cord and remove the cover from the UDNC Check the ribbon cab
10. T value of 2014 If you wanted to move 360 degrees in 1 minutes you would first multiply 60 seconds and 2014 which equals 120840 Your T value would appear as T241680B360 18 Helical Time Feed Formula To figure out what value to use for a helical cut use the formula below or use the TIMEMODE program located on the Yuasa Diskette 1 Determine the Radius of the Workpiece Radius is equal to the distance from the center of the workpiece to it s outer edge minus the depth of the cut If you measure your workpiece to be 4 in Radius and you are doing a 1 2 cut your Radius 3 5 This is R 2 Determine how far you want the workpiece to rotate i e 45 degrees This is D 3 Determine how far the X axis cut across the workpiece is going to be i e 12 This is X 4 Determine how many inches per minute you want the workpiece to travel 1 6 This is IPM S T R D I T 3 1415926536 180 6 V rex I 7 1284 1 _ IPM 7 WS 3 1415926536 X 3 5 X 45 180 2 74889 2 748897 122 12 310824 12 310824 120840 6 247939 98 247940 Your programed T value would look like this T247940B45 Note 1 In T mode the servo computes a feedrate based on the specified time and the size of the move for each block of data Note 2 The T mode is a modal command and takes effect in the block where it appears and remains in effect until another T or comma
11. Will move the servo motor from 0 position to 20000 encoder counts with velocity reaching maximum peak at 10000 Having reached 20000 the motor will reverse and return to zero position To make the motor go to 20000 and back to 0 specify a starting angle of 180 degrees by changing 92 to G92C180000 The range of G92R is from 0 to 262139 encoder lines and G92C is from 0 to 360000 in increments of 001 degrees or 3 6 arc seconds of resolution Both the radius and the starting angle are initialized to zero on power turn on or reset Once specified the radius will remain at its specified value until changed However the starting angle will change incrementally as moves are executed For example if 92 is specified and C90000 move 90 degrees is executed the starting angle will now be G92C90000 for the next move If a different value is required it must be entered into the program The C command s range is from 0 to 8388607 and therefore allows up to 23 3 revolutions to be executed in a command line The use of a loop G70 command allows execution of continuous rotations It is possible and sometimes desirable to blend a linear and a circular motion together For example 0 addresses the Z Sets Current position to zero zor E clears buffer 20 sets feedrate to maximum of 106 value F1000 G92R500 sets radius to 500 M40 enables continuous motion C90000 Circular move 90 degrees to
12. is for adjusting bit transfer rate 7 or 8 bit There are 8 dip switches on this bank Switches 1 amp 8 are set in the same direction where as 2 7 are opposed This is our default setting of 8 bit To change this to 7 bit set switch 5 to match switches amp 8 The bank closest to the center of the board BANK 2 is used to set the baud rate and specify card address Card Address Switches 1 2 amp 3 control the address selection Our default setting is for AO in which case all 3 switches are facing the same direction top of each switch pushed in This position is refered to as 0 with the bottom pushed in the position is referred to as 1 Switches 4 5 amp 6 control the baud rate of the transmission line Our default setting is for 9600 baud other bauds may be changed by setting the switches below WA W SW6 BAUD RAT et Vet 00D met S 0 0 2400 Pup AU 0 D 1 600 1 1 1 0 0 bottom of switch extended 1 top of switch extended 40 Section 5 RS232 Interface irect eration of SUDX via RS232 port for ontrols Advantages for direct operation sed to u gt 6 You must only write a single CNC machine program including the rotary movements no need to have a separate program for the SUDX controller _In viewing the CNC machines CRT you always know the position of the rotary table relative to any other program line When programming
13. socket bolt 6 10 104 011 cap packing gt 1 gt l1 PART SM ME ty SUDX 130 SUDX i40 SUD gt lt 170 cc gt lt 220 SUDX 280 105 011 cap 2 Max md ee _ bolt _ __ _ Mmo gt M12 Quick joint straight TS6 01 gt gt Suite m Hex socket bolt gt Switch mounting board gt gt Hex socket bolt 0 Ring Round head bolt E Ball bearing SubTable degree _ socket bolt Round head bolt _ PREPARATIONS 1 UNPACKING When you receive the unit check all of followings are included a INDEX HEAD WITH MOTOR amp MOTOR CABLE b INSPECTION SHEET 2 Wipe off the rust proof oil with light oil Never use thinner Or the paint will come off To move the index head use eyebolt with wire ropes having good balance 3 Check the machine table surface for cracks or burrs and clean the table where you are mounting the index head 4 When using the index head in vertical position set the guide block to the index head and insert it to the machine table T Slot 5 Set the index head to the machine table securely using clamp bolts 6 Air supply for air clamp unit The built in air Cylinder unit
14. 500 B9500 Move to 9500 M41 Disable continuous run C90000 Move circular to 90 deg to 10000 Motion stops at 10000 G92 is now 180000 M40 Enable continuous run C90000 Move circular 90 degrees 500 Move to 500 M41 Disable continuous motion C90000 Move 90 degrees M30 End of program Motor is at 0 and G92 1 at 0 The first step command will move the motor from 0 to 10000 by sinusoidally accelerating from 0 to 500 running continuously to 9500 and decelerating sinusoidally to 10000 The next step command will return the motor to zero following an identical path and accel decel behavior Note 108 accel and decel parameters should not be used when blending a linear move with an interpolated circular move W_ Proportional wait or dwell Even though the controller is equipped with G04 dwell command and a delay time proportional to feedrate override when using the T time mode with a zero move it is desirable especially in multiple axis systems to provide a delay or wait time which is proportional to both the command and the machine feedrate which includes F feedrate and i06 machine feedrate parameter The W command accomplishes this W must be followed by a number from 0 to 8388607 Negative or positive number may be used which is handled as follows W2000 will generate a 2 second delay if is 1000 is 1000 and 106 15 1000 Should any one of these values be reduced t
15. 9212 UE 8511013 UE11014014 UE 2_ Front housing el Hex socket bolt 6 18 6 M8x20 6 8x25 8 0 Ring S115 5140 5568 168 568 271 Taper roller bearing HR32914J 29174 HR32922J 32928 Ringdog 1 Hex socket set screw 1 4 6 5 6 M5x10 gt 1 Spindle __ RES Uorm uheel 1 Hex socket bolt 9 Mx18 8 M5x15 6 M6x15 6 M6x18 8 ll ba e m e A Rer mur Thrust nut 1 Roller ELI ST gt NEL socket set 4 M5X6 8 15 Taper roller bearing 1 2911 32928 Body 1 sea 0 Ring 680 695 _____ 6125 6170 Piston 19 0 Ring 1 520 a7 60 Pressure plate 1 poe 21 Brake disk gt Hex socket bolt 6 14 12 0 Ring x S56 590 120 Brake boss 1 c Hex socket bolt M4x12 6 5 12 6 gt 8 18 8 Oil seal M KE1201357 0 Ring ae 5150 5568 167 5568 172 5568 275 28 Thrust plate 28 0 Pi ton return spring 3 gt 4 29 Seal washer 5 Hex socket bolt 6 15 6 gt Ball bearing 6000 1 6001 3 6003 3 32 Spacer 2 612 181151916 LRTZ172224 33 38 SEIZE 36_ 510 1 540 JE 555 pou eee Lock uasher Lock nut ANO2
16. Please refer to N5 of the MACRO program First the ASCII data is output from the FADAL control to the SUDX controller commanding the rotary table to move to position Once the move is complete refer to N7 of the MACRO program a Y send current position is sent in ASCII to the SUDX controller Position i e 90 000 for 90 degrees is sent from the SUDX controller to the FADAL control Once the FADAL sees this data to a variable refer to N13 and 14 of the MACRO program the VMC proceeds to the next block in the main machine program If the position data sent is not correct i e 85 000 for 85 degrees 45 when the actual position should be 90 degrees then FADAL will go to ERROR see N15 of the MACRO program This entire sequence is all placed into a MACRO program which is CALLED in the main program see N3 of the TEST program The actual data that the customer would need to input into the FADAL main program is quite simple see 4 amp N11 of the TEST program These simple commands are all that is needed to index the rotary table Another MACRO program could be written for incremental moves if desired MACRO program 09998 is set for absolute G90 movements as this is strongly recommended should the user need to re start his machine program in the middle of the program ABSOLUTE enables this feature as the rotary table will always move to actual desired position regardless of it s previous move This MACRO and TE
17. a simple program line to execute any SUDX rotary movement CNC Machine Macro Program sample 9010 POPEN DPRNT AOEF1000G90B22 33 M30 PCLOS M21 example of Machine M Code M99 Explanation Programs beginning with a 9 are considered Macro program numbers Some of these programs are called with G Codes and others are called with M Codes please refer to your 43 control manual In the DPRNT line note the B 2 this requests the program to look the B index movement in the main machine program line The 33 states that the index degrees will be 3 digits maximum for example 180 degrees and to look 3 digits left of the decimal If you need to use fractional degrees like 180 5025 degrees then you may wish to input 73 7 total digits with 3 digits left of the decimal Also note the M21 after the PCLOS This 13 a sample of the M Code needed to execute the DPRNT command line This M Code will change depending on the brand of CNC machine This M Code will be the spare M Code accessed via the REMOTE cable Additional Parameter Settings 220 15 for G15 10 4 Macro Protect Main Program Line Example G15 B180 This line in the main program would provide an absolute move of 180 degrees Note You may wish to write another Macro program changing only the G90 to G91 In this case you would use a G16 instead of a G15 and parameter 221 16 The program would be 9011 Special Note T
18. are activated by holding down the lt Alt gt key and pressing the appropriate function key The alternate function key selections can be viewed on the right hand screen by holding down the Alt key and pressing Q This function key allows you to re configure and re poll your system You may change the communication parameters port baudrate etc and re poll the available cards Note This function is automatically invoked when YUASA TERMINAL is first run The current interface configuration is shown and you are asked if you wish to change it If you answer Y or y you will be asked which of the following interfaces you wish to configure Card Number 0 8 This is used to address controllers that have been Daisy Chained Together via a serial cable Note 1 Factory default for a single controller is 0 Note 2 The 0 8 choice is a programming typo it should be 0 7 Port lt 1 gt COMI 2 CON2 where selections and 2 refer to the standard RS 232 ports on your PC 53 When you select the RS 232 interface you will select the baud rate of 9600 from a menu of choices The rate you choose must match the setting on the DIP switch on the Controllers card s and in general the longer the cable is the lower the baud rate should be Note 3 Factory default is 9600 baud call for information if you need to change ASCII Type lt 0 gt 8 bit no parity lt 1 gt 7 bit even parity Note 4 Factory default is 8
19. baud rate other than 9600 bps give us a call 1 800 421 9763 and we will let you know the specific dip switch changes for the baud rate you desire If 9600 is OK then no change is needed at the SUDX controller side etting the Okuma Control readv The following is a series of steps in order to prepare the Okuma control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the Okuma OSP 7000 5020 and 5000 Confirm parameter settings for your individual control Change the following parameters Optional Parameter Word 39 9600 Optional Parameter Bit 1 01010011 12 00111011 You are now ready to write a TEST program on the Okuma control AOEF1000G91 PUT B180M30 PUT 0A0D WRITE 0 M181 M2 Once you execute this program the rotary table should move incrementally 180 degrees with the M181 output Essentially what is happening here is that the RS232 port on the Okuma control is being opened for communication then the control is being told to send the characters inside the quotes out through the port in ASCII format Once the SUDX controller receives this data the M181 command will automatically execute a move Then the 5252 port on the Okuma is closed the control will automatically continue to the next line Yasnac I 80 amp MX 3 Control via RS232 Port 180 1 Go to th
20. by remote step input going active Remote step Eo Rotation Rec rcc s Ji Remote finish eee Type 3 Handshake by second remote step input going passive Remote step IRE Rotation iacens E Remote finish Inl 4 Synchronous Start Remote step gs pp MERE Rotation IN Remote finish m Remote Start M Code 1 Determine first where your M code is outputting If you re lucky the M code has been wired Out to a terminal strip If you are very lucky your CNC machine may also have included a relay for the M code output 2 If you are one of the extemely lucky people that have a relay already installed simply hook wires 2 and 3 of our remote cable to the normally open contacts on the relay or to a terminal strip if there are already wires running from the relay 3 If your machine does not have this indexer M code relay you may need to install one On most machines the M code output acts as a switch for a completed circuit but some output voltage either 24V DC 110 EA 4 When adding the relay you must first determine whether you need a 24V DC or 110V AC check your machine electrical drawings Then make sure you have the correct type of relay as some machines already have a receptacle in place 5 If your machines M code outputs voltage say 24V then run a wire from the M code output either from a termi
21. lock uasher 89 flat position Backlash of the worm shaft in the thrust direction can be eliminated by tightening lock nut 09 sure not to tighten too much Loosening the lock nut on the other hand you can release the worm shaft jamming After adjustment one of the projections of the lock washer must be fixed in the notch of the lock nut 9 After that insert O ring 4 and reset Metal thurst plate without fail 2 3 After ressembled apply lubrication oil to the unit Clamp and Unclamp signal confirmation The air supplied to the indexer is hooked up the cylinder for clamping and the clamp confirmation switch 77 to turn it OFF Command input let the solenoid valve 73 be active and release the Clamp air turning ON the clamp confirmation pressure switch 77 and recognize its unclamping status Change clamp confirmation pressure switch and solenoid valve by taking off the motor cover 89 switch mounting board 112 Machine Zero Return The indexer will return to Machine Zero by CCU Machine Zero return is activated by the limit suitch 110 uhich is moved by the r ing dog B nounted on the limit switch 110 11 4 5 6 The ring dog is adjusted by opening the OIL plate 105 at the top of the indexer As to SUDX 130 the ring dog is adjusted by opening the indicator 102 at the top of the indexer The degree positionin
22. of the last 0 as a sign His 5 1 Where NNNNNNN is 1 to 8388607 in millisecs This command may be used whenever a specified move time is desired rather than a feedrate Its primary use in the controller is if a timed programming is used on multiple axis regardless of the move sizes on each axis all moves will terminate simultaneously thereby providing an 8 axis linear interpolation capability Feedrate F programming which is modal can be used interchangeably with time programming in any program Care must be taken to re specify the desired feedrate by placing an 11 program immediately after the la In T mode the automatic backlash M38 M39 is not permitted round off error This permits multiple controller systems to remain synchronized throughout the full dynamic range of the controlled operation The velocity round off is small approximately equivalent to 200 encoder counts for a 2 hour move i e if you tell the controller to move 2 000 000 counts in two hours it will terminate the move exactly on time but may make a 100 to 150 encoder count move at the very end of the time period instead of equally spreading the move thus creating a small velocity jerk Time and position remain accurate This error rapidly diminishes as the move times become shorter The same move made in 20 seconds would have an undetectable velocity error of of an encoder count Time Constant 1 second is equal to a
23. program to be run n can be 0 to 9 if no n is used the main program will be executed When G17 is executed the program pointer will return to the beginning of the main program Therefore to execute a subprogram again the b command must be sent A total of 10 subroutines subprogram may be stored as well as the main program Generally the main program should be used as a director or a selector of subprogram The front panel program selector switch automatically identifies either the M main program or the 7 subprogram 0 6 In this first example we have first set the feedrate to 10076 of the value of 106 then moved incrementally 90 deg from zero then incr minus 180 degrees Then we switched to absolute G90 and moved to the 170 deg position relative to zero Then back to incr G91 minus 95 3025 deg then home You will note that we used a G90BO for work zero you must be in ABS G90 mode for a work zero return 225 AOE F1000 G91B90 B 180 G90B170 G91B 95 3025 M40 G90BO M30 In this second example we wanted to rotate 360 continually without stopping at a 50 feed again based on the value in 106 AOE F500 M40 G70X0 G91B360 G71 M30 In this third example we are positioning in 15 degree increments AOE G70X0 F1000 G91B15 G71 M30 This example illustrates how to use the auto divide G72 dividing 360 degrees into 10 equal parts AOE F1000 G72X10 G91B360 M30 Fe
24. steps in the Manual mode The second value is the block_number which will be auto stepped to The block_number range is 0 65535 default 0 The format is i23delay block number This is an excellent parameter for recovering to a particular block number after say braking a drill or a machine crash It allows you to enter a block number say 49 and auto step to that block without having to cycle every step to get there The procedure would be as follows first W Z return then enter in terminal mode 12316 49 CR This would identify 123 set the delay time then auto step to block 749 and stop If i23 is zero there will be no automatic stepping of the program If i23 block number is zero the program will auto step to the end of the program 123 1 zeroed when a quit command is executed i24 ispl r Factory set for gear ratio to encoder value See chart below to match your unit Gear Ratio i24 Value 60 1 2000 3 72 1 800 1 90 1 1000 1 180 1 2000 1 125 Feed hold decel mode control Factory setting 1 do not change i2 rom ntrol Factory setting do not change 5322 37 iplicati Factory setting 3 do not change 28 Work Z iti DO NOT CHANGE THIS PARAMETER SEE i PARAMETER LIST Units are in encoder lines with a range of 7 digits For example a setting of 144 000 in this parameter would retain the work zero set position at 90 degrees from zero ratio iy by 4 144 The work zero position i
25. to view a Help File HLP 2 Reformat Help File Reformats the Help File for easier viewing lt ESC gt EXIT EXIT the Help Menu T The editor 1 a word processor for Controller programs of up to 65000 characters In this section of the program lines typed in the left window are 54 not sent to the Controller but instead entered into the editor buffer The line number corresponding to the line of the editor buffer to which the cursor is currently pointing is displayed in the right window Movement of the cursor is possible with the four Arrow Keys The following editing keys also apply PgUp Displays the previous page 23 lines of the current program PgDn Displays the next page 23 lines of the current program Home Displays the first page 23 lines of the current program End Displays the last page 23 lines of the current program Alt I Inserts a blank line at the current cursor position All subsequent lines are moved down Alt D Deletes the line at the current cursor position subsequent lines are moved up Alt C Clears the current buffer and filename Ins Toggles between the INSERT ON and INSERT OFF modes of the editor Insert Off allows you to type over previously entered text while Insert Off will move any previously entered text to the right of the cursor Note Each line is limited to fifty two characters and the editor is limited to 65000 characters The editor will signal
26. uill lose indexing accuracy MOTOR WIRING DIAGRAM SUDX 130 140 170 220 MOTOR ENCODER MOTOR ROTARY MS31068B28 11P TABLE MOTOR Ty RED 16 Ad _ RED MOTOR L Qe MIR SHLD E CH GND GRN 18 AWG MA 22 AUG E H Ls Se M FLAG SUN NAE u SiG SHLD T BREAK CONF RM BRN 22 AUG A t YEL 1 B GRY R RED S BLU V ORG 1 13 MOTOR WIRING DIAGRAM SUDX 280 MOTOR ENCODER MOTOR MS3106B28 11P TABLE MOTOR E RED 16 AUG RED 8 BL MOTOR MTR SHLD CH GND GRN 18 AWG 3 QA UHT 2 dco 5 SWEET GND du D xy 516 SHLD ad i AE BREAK CONFIRM BRN 22 AUG A YEL 7 GRY i RED 1 S BLU V ORG i SUDX 320 400 RE MO E CA BL E 8 I 9 g9 O 10 TEN 11 11 r4 12 12 a Sag STEP START STEP FINISH N O STEP FINISH 5 0 REMOTE FEED HOLD REMOTE HOME 0 REMOTE HOME REQUESI DIFF ENCODER
27. windou c Oil level is different if the indexer is either in a vertical or horizontal position Refer the bottom chart Put the cover packing 104 with the OIL cover 105 after pouring the oil into the unit As to SUDX 130 put the 114 with the indicator 02 after pouring the oil into the unit Horizontal Vertical 150cc 150 SsUDX 280 450cc serm mes d Replace the oil with a neu one entirely every six months LIST OF RECOMMENDED LUBRICATING 011 Viscosity Grade 150 068 Example OIL MANUFACTURER BRAND NAME Mobil Mobil DTE 011 Heavy Medium Sheel Tellus Oil 68 MAINTENANCE amp ADJUSTMENT OF THE INDEX HEAD Horizontal 350cc 550 indexer is fully tested and guaranteed by manufacturer But you need periodical maintenance and adjustment after certain time of usage 1 Backlash Adjustment for Worm Housing The backlash amount of the worm housing is adjusted within 45 seconds by manufacturer If it is become bigger you need to adjust it a Measure the Backlash Amount Fix the indexer on the machine table shut off the air and remove the air hose for brake unclamping Put a dial indicator on the outer edge of the T grove at the indexer table mm Cinch Read the indicator by shaking the indexer MODELS ALLOWANCE CU CCU to check the backlash amount SUDX 130 Check six or more different location SUDX 140 read the m
28. with an oil resistant silicone gasket such as Permatex 77B gasket seal Note Clear silicone is not recommended encouraged in a coolant amp oil environment This is fairly minor task yet an important one Please make sure you maintain the warranty card test report and manual enclosed in your informational packet You will notice that the warranty card provides you with center height specifications of your table and the serial number Save this data as it provides us with important information about your particular table or indexer As a precaution we strongly recommend that you maintain the t 30 d Prelimi S After carefully removing both the controller and table body place them both on a clean table First thread the motor cable connector from the rotary table to the flange marked motor on the controller Make sure that this and all connections are threaded in all the way Then hook up the power cable to an AC power source 105V to 125V If you have the 5CA model locate a clean Filtered Regulated Lubricated air line and affix it to the small air hose leading from the air collet closer piston If you have an air brake attach the air hose w FRL to the fitting You are now ready to begin Simple Basic P This section will only focus simple programs 90 deg 60 deg 45 deg indexing etc There are three ways to write a program 1 Use your computer with the software supplied by Yuas
29. within 30 days of invoice date for a warranty repair warranty card is not on file proof of purchase must be submitted when requesting service If neither is supplied all repairs will be charged to the customer 2 There will be a minimum charge of 150 00 for handling and inspection fee on all items sent in for inspection if no defect is found warranty or if customer declines service on unit s non warranty All such shipments will be sent back to customer Freight Collect 3 Units must not be previously altered repaired or serviced by anyone other than an Authorized Yuasa Service Center Any end misuse of en tom will veid warranty 4 Before any item will be repaired the customer will receive a Waren estimate which must pE returned within 2 2 272 iae etter we 5 All repairs preformed the Yuasa International Service Center California carry 30 day warranty warranty limited to only the exact items repaired or replaced All repairs covered as warranty will have freight charges credited back to their 2 1 CAUTIONS AND WARNINGS We Yuasa International are not responsible for the following damages or problems Accessories Fixtures Adding amp Removing When attaching or detaching Face Plates Adapter Plates Accu Chucks etc the Brake must be in the clamped position Failure to engage the brake may lead to inaccuracies in the positioning undue
30. 000 12000 180 7 6000 42000 180 10 6000 60000 180 15 6000 90000 EXACT Formula Number of encoder lines times the encoder multiplier divided by the encoder counts per second divided into 60 Motor divided by the gear ratio table RPM EXAMPLE 71 For 5C 132 140 170 Assumes an value of 1000 2000 X 2 4000 divided by 300 000 01333 divided into 60 4500RPM motor max divided by 72 62 5 RPM table speed Note With this example your minimum positioning increment resolution would be 0 00125 deg EXAMPLE 2 220 Assumes an value of 1000 2000 X 2 4000 divided by 300 000 01333 divided into 60 4500RPM motor max divided by 90 50 00 RPM table speed 27 EXAMPLE 3 280 320 400 Assumes an value of 1000 2000 X 2 4000 divided by 180 000 0200 divided into 60 3000RPM motor max divided by 180 16 66 RPM table speed Note The speed of movement and resolution are very closely tied together Keep in mind the maximum amount of encoder counts per second the CPU can count is 300 000 The faster the motor rotates the more encoder counts it generates per second Given this 300 000 maximum the slower you rotate the finer the resolution As you go faster you lose a little resolution Your rotary unit is shipped with the times 2 multiplier If you desire the times 4 multiplier it is easily changed A couple of i parameter settings and a simple jumper switch You
31. 2 9 INPUT 0 PWE 0 10 Depress PROG button and RESET Wt IC 20 amp 21 TROL LA T PARAMETERS FOR DPRNT Note Please use the following parameter settings only as a guide Check you actual machine parameter listing for confimation Param Setting Description 0000 00001110 ASCII Code 0020 Chanel 0 I O Channel 0100 10000000 LF CR 0101 10000000 Stop Bit 0102 4 0103 11 9600 bps 6001 00010000 after DPRNT 42 Since all FANUC controls only work with 7 DATA BITS will be nessessary to OPEN DIP SWITCH 1 PIN 5 in the SUDX controller This will set the SUDX controller to 7 DATA BITS EVEN PARITY STOP BIT You are now ready to write a TEST program on the FANUC control PROGRAM program POPEN DPRNT 0 100069 B90M30 PCLOS M21 example of CNC machine M Code M30 Once you execute this program the rotary table should move incrementally 90 degrees Essentially what is happening here is that the RS232 port on the FANUC control is being opened for communication POPEN then the control is being told to send the characters inside the square brackets out through the port DPRNT in ASCII format Once the SUDX controller receives this data the CNC machine M Code will automatically execute a move RS232 Interface to FANUC Controls Addendum The following is a method of placing the Macro DPRNT command line in a variable This allows the programmer to use
32. 85 190 1 TABLE ROTATIONAL TORQUE Lbs foot at lrpm 2 3 MAX WORK INERTIA Kg 32 165 in s 0 6 0 5 LUBR CAT ON 011 TOTAL GEAR RATIO 0 v2 vs vis _ INDEXING ACCURACY within REPEATABILITY within within WEIGHT W SUBTABLE 30 66 DIMENSION 3 5 25 4 8 35 27 195 1 5 1 3 3 5 3 0 9 2 8 0 23 20 8 2 108 82 180 128 282 38 84 49 mm inch Ll lll PTR rh ltr nli kJ 27 3 03 5 12 12 28 9 25 5 15 20 0 83 16 021 0 39 4 13 D 55 C 1 01 3931 285 180 501 12 18 MEN MN E S 4 59 1 22 7 081 96 20154714521 AE d Ia 2351 Z5 TOOT Bol Bel MEI PST S 4177 1301 18 E Hee HU 26 120 175 220 440 H 157 38 D H Hmc REI mA T EIU LE Iu EA 00 780 3401 S20 150 1551 780 78701900 121 1804 38 i9 12 501 5 911 7 68 11 02 20 47 14 5717 8715 371 L 8915 581 0 471 T 48 D 71 PARTS BREAKDOWN SUDX 130 051 9 9 woe X X 7 PARTS BREAKDOWN SUDX 140 170 220 PARTS BREAKDOWN SUDX 280 Ss su PARTS List PART PART X ieee One eee SUDX 130 SUDX 140 SUDX 170 SUDX 220 SUDX 280 zl 011 seal 70 9212 UE 70
33. IST PREPARATIONS OPERATING INSTRUCTIONS MAINTENANCE amp ADJUSTMENT MOTOR WIRING DIAGRAM SUDX 130 140 170 220 MOTOR WIRING DIAGRAM SUDX 280 0 00 INTRODUCTION Thank you very much for choosing our SUDX Programmable Indexer This Indexer has been newly designed and manufuctured precision indexer not only for time and cost saving purpose but also being designed considering maintenance safety and durability However you are requested to fully understand its operation method and necessary maintenance to get required accuracy and avoid accidents We hope you enjoy its excellent features and applications SPECIAL CAUTIONS To operate this unit by following procedures described in following pages however you are requested to pay special attention to followings D Always use FRL Air filter Regulator Lublicator to supply clean air to the air clamp unit Otheruise it may cause malfunctions on the indexer such as insufficient piston return failures of clamp unclamp check pressure suitch or the solenoid valve for unclamp getting uater into the inside of the indexer Time to time check the motor cables for any damage and if any damage is found repair it with tape etc imnediately and call your dealer to get a cable to replace Coolant entering into inside of the motor cover uill cause encoder failure or wire damages Therefore check the bolts nut
34. KING me Ee ng 29 uJ e t c a 8 SOCKET SCREW SPINDLE SCREW COVER ET PREPARATIONS 1 UNPACKING When you receive the unit ckeck all of followings are included a INDEX HEAD WITH MOTOR amp CABLE b OPERATION MANUAL c INSPECTION SHEET 2 Wipe off the rust proof oil with light oil Never use thinner Or the paint will come off 3 Ckeck the machine table surface for cracks or burrs and clean the table uhere you are mounting the unit 4 When using the head in Vertical position set the guide block to the head and insert it to the nachine table T SLOT 5 Set the head to the machine table securely using clamp bolts MAINTENANCE amp ADJUSTMENT The unit has been fully inspected and adjusted before shipnent however following maintenance and adjustment are required after long use 1 UORM GEAR BACKLASH The backlash has been adjusted within 1 at the factory however you are requested to adjust it after long use a Hou to adjust the Uorn Gear Backlash 1 Renove 4 Bolts 72 which are fixing cooling fin cover r3 resove the cooling fin cover Then pull the cables loosely laying in the Motor Cooling Fin very carefully 2 After removing 2 Bolts which are fixing the Motor Cooling Fin 68 pull back the Motor Cooling Fin by 50 2 2 4 3 Turn up the cooling fin packing 67 and loosen slightly the 4 Bolts fixing the Motor F
35. ST program is now included all program disks sent out with each SUDX unit The FADAL user need only load these programs into the FADAL control see page 1 of the ADDENDUM and they are ready to go Prior to shipment of the SUDX we can if requested set the communication PROTOCOL correctly 7 data bit even parity one stop and the customer requested baud rate we normally ship at 9600 BPS MORI SEIKI TV 30 amp 40 Parameters 7201 100 CODE Numbers 7202 1 G65P 7203 any Sub Program Sub Program List 00001 100 4003 DPRNT A1A0EF1000G 20 2 33 0 1 PCLOS M21 M99 Note 1 The above is only meant as a guide or reference Please check your actual machine parameters and Macro program for verification Note 2 The Al at the beginning and end of the program line may not be needed on your UDNC 100 controller 46 Note 3 For set up and communication parameters please see the general Mon TV 50 and 40 set up page OKUMA control is as follows 1 You MUST HAVE USER TASK II 2 An RS232 cable pin configuration and gender described below 3 A spare accessible M Code if you require a step finish signal Getting the SUDX Controller ready 1 The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If you communicate with the Okuma control with other devises and are locked into a
36. UDX units with the 8 bit configuration however if you are just purchasing your unit we would be happy to change this switch prior to shipment The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If you communicate with the 41 FANUC control with other devises and are locked into a baud rate other than 9600 bps please refer to page 40 for specific dip switch changes for the baud rate you desire If 9600 is OK then no change is needed at the SUDX controller side Getting the Fanuc Control readv The following is a series of steps in order to prepare the FANU C control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the FANUC OM Confirm parameter settings for your individual control Depress the Diagnos Param button Push the Page Down key once Turn the function switch to MDI mode Change PWE to equal 1 then INPUT At this point an ALARM will show 5 Depress the Diagnos Param button 6 Page Up once to the I O page use cursor to make sure I O 0 7 Page Down to change parameters Change the following parameters 0002 Bit 2 0 sets data format 0 0 li 0057 Bit 4 1 gives carriage return line feed 0552 sets to 9600 bps 8 Page up to PWE 1 setting
37. Using the baud rate parameter set the Fadal control to communicate at 9600BPS Using an RS232 cable connect the Fadal control to the SUDX controller using the DB25 serial connector on both For the pin configuration see below You are now ready to write a TEST program on the FADAL control PROGRAM program WAIT SPRINT AOEF1000G91B90M30 M20 example of machine M Code Once you execute this program the rotary table should move incrementally 90 degrees Essentially what is happening here is that the RS232 port on the FADAL control 15 being opened for communication then the control is being told to send the characters inside the double quotes out through the port SPRINT in ASCII format Once the SUDX controller receives this data the CNC machine M Code will automatically execute a move Then the RS232 port on the FADAL is closed and the control will automatically continue to the next line Explanation for FADAL Addendum The attached sheets explain a new method of commanding the SUDX to move to a desired position via an RS232 cable between the SUDX controller and the FADAL control Using the FADAL MACRO function SPRINT we are now able to eliminate the need for the M20 from the FADAL for position confirmation The REMOTE cable is not even connected between the FADAL and the SUDX controller Commanded position and the verification of position is all accomplished via the RS232 cable The theory for this is as follows
38. a 2 Use our Hand held Computer Terminal model HCT 001 or 002 3 The newest way is to make use of the RS232 port on your computerized machining center As each manufacturer is different in their design and macro needs we can only state that our controller requires the ability to send and receive ASCII code under the following conditions A Minimum of 300 to a maximum of 19200 baud rate B Either 8 bit no parity or 7 bit even parity Data Transfer Note Data strings cannot contain extra characters ie lt gt C A Carriage Return lt CR gt must be used at the end of each Data string Line Feeds lt LF gt are ignored by the UDNC Computer Programing Since our controller accepts a standard ASCII string of commands you can actually use any program software you have that can generate a program and download through the RS232 port However if you are using the YUASA TERMINAL software the following will apply Note You must use a 80286 16Mhz with 640k Ram or better computer with an operating If you haven t already hook up your RS232 cable from your PC to the RS232 port on the controller Note This controller uses a standard RS232 cable Some CNC machines use a special cable that has pins 2 and 3 crossed to form a null modem cable if you use this null modem cable you will need a null modem adapter Never plug or unplug the RS232 cable when UDNC or computer is on Please call if you need more detail
39. am currently in the editor buffer at the present cursor location 4 Delete File Allows you to delete a disk file 5 Print Current File Allows you to print the file currently in the editor buffer to the standard printer for the system 6 Print Disk File Allows you to print a file on disk to the standard file for the system 9 DOS Commands Allows you to perform DOS commands gt This key downloads the current buffer file to the controller and then saves the data to its internal EAROM lt F4 gt UPLOAD PROG BUF lt This function key uploads the program buffer from any card and appends it to the program currently in the editor s buffer gt This key downloads the current buffer file to the UDNC controller Before downloading you will be asked if you want the program buffer cleared before download This is necessary if your file has motion program data and z clear the buffer command After the download you will be returned to Terminal Mode Note The editor s buffer is not erased you may access it again by pressing lt 10 gt If there are any errors hitting any key will return you to the file edit buffer 21 1 Parameters Maintenance Service amp Table Dimensions i Parameters List for the SUDX Series Indexers SUDX 130 SUDX SC A SUDX 132 140 170 SUDX 220 SUDX 280 320 100 60 1 Gear 72 1 Gear 72 1 Gear Ratio 90 1 Gear Rat
40. ameters Type the name of the file we have just created four and press ENTER You should now be at a screen that says EDIT Download Dwnld amp Save and Previous If you are still connected to the UDNC and the unit is on select Dwnld amp Save to transfer file and save it in the UDNC r r WI stored If you are no longer in the Yuasa Program or your hand held stops reacting here s what you need to do 1 Push the ON amp C buttons at the same time 2 Confirm that the screen now looks like this HOME in the upper left of screen with the s 4 3 2 1 running down the screen beneath it And the black boxes contain Real vector base etc 3 Push the VAR key and the boxes will now contain YUASA MCC1 TIME etc Push the button that is directly under the box that reads YUASA 4 The NO HOST screen should now appear If not please call the Yuasa Technical Support Dept at 800 421 9763 Warning If you are not an electrician or have not interfaced M function product before We strongly recommend having a qualified electrician do this installation It s like anything else it s easy if you know how and very dangerous if you don t Supplied with your new rotary is what we classify as a remote cable On the back side of the controller is a 14 pin socket labeled REMOTE You will notice that on end of the cable is a plug this matches the stated socket and on the other end are 13 loose wires These wire
41. and feeds entered between M40 and M41 will execute in a continuous fashion permitting this type of move EXAMPLE AOE M40 F500 B90 F250 B45 F100 B30 M41 M30 A common use of the M40 41 commands is to generate a delay before a move begins as follows Note The M41 does not have to be there program will finish at M30 and reset without M41 If you want to give a second start command to reset program then use as above 4 This code will cause all program buffer moves to occur in reverse direction The controller will output a negative signal for every positive move it executes On a two axis machine a feature penmi a pa to be Pe in all four Note e all i motion buffer moves are mirrored ie 692 move commands Circular moves are also mirror imaged n i ffer 1 Comman Q B on turns on RS232C transmission 75 B off turns off RS232C transmission U Unfreeze position following error time click no addressing N Freeze position following error time click no addressing Reset 76 Feedrate Override Return to pre jog position 2 Send status E Purge buffer prepare to accept new program H Feed hold stop I Inn send motion parameter AG TNKOAWDOO4 XP NEC Jog Output DAC value Stop Run Step Send current position Zero set Go to beginning of This function is similar to the command go to the beginning of pr
42. ar to G80 Call except that it branches to subroutines LO through L9 When a G17 or M30 is encountered the program is terminated and the program pointer is returned to the beginning of the subprogram G30 jumps to subroutine LO G31 jumps to L1 etc In addition both G30 and G80 commands can be made conditional by using the conditional command Refer to command description for details The form of the conditional Jump and Call are respectively and G80Q A B Where is an address or port 0 to 65535 and B is a bit O to 7 These commands allow the Jump or Call to be made based on the condition of an input at the specified address G70 G71 Start and End Loop G70XNNNNN 5 digits 0 to 65535 0 infinite All blocks between G70 and G71 commands are executed as many times as specified in G70 command EXAMPLE AOE G70X15 F1000 G91B180 G71 M30 Unit will incrementally move 180 degrees 15 times EXAMPLE b AOE G70X0 F1000 G91B90 G71 M30 Unit will move in increments of 90 degrees without an additional start signal at the end for the M30 command Note A looping command may not be used inside a loop The first loop will reject the statement of secondary loop command See L0 to L9 for rules governing loops and subroutines G72 Aut ic Divid G72XNNNNN 5 digits 2 to 65535 This command will instruct the unit to divide the next movement command into the number of equal divisions you require The
43. are must be taken about the fact that stepping motor may be out of control and the instructed angle can not be executed when the backlash is too little the backlash is outside the tolerance while the worm and the wheel firmly engaged with each other make adjustment by referring to Step b How to adjust the backlash of the worm shaft in the thrust direction b How to adjust the backlash of the worm shaft in the thrust direction 1 Remove sea plate and metal thrust plate i 2 Renove Hex socket screws and Thrust screw B 3 Backlash of the worm shaft in the thrust direction can be elininated by tightening Thrust screw A provided next to Thrust screw B sure not to tighten too much 4 After adjustment screu Thrust screw B into the position it touches to Thrust screu and return by one or one and half rotation and then put the bolt hole of Thrust screw B and tapped hole of Thrust screw A together After that tighten Hex socket screw 42 and reassemble Metal thrust plate Seal plate 38 2 OILING amp GREASING Lubricate the unit after cleaning the grease nipple a Supply spindle oil to the unit through the grease nipple located at the O indicator using an oi gun b Grease the unit through the grease nipple located at the bottom of the unit every 3 months SUDX 130 140 170 220 280 DESCRIPTION PAGE No INTRODUCTION SPECIAL CAUTIONS SPECIFICATIONS INDEX HEAD DIMENSION PARTS BREAKDOWN PARTS L
44. arity Chart Value Step Finish Step Finish Note 2 1 1 Close to open to close 0 0 0 Q0 Open to close to open 1 0 2 1 0 3 1 1 The polarity can be independent for step finish 1 and step finish 2 One can be set to 1 and the other to 0 vi 232 in A Proceed as follows for using your moves 1 Go to MDI mode i22 1 i221 CR 2 Type the next move value with M18 B45 M18 to disable the step finish 1 signal 3 Type the next move value with M19 B90 M19 to re enable the step finish 71 signal 4 Turn off MDI mode i22 0 1220 B Proceed as follows for using the current control cards buffer moves 1 To go into MDI turn off step finish 71 and step by typing i221 M18 S CR 2 Typing S will step through remaining moves without step finish 1 signal 3 To re enable step finish 1 type i221 M19 S CR The block number will be incorrect because M18 and M19 commands were added This controller has a number of failure alarms designed to troubleshoot problems or just inform if you entered an invalid input character The front panel display will indicate numerical or letter type of alarm code as well as a brief worded description AXIS LIMIT 8032 CPU PRG BUF RAM EAROM CMD FORMAT POS FOLLOW PROG LIMIT RS232 XMT XFER U MOVE BRAKE CLAMP Alarm Code Failure Description Motor or Cable defective or disconnected Internal RAM or CPU Failure EXTERNAL RAM f
45. ault EAROM failure a Invalid command or more than 80 characters input b No lt CR gt after M30 c Tried to S ave while in Remote Position Following Error Motion limit failure Transmission error check cable type amp see verify lines 2 amp 3 save load failure U move failure Brake clamp did not release Check if airlines are crimped amp or solenoid wires 35 trouble Shoots Trouble Shooting th D Communication Problems A My computer does not communicate with the UDNC 1 Confirm what type of cable you are using Standard or Null and that communication cables are plugged into proper ports On most computers the 9 pin port is configured as COM 1 If this is true on your computer use a standard 9 pin to 25 pin cable and connect to the 25 pin RS232c port on the UDNC Note ave a 9 pi in Null Modem cable connect t 2 rt on the Ifthis is not true on your computer identify which port it is ie 2 When you first access the Yuasa Terminal it will ask you to confirm your Port Settings choose the appropriate port and confirm your changes If the 9 pin i M 1 it is being used by a mouse use the 25 pin RS232c port on your computer confirm its port numbers and specify this port when you first access the Yuasa Terminal If the 25 pin is also in use you must terminate one of the devices occupying a port 2 Confirm that you are in DOS and not in Windows 3 1
46. bit no parity call for information if you need to change Enter Communication Timeout msec _ MINIMUM 20 This puts a limit on the time the program waits for a handshake bit for reading or writing Alt lt F2 gt DISK ON OFF This key will toggle the DISK ON option With DISK ON most data received from the card will be echoed to the default disk drive under the filename TERMDATA MCC This file may be examined by loading it through the file editor When YUASA TERMINAL is first run if the file TERMDATA MCC already exists it will be erased However all subsequent uses of DISK ON will append all incoming data to the file When in the POS FOLLOW TIME mode the data displayed will also be sent to disk To view this file you must turn off DISK ON This will close the file so you can view it with the file editor lt gt This key will toggle the PRINTER ON option With PRINTER ON all data received from the card will be echoed to any standard line printer as well as to the screen Make sure that the line printer has paper and is On Line Alt lt F4 gt DISP F This key stops data from being displayed on the terminal screen This allows you to send data to the printer or disk at a faster rate lt gt This key will save the current Program Buffer and I Variables currently in the RAM to the EPROM It lt F6 gt Will print the current screen to your printer Alt lt gt lt l gt Load Help File Allows the user
47. but leaves all set up parameters 1 undisturbed Allowed only in stop the b command with a number of zero following is used to return to main program Specifying a number from 0 to 9 sets the program pointer to one of ten subroutines and allows them to be executed on a stand alone basis as if they were a complete independent program The G17 end of subroutine is then interpreted as an M30 end of program The control sends a sign and 7 digit position data to host Data is in ASCII with sign first or followed by 7 digits that represents the units current position Data transmission is terminated with a carriage return and a line feed This command can be used with certain CNC for requesting Current Index Position when used with Macro RS232 direct operations e g If during a slow rotary move of 33 degrees you send YYYYY CR lt LF gt the will pole the encoder and send back the current position 23 2333 to your CNC or computer Note i15 1 or i15 2 parameter will place the control a mode where the Y commands will transmit data as a 2 s complement binary data instead of standard ASCII characters See 115 for details 5 Save Program in EAROM Permanent Memory This command is used to save a program into the EAROM permanent memory The j parameters are saved together with the program Upon power turn on or initialize the EAROM program along with its parameters are automatically load
48. can do it in the field but give us a call and we will work you through the first time over the phone Just as your new rotary can move very fast it can also move very slow Again it s a matter of changing the value in your program and altering 106 The same formula above still applies just input smaller numbers First let me confirm to you the minimum settings for the and 106 For more info on these please see the command and 106 parameter Fl is the minimum setting which 1 of the value in 106 106 set at 1 would one encoder count per half second My recommended lowest setting would be 250 EXAMPLE of above 2000 X 4 8 000 div by 500 16 div into 60 3 75 motor rpm X by 01 setting 1 of 106 0 0375 div by 72 Gear Ratio 0 0005 rpm 28 SECTION 3 i PARAMETERS AND ALARM CODES The initialize or set up parameters are used to tailor the operating characteristics of the control to the system in which it is being used The EAROM will save any parameter changes regardless of power shut down provided the s ave is entered Don t forget you must be in the program terminal mode with the Manual Remote switch set to manual Factory setting 2500 This allows a maximum deflection of 25 before sending a Pos Follow error alarm Changing this may cause your unit to not properly function The factory setting is appropriate for 99 7 of all use
49. cause the axis to overshoot when the axis is in the direction The sign of the backlash number indicates the direction in which backlash take up will occur An 105 value of 1600 72 1 G R would overshoot by one degree then return 29 106 Feedrate Set The maximum setting is 100 000 60 1 72 1 amp 90 1 90 000 on 180 1 which equals 100 000 90 000 encoder counts per half second This is the maximum amount of encoder counts per half second that the CPU can count without causing fault This setting will not take effect until the F program feedrate is read The T command generates its own feedrate and is not affected by 106 Please refer to the feedrate table for more information on this subject 107 3 Digits Gain Control i07NNN Where NNN is 1 to 255 and controls the responsiveness of the servo loop in responding to a position error The larger the number the racier the servo loop becomes This parameter together with the Accel Decel factor 108 can be used to critically damp the servo loop It is recommended that the gain be gradually increased or decreased until satisfactory response is obtained i07 is normally used to eliminate overshoots or slow position creep Once 107 is optimized then i08 can be used to set the desired acceleration time Note 1 It is important that the servo amp and motor load combination be optimized before attempting to set i07 Note 2 i07 may be executed in the Progra
50. ces Lets you configure your HCT for special applications Note the factory default is A0 9600 8bit even Card Status Used for checking status of controllers MCC functions Select Create File by using the arrow keys to highlight the name press You will now be at a completely blank screen Press the a key located beneath the ENTER bar The should now be seen in the top center of the screen if not push button again During programming this button must be active Push the ENTER bar after each line entry Lets write your first program AOE Lower case letters need to have the Purple pushed prior to the letter 0 Card Address amp Clear Buffer This must always start every program F1000 This is the maximum feed rate F1000 100 Think of the last O as 9 sign G90B90 G90 denotes an absolute movement and B90 is 90 degree movement B180 This movement is 180 absolute Once you have input a G90 the CPU maintains absolute movements unless you change it to incremental G91 B270 270 degrees absolute M40 This code allows the CPU to read the next movement in the program in this case BO and automatically see the M30 resetting the program and Block BO Work zero position M30 End of program Now push the key again and the ENTER bar You will now be at a screen that has the cursor flashing behind the letter P Note P Program files Files that P X2 Par
51. contacts on the return signal if so please verify all connections with the electrical drawings or contact your machine builder Note 1 To simplify this Our machine gives a contact closure on wires 4 amp 5 Note 2 For the finish type contact polarity please check 4 parameter 32 For the delay time check 4 parameter 31 Default for i32 is 2 0 8 Secti 2 UDNC Panel Control Front Panel Switches 1 On and Off be sure to check incoming voltage prior to powering up The off switch totally shuts off the entire system Program memory and work zero position are stored in EAROM Never connect or disconnect any of the cables while UDNC is on 2 Program Select is used to access both the Main Program M and the seven additional sub programs 0 6 These programs are recognized when either the M30 W Z set or W Z return switches are seen or by simply changing the selector switch to another number setting You must in Manual Mode whe u change selector switch Selector switch M performs a go to the beginning of the main buffer program Program selector switch 0 6 does go to the beginning of subprogram LO L6 It is read and used when the W Z set W Z return Machine home Power on and the M30 commands are executed It is also read when the program block number is zero If no subprogram exists for the program selector switch then the main buffer program will be run Note To simplify this The process for storing more t
52. ctivate the backlash feature the M38 must directly follow the AO line at the beginning of the main motion program If Backlash is desired for all of the desired program there is no need to add the M39 statement if will be automatically disabled by the M30 command at the end of the program 40 M4 1 Enable Disabl nti Moti This code must be used when it is desired to automatically execute an M30 command without the need for a separate cycle input or to perform Helical operations 15 EXAMPLE AOE F1000 G90B90 B180 M40 BO M30 With this program the controller would know that after the BO work zero block was executed to immediately read the M30 without the need for an additional cycle input and M30 are the only two M codes which require a cycle or rub command for execution therefore the need to utilize the M40 prior to the last program move before the M30 Another use of this function is for generating unusual motion profiles such as hyperbolic parabolic or arbitrary curves This command provides a continuous motion string blending different programmed moves and feedrates with one simple step start command This is extemely useful if you are attempting to develop a helical move synchronizing an X axis move with a rotational move Many times the lead or pitch of a particular part cut will change necessitating the need to alter the rotary feedrate and movement without stopping for another step start command The movements
53. d Pressing the Escape Key allows you to exit YUASA TERMINAL and return to DOS If you wish to try to specify the interface configuration again use the ALT F1 Key YUASA TERMINAL will enter its normal terminal mode regardless of whether any Controller cards are connected to the computer After YUASA TERMINAL successfully determines that one or more cards are connected you may proceed to communicate with the cards The left hand window will act as a direct terminal to the card Anything you type will be sent to the card once you press ENTER and anything sent from the card will be promptly displayed on the screen EXAMPLE Typing the letter J and pressing ENTER will cause the motor attached to the card to jog in the positive direction Type another J or to stop the motion Typing the lowercase letter p or Y will cause the Controller Card to send its position data which will be displayed on the next line of the screen Note Upon entering terminal mode for the first time YUASA TERMINAL automatically addresses card A0 Thus the position data displayed by the or Y command will be the position of card A0 To change the card being addressed type A and the 5 number 0 9 or letter a f and press ENTER 51 In addition to the on line commands described in the YUASA SUDX Manual the following function keys apply Fl This function key retrieves up to 32 i paramete
54. d clear buffer and end with d of program Note You must address the card by typing an A0 in terminal mode prior to writing your program LO to L9 defines one of ten possible subroutines to be invoked by G80 to G89 or by G30 to G39 Using a b on line command which executes the subroutines LO to L9 with a bn value 0 to 9 for to 59 Note When writing a program all subroutines if any are used must be entered first followed by the program itself 1 Subroutines must be entered first but their order can be random 2 Subroutines used inside other subroutines must be entered before the user subroutine is entered 3 Subroutines may be inside subroutines up to 4 levels deep 4 Loops may be used inside subroutines 5 Loops may not be used inside loops 6 Subroutines may be used inside loops 7 Subroutines are defined by the LO to L9 commands and terminated by the G17 command 8 Loops are started with the G70 XN command and terminated by the G71 command 9 Subroutines are invoked in the program by the G80 to 89 commands which respectively call the appropriate routines or the G30 to G39 commands which respectively jump to the specified routine EXAMPLE AOE Address card and clear the buffer LO Subroutine 0 G90B90 Absolute index to 90 BO Return to Work Zero G17 Terminate Subroutine L1 Subroutine 1 G90B180 Absolute index to 180
55. division takes care of residual encoder counts and insures that no cumulative error occurs during incrementation and that the last vement will execute correctly EXAMPLE F1000 G72X10 G91B360 M30 This program would evenly divide 360 degrees 10 times producing individual movements of 36 degrees In this case one additional start command will be required at the end of the M30 To eliminate the need for an extra start command write in an infinite loop EXAMPLE AOE G70X0 F1000 G72X10 G91B360 G17 M30 G80 through G89 Call Subroutines Will execute up to 10 possible subroutines as defined by LO through L9 see L command When encountered the program pointer will jump to specified sub routine and then returns to the normal program flow when a G17 is executed This command is seen as a default if G91 incremental is not initiated An absolute movement that is relative to zero EXAMPLE AOE F1000 B180 B270 M30 Move the rotary table first to 180 degrees then to 270 degrees all referenced from zero G91 Selects I 1 Data Positioni An incremental move is one that is relative to the current position not the zero location EXAMPLE AOE F1000 G91B90 B180 M30 First we would move 90 degrees then an additional 180 degrees from the 90 degree position a total 270 degrees Note G90 and G91 are modal commands will remain in effect until changed lation i licati When used with an X 58H pres
56. e Dimensions SUDX SC 5 132 5C N D E Xx DESCRIPTION PAGE No INTRODUCTION SPECIAL CAUTIONS SPECIFICATIONS INDEX HEAD DIMENSION PARTS BREAKDOUN PARTS LIST PREPARATIONS MAINTENANCE amp ADJUSTMENT MOTOR WIRING DIAGRAM iW INTRODUCTION Thank you very much for choosing our TPDX Programmable Indexer This Indexer has been newly designed and manufuctured precision indexer not only for time and cost saving purpose but also being designed considering maintenance safety and durability However you are requested to fully understand its operation method and necessary maintenance to get required accuracy and avoid accidents We hope you enjoy its excellent features and applications SPECIAL CAUTIONS To operate this unit by following procedures described in following pages however you are requested to pay special attention to followings D Time to time check the motor cables for any damage and if any damage is found repair it with tape etc immediately and call your dealer to get a cable to replace Coolant entering into inside of the notor fin uill cause encoder failure or wire damages Therefore check the bolts nuts of the motor cable connector and the motor fin periodically Never use this unit with loose bolts and nuts Q Avoid having tools or workpieces crash into the indexer NEGLECTING ABOVE CAUTIONS WILL VOID OUR WARRANTY POLICY SPECIFICATIONS INDEX HEAD inch
57. e maintenance screen depress soft key ALLPARA then softkey 5 select RS232 Next a set up screen will appear input data as follows Make sure that the pin configuration for the RS323 cable between the UDNC controller and the I 80 control are correct Please refer to our config diagram for the UDNC pin out and the machine diagram Most likely you will need a NULL MODEM adapter switching pins 2 and 3 In addition note that the DB 25 connector on the UDNC 100 is female and the DB 25 on the CNC machine is usually female You will need male ends for both sides of your RS232 cable 4 To test a program go to MDI mode on the Yasnac and input the following UJ 83100 A0EF1000G90B90M30 M21 example of machine M Code This will initiate a movement of 90 degrees Note Make sure that the Manual Remote switch is on Remote Make sure that you input A the number zero E and not the letter O If it does not work at this point re check your RS232 connection this is most likely where the problem is MX 3 The set up for this control is very similar to the I 80 The command 3100 and program data is the same also The following is a step procedure for communication protocol 1 Depress the PRM switch 2 Push the soft key RS232 This should bring you to the setting page 3 Depress PROG then go to either MDI mode or write a program to test Again check pin configuration of the RS232 cable and make su
58. e spindles with cutting tools The tilt spindle has air over hydraulic for rigidity butthe rotary is using a dual disk pneumatic brake If you over torque the spindle you will drive the motor out of position See max spindle torque for your unit simple torque calculation program has been included with the software package in the folder Yuasa Tools to help determine the amount of torque you will be applying Hitting amp Modifying Do not hit the unit s body or motor cover s with tools or equipment Do not modify the unit from it s factory standards Any alterations will void warranty and repair policies Keep Hands Clear Don t touch while moving Maintenance Do not touch the rotary or tilt axis while in motion Make sure that all work pieces can freely rotate and have tilting clearance If adjustments to fixture s must be made please stop the unit and preform any necessary setup adjustments Failure to comply with this notice can and may result in loss of digits hands and other body parts Machine Wisely Oil should be changed every 6 months with a heavy duty oil i e Valvoline Mobil Quakerstate 68 89 weight Gear Oil Level should be checked prior to start up each day The level should be filled gt way up the sight glass If any coolant or contaminate is present change immediately If motor cover s are removed or opened be sure to properly re seal them
59. e their programs in precise synchronization i Note Should match i14 8 ic bi Factory setting do not change 119 Pulse generator handwheel scale factor 5 digits Factory set Controls the multiplication factor applied to the handwheel input Note The handwheel model LPG 200 will automatically adjust the scale factor Factory set for unit gear ratio Gear Ratio Encoder 60 1 240000 72 1 288000 90 1 360000 180 1 720000 31 limi Factory set do not change 22 One digit is for standard operating mode and 1 places the control card manual data input mode where it is capable of executing all buffer commands directly and immediately upon reception The MDI mode can be invoked at any time and does not place any data into the buffer This is considered an on line command feature To enter MDI mode type i221 CR the control is now ready to accept any move amp M commands are executed upon reception of the CR command Make certain that the feedrate is not zero by typing an F1000 This mode can be used by a host computer at any time without using the buffer To exit MDI mode use the S step or the run command or type 1220 This function is also used to Allow a remote step via RS232 terminal see this for more details First value the delay range 0 255 16msec default 0 This is the pause time between automatic
60. ect on operation it occupies one block of storage in the buffer _Feedrate This command can be executed from the controller card buffer It is exactly equivalent to the on line non buffer command and is used to change the control s velocity on the fly Allowed only in stop Clear buffer for new program data Should always be used before new program is entered Also clears all M functions and I parameters Z Zero set Allowed only in stop When received by the control card will cause current position to be 0 0000 position Note After zero set if p or Y command send position is used the position not necessarily be 9 due to amplifier offset and other reasons Adjust amplifier balance or activate the i13 parameter bias compensation to eliminate offset h Allowed only in stop Go to home position will take place as specified by 102 103 and i04 parameters for direction speed and offset If i04 is zero homing will not take place Note 1 To recover from feed hold during home or jog functions repeat home or jog command Note 2 To recover from or machine limit switch during home or jog commands clear limit switch by jogging then repeat command Note 3 A home command may also be generated by using an external switch to ground jog and jog inputs simultaneously 22 b Go to Beginning of Program bn n 0 to 9 Resets all M functions and I parameters
61. ed and ready for execution Rules for s aving Rule 1 You must be in terminal program mode and the function switch must be in Manual for the program and or 1 parameters to be saved Rule 2 5 is active only in the stop mode Rule 3 Each program block requires approximately 50 millisecs to be saved Rule 74 Save operation stops when M30 is encountered Rule 5 Jf only set up parameters to be saved a program must be written or in the buffer containing an M30 in order to allow the save to be successful For example an F1000 M30 is an adequate dummy program 1 Send Parameter Values nn Where nn represents a value from 00 to 99 and is used to cause the controller to send the specified parameter value The control will send the appropriate value 1 to 7 characters followed by a CR and lt LF gt character e g i32 ENTER This function can be used in either the hand terminal or a computer but most NC controllers do not have the ability to transmit lowercase letters 23 0 to A07 Control Card Address Up to 8 controllers can be programmed from our custom software package Whenever you begin a program you must address the particular controller which you re are writing a program to If you only have one controller than the card address would be AO It is also strongly recommended to clear the card buffer every time you download a program A program must alwavs begin with an AQE address car
62. edback ra Factory set 20 Range 0 to 255 0 off Controls the amount of negative feedback proportional to velocity Note 114 may be executed in the Program Buffer by using 114 il Binary data mode Factory set do not change 16 Pulse Generator handwheeD 1 digit This parameter is factory set to O to enable the pulse train to change desired as well as actual position For example rotating the pulse generator 1600 encoder lines would cause the rotary to move one degree In this mode the pulse generator is automatically disabled by a programmed movement 116 set to 1 causes the generator input to change actual position only and does not disturb the desired position For example if the handwheel encoder is rotated 1600 lines and the table position is zero the control will move the motor 1600 lines but the controller s position will remain at zero This function is mainly used for setting offsets When i16 is set to 2 or 3 it creates a special handwheel mode where the handwheel pulse generator input is used to create a time base for the control card The result is that the handwheel can now be used to control the motor velocity as a function of the generator rate and where the move distances can be used to change these rates This mode can be used to generate nonlinear lead screw patterns or any other arbitrary motion patterns Also if a common handwheel input is used on any number of controllers they will execut
63. edrate Table The F value when entered into a program block represents a percentage of the value in i parameter 06 For example F1000 100 F100 10 F10 1 and so on In addition the feedrate override switch on the front of the controller will also affect the feed in percentages of 10 increments For example if you set i06 at its maximum setting and used an F value of 1000 but set the feedrate override at 90 your feed would be 90 of the maximum feed capabilities If you set the F value at 500 and the feedrate switch at 50 your resulting feed would be half of the maximum halved again 25 This control offers tremendous flexibility specially in the feed department permitting extemely slow speeds up to fast rapids even continuous movements at rapid speeds if you like There are two formulas for calculating the feedrate One is easy and reasonably accurate the other is more difficult but extemely precise 1 Easy Formula RPMs X Multiplying Factor MF i06 setting For 60 1 gear ratio 130 MF 2000 For 72 1 gear ratio 5C 5 132 140 170 MF 2400 For 90 1 gear ratio 220 3000 For 180 1 gear ratio 280 320 400 MF 6000 EXAMPLES Assume an F value of 1000 GEAR REQUIRED MULTIPLYING SET I06 RATIO RPM S FACTOR PARAMETER TO 72 5 2400 12000 72 26 2400 62400 72 33 2400 79200 72 62 2400 148000 90 2 3000 6000 90 18 3000 53999 90 25 3000 75000 90 30 3000 90000 180 2 6
64. ets present position registers to values selected in this block G92X NNNNNNN 0 to 8388607 encoder lines G92X1000 sets current position 10000 Encoder Counts G92X0 sets current position 0 zero set When used with an R 52H sets the circular interpolation radius G92RNNNNNN Where NNNNN is to 262139 encoder lines When used with a C 43H sets the starting angle at which circular interpolation will be made G922CNNNNN Where NNNNN is 0 to 360000 in increments of 001 degrees G93 Command This buffer command executes moves relative to initial or home position regardless of whether G92 Z zero set was executed The format 15 693 NNNNNNN where N is 0 to 8388607 This function permits the user to command the servo to go to a position relative to zero power turn on position or home position after h or G28 rather than a position relative to 7 or G92 EXAMPLE After power turn on position is Zero If a move is executed to position 2000 then a Z command is sent position will be set to zero again Now ifa G93 is commanded the servo will go to position 1500 which is displayed relative to where the 7 was issued but 500 counts from where power was turned on If the displayed position needs to match the actual position relative to zero then send a G93500 followed by a G92500 This command is useful for tool changing applications where the part reference zero ma
65. g and origin angle search adjustment will be done by the unit as follous SUDX 130 every 6 SUDX 140 170 every 5 SUDX 220 every 4 SUDX 280 every 2 Change Motor Cable Positions Motor cable position is changed for vertical or horizontal indexer use to prevent interference of machine s splash guard etc Remove four pcs of hex socket bolts 2 Change the cable box 81 position and fix the bolts 92 O ring is in a grove of cable box pay attention not to give any damage on the o ring uhile fixing the cable box by the bolts cable box l lt pus In case of damage coolant water goes into the motor cover and give a damage to the motor and its encoder Motor covers If you remove the motor cover 89 put a sealer on the motor cover 88 and mount it to the indexer For the better sealing remove the old seals on the indexer body 15 by tools scraper etc Put a neu sealer on the grove and put the motor cover 89 back by fixing the bolts 00 Clean up the sealer outside Make sure that the seals are perfectly spread and the bolts are firmly tightened otheruise coolant uater vill give a damage on the motor and its encoder Mounting Accessories If you mount or remove 9 table a chuck flange option a scroll chuck option etc make sure trat the indexer is in a brake clamping situation Unclamping situation uill cause some damage on the uorm uheel uhile mounting accessories and you
66. h carriage return keystroke will display a page full of consecutive program lines The axis data will be displayed in user units set by the 124 variable To return back to Terminal Mode press lt ESC gt 52 lt 5 gt MDI MODE This function key allows you to enter the Manual Data Input Mode In this mode motion commands will be executed as they are entered MDI On will be displayed in the lower right window when MDI is active lt gt MOD This mode allows the user to test the motor and encoder in an open loop mode The arrow keys allow the user to adjust the motor output in 0 1 and 0 01 volt increments By changing this output the user can drive the motor and determine if the encoder position feedback direction is correct before closing the servo loop The lt ESC gt key will exit this mode and gradually return the output to zero Warning Do not exceed 4 00 volts as it may damage the Rotary Table and or the Controller s Amp Board Resulting in a costly non warranty repair lt F7 gt POS FOLLOW TIME This function key displays the position following error and time for the card connected to your system This key exits you to DOS allowing you to perform DOS commands Typing lt exit gt will retum you to the YUASA program F10 FILE EDITOR This key allows you to create edit download and upload programs See section 3 0 below for detailed instructions The following functions
67. han one set of indexer commands is to write one main program that contains up to 7 subprogram which will fill the 8 positions on the selector switch Sub Programs 3 Jog Jog the jog feedrate is controlled either by using the Feedrate Override or changing the value of 109 4 Feedrate Override controls both the jog feed and the program feed This function operates in 10 settings based on the value in 106 5 Manual Remote Manual Mode is used for operating the front panel switches and for use of the pulse generator In this mode the brake will be disabled and no remote I O will be accepted In addition the auto stepping function will be enabled either to a block number or through the program A Cycle Start will cause the program to step through the each programmed move for each Cycle Start input Note use the brake while in manual mode set 412 to then the pressing of Cycle Start will turn off the brake index the machine re enable the brake other buttons will act as if in Remote mode Pulse Gener rator must be disconnected if vou select r sever r r r Remote Mode the following front panel switches W Z set W Z return Jog and Cycle start and Feed hold will be disabled and the remote I O will be enabled The homing function from the front panel will be disabled Remote requires a remote cycle start to execute each program block Going from manual to remote will cause the p
68. he back plate thrust amp brake plates from the unit and examine for rust and or corrosion in the chamber If any corrosion is found remove using a wire wheel or light grit sand paper until all traces are removed Be careful not to scare or damage chamber Reassemble unit and attach a Filter Regulator Lubricator to the airline before reconnecting to SUDX 2 Exhaust line has a kink in it and will not allow the air to pass Remove the triangular plate that holds the air fittings from the SUDX Examine the lines for constriction If constricted use electrical tape to reinforce tube or trim if tube length is excessive 3 Air solenoid is malfunctioning Push the Remote Manual switch on the UDNC off and on and listen to the solenoid fore triggering If no trigger is heard solenoid is bad Contact Yuasa Service Dept CMD FORMAT Unrecognized command statement Cause 1 Does the program downloaded have a M30 end of program statement at the end 2 Command line is longer than 80 characters 39 3 Is the cursor flashing behind the M30 when you access the file If so push ENTER to place an end of line statement 4 Mistyped command was input Examine input line for and inaccuracies Dip Switch Configuration With the cover removed from the UDNC and the control panel facing toward you you will see 2 windows on the Blue Amplifier Board Behind these 2 windows reside 2 banks of dip switches The bank on the left BANK 1
69. he worm shaft and the motor shaft uhich is different from the other models such as SUDX 140 170 220 Remove the hex socket bolts 90 8 pcs and the motor cover 89 Pay attention not to cut any cable in the motor cover Loosen a little the hex socket bolts 72 4 pcs holding the motor mounting plate 71 Move the motor shaft to disengage from the worm shaft and tighten the hex socket bolts 2 temporarily Follou the instruction of 0 0 0 for SUDX 130 140 170 and 220 After adjusting worm gear start adjusting the spur gears Loosening the hex socket bolts 2 move the motor mounting plate to the nearest position to meet the worm shaft Adjust the spur gear W 68 and the gear M 84 to the best position not to create too much backlash but not to be tight too much Fix the motor mounting plate to the unit Remove the old seal in the grove of the motor cover 89 and put the seal before you return the motor cover Pay attention not to cut the uires in the motor cover uhile mounting Put the lubrication oil after the assembly If you still have some backlash though the worm whee and the worm shaft are smoothly engaging adjust the backlash of thrust direction in the worm shaft Adjustment of the backlash of thrust direction in the worm shaft Remove the metal thrust plate 42 and drain oils at this time be careful not to lose O ring 41 After taking the metal thrust plate make the stopper of the
70. heck to make sure that MCC at AO address Yes is show when you are hooked up to the controller via the RS232 cable If you are not connected check your Com port baud rate and make sure your timeout is appropriate 3 You are now in Terminal Mode depress F10 Edit Create Program the main program screen should appear 4 Lets write our first program Note Both YUASA TERMINAL and the controller are entirely case sensitive all input must be in the correct format type the following AOE make sure you type the number zero not the letter O this addresses the card and clears the buffer this must always be your first entry F1000 This is the maximum feed rate F1000 100 Think of the last 0 asa sign G90B90 G90 denotes an absolute movement and B90 is a 90 degree movement B180 This movement is 180 absolute Once you have input a G90 the CPU maintains absolute movements unless you change it to incremental G91 B270 270 degrees absolute M40 This code allows the CPU to read the next movement in the program in this case BO and automatically see the M30 resetting the program and Block BO Work zero position M30 End of program If you would like to save this program on the disk drive of your computer depress the F2 button select the save file choice 2 name the file and enter Note The Remote Manual switch must be in manual mode or the program will not be stored Now download your
71. his is only an example the parameter settings and codes may be different for every control Please refer to your program manual control is as follows 1 You MUST Have Macro Capability CNC 88HS 1992 or new controls 2 An RS232 cable pin configuration and gender described below etting the SUD ntroller ready 1 Remove the controller cover and change dip switch 1 bit 5 to open This will change the data format to 7 bit even parity one stop Fadal controls can only communicate in this format We normally ship the SUDX units with the 8 bit configuration however if you are just purchasing your unit we would be happy to change this switch prior to shipment 2 The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If vou communicate with the control with other devises and are locked into a baud rate other than 9600 bps give us a call 1 800 421 9763 and we will let you know the specific dip switch changes for the baud rate you desire If 9600 is OK then no change is needed at the SUDX controller side 44 Getting the Control ready The following is a series of steps in order to prepare the FADAL control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control Confirm parameter settings for your individual control
72. ice Dept at 800 421 9763 38 EAROM has failed Call Yuasa Service Dept for repair POS FOLLOW Position Following Error Unit is binding Causes 1 Parameter i06 is set too high Do not exceed the recommended optimum stated in the SUDX Manual If workpiece is off center or overtly heavy decrease 106 or lower feed rate 2 Unfiltered air lines have allowed condensation into the brake cylinder Disconnect air lines and power to the indexer Remove the back plate thrust amp brake plates from the unit and examine for rust and or corrosion in the chamber If any corrosion is found remove using a wire wheel or light grit sand paper until all traces are removed Be careful not to scare or damage chamber Reassemble unit and attach a Filter Regulator Lubricator to the airline before reconnecting to SUDX 3 On smaller units 5C 130 132 5C the micro collar maybe off set and restricting rotation Loosen vernier ring and test unit 4 Tool crash has created unknown damage to unit Contact Yuasa Service Dept 5 Check the oil level thru the sight glass on your unit If oil is low add until sight glass reads full On 5c 130 132 5c remove the upper grease fitting and add some oil to the unit and replace fitting BRAKE CLAMP Brake solenoid did not release and or brake is binding Causes 1 Unfiltered air lines have allowed condensation into the brake cylinder Disconnect air lines and power to the indexer Remove t
73. inimum amount and compare the figure on the chart Adjust the wora housing if it is over the chart figure b Backlash Adjustment for Worm Gear for SUDX 130 140 170 220 Loosen the hex socket bolts 43 4 pcs uhich are holding metal thrust plate 9 Take out the hex socket bolt 48 and remove the worm metal plate 47 and worm plate packing 46 Clean up the area and pay attention not to put any chips in the unit There are two hex socket set screws 45 at the back of the worm metal plate worm metal plate 47 worm metal plate pack ing 46 To reduce the backlash loosen the screw and then tighten the screw Doing opposite way increases the backlash Tighten the A and B screws temporarily after adjusting the backlash Tighten the hex socket bolts 43 uhich is holding the metal thrust plate and then tighten the screus of and B again Put the uorm metal plate Do not forget to use packing Note Check the backlash again after adjustment f the backlash too small the worm gear will get heat and the motor will receitoo much load causing the Servo motor error Pour the lubrication oil into the unit after the adjustment Note Never loose the hex socket bolts 72 holding the motor mounting plate 71 when you change motors for SUDX 130 140 170 220 Remove the hex socket bolts 88 to take out the motor for SUDX 280 SUDX 280 has a set of Spur gear between t
74. io 180 1 Gear Ratio 100 250 100 250 100 250 100 250 100 250 101 2 101 2 101 2 101 2 101 2 102 0 102 0 102 0 102 0 102 0 103 3000 103 3000 103 3000 103 3000 103 3000 104 250 104 250 104 250 104 250 104 250 105 1600 105 1600 105 1600 105 1600 105 1600 106 100000 106 100000 106 100000 106 100000 106 80000 107 30 107 35 107 45 107 45 107 60 108 800 108 800 108 800 108 1000 108 1200 109 1500 109 1500 109 1500 109 1500 109 1500 110 1 110 1 110 1 110 1 110 ill 1 111 1 111 1 111 1 111 1 112 0 112 0 112 0 112 0 112 0 113 90 113 90 113 90 113 90 113 90 114 20 114 20 114 20 114 20 114 20 i15 0 115 0 115 0 115 0 115 0 116 0 116 0 116 0 116 0 116 0 117 20 117 20 117 20 117 20 17 20 118 12 118 12 118 12 118 12 118 13 119 1024 119 1024 119 1024 119 1024 119 1024 120 240000 120 288000 120 288000 120 360000 120 720000 121 0 121 0 121 0 121 0 121 0 122 0 122 0 122 0 122 0 122 0 123 0 0 123 0 0 123 0 0 123 0 0 123 0 0 124 2000 3 124 800 1 124 800 1 124 1000 1 124 2000 1 125 1 125 1 125 1 125 1 125 1 126 0 126 0 126 0 126 0 126 0 127 3 127 3 127 3 127 3 127 3 128 Factory Set 128 Factory Set i28 Factory Set 128 Factory Set 128 Factory Set 129 32 129 0 129 32 129 32 129 32 130 16 130 16 130 16 130 16 130 16 131 16 13 16 131 16 131 16 131 16 132 2 0 132 2 0 132 2 0 132 2 0 132 2 0 Note On i29 i31 amp i32 you may need to change these values depending upon your Finish signal requirements Maintenance Service and Tabl
75. lange 67 to the Main Body 1 4 4 Reeove seal plate 88 and loosen slightly tuo Hex socket bolt which fasten thrust plate 5 Remove 2 Hex Bolts located on the base bottom and you will see Hex socket set screu inside To decrease the Backlash after loosening set Screw slightly and tighten B screw by the sane amount increase the Backlash loosen B screw and tighten A screw After tightening both screws A amp slightly and adjusting the backlash tighten the Bolts and tighten up A B screws with same force Then tighten up the Bolts with Seal Washer and reassemble sea plate 6 Tighten the 4 Bolts fixing the Motor Flange 57 to the main body 7 Insert the Motor Coolig Fin into the Motor and tighten the 2 Bolts 70 to fix the fin Check if the Motor Fin Packing is between the Motor Flange 7 and the Motor Cooling Fin Otherwise coolant may go into the inside of Motor Fin and wil cause damage to the encoder WARNING Neglect this will void Warranty 8 Insert the cables had been pulled out in 1 carefully into the clearance of the Motor Cooling Fin and make sure the cable connector part locate at the cooling fin cover 73 9 Attach the Cover Packing to the Motor Fin and fix the Cooling Fin Cover 73 with 4 Bolts Also be carefull to do this since coolant may enter inside of the Motor Notes After completion of adjustment measure the backlash again The greatest c
76. les coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 for assistance with the UDNC B My CNC Machine does not communicate with UDNC 1 Confirm what type of cable you are using Standard or Null and that communication cables are plugged into proper ports Your CNC may require lines 2 and 3 of the cable to be crossed Null Modem Use a Null Modem adapter to the end of the cable Some machines may have a Null modem port in which case a Null Modem cable will be converted to a Standard cable 2 Confirm whether you are transmitting at 4800 or 9600 baud rate The UDNC has a default setting of 9600 If you need 4800 baud rate see Dip Switch Configure 3 Confirm that your CNC has the ability to send and receive ASCII American Standard Code of Information Interchange such as Fanuc s Macro B or Okuma s User Task II It is imperative that your CNC has this capability or you cannot communicate with the UDNC 4 Confirm that the CNC protocols are properly configured and that you have used Carriage Retums CR Refer to your CNC manual for more information 5 tried everything and still no com
77. m Buffer by using 107 r Range 1 to 32767 with 1 being the shortest amount of time until indexer reaches full speed and 32767 being the greatest amount Average value should be 800 to 1200 Note Less than 400 may make the lock up or give a Pos Follow error Similar function as 106 except controls jog feedrate instead of program feed The maximum setting must never exceed 106 Recommended setting 1500 to 15000 i 7 digits Measured in encoder counts This parameter will prevent the servo from moving beyond the specified positive direction limit even if it is commanded or instructed to do so If the travel limit is exceeded the control will output an error signal and stop motion Moves in the opposite direction remain active Setting i10 to 288 000 would set the limit at the 180 degree position 72 1 Default 1 off Note To use this feature i20 should be set to 0 i imum n ive travel li 7 digits Same as above except controls travel in the negative direction Default 1 off le Disabl in Remote M i12 set at 1 will enable the cycle start in the remote mode allowing the brake to be used from the front panel Setting this to 0 will disable this feature i ias g n From 0 to 127 Factory set 90 Sets the rate at which the servo loop examines the system s position and following error drift and generates a bias term for compensating it 0 off 1 minimum compensation 127 maximum compensation Velocity fe
78. m execution pointer to the beginning of the program that is stored in the buffer 2 If the program is larger than 448 blocks the M30 will reset and purge all functions including the program buffer This requires that the host computer retransmit the program before program execution can be started again The initialize M 0 and Feedrate instructions are not reset and need not be reloaded M30 Rules Rule 1 A program without an M30 cannot be saved in the EAROM permanent memory Rule 2 When a program is written and terminated with the M30 instruction a new program cannot be written unless the buffer is cleared using the z or E command Rule 3 An M30 requires a cycle start unless the move or moves before it have a M40 preceding See M40 M36 Enable Serial Pulse Channel DS This code will enable use of the optional pulse generator SPG 100 or LPG 200 The pulse generator hand wheel port will automatically be activated and able to be accessed once the Manual Remote front panel switch is positioned in the manual setting This will also disable the brake allowing for instant use of the pulse generator Factory Default M37 Disable Serial Pulse Channel This code will deactivate the handwheel port on the back panel of the controller By default the hand wheel port is set as active 1 le Disabl kl As specified in the 105 backlash parameter Default is 1600 giving you approx 1 degree of backlash To a
79. movement Movement will resume by pushing the Cycle Start once 10 E Stop Emergency stop is used to totally stop all movement and shuts down the controller As before work zero settings programs and i variable s are stored in EAROM M and Codes The programming of this controller utilizes standard M and G codes found in common CNC Machine Tool controls Below is a listing of these codes and their meaning more detailed description follows G Codes G04 Dwell G17 Terminate Sub Routine G28 Machine Zero G30 to G39 Jump to Subroutine G70 Start Loop G71 End Loop G72 Auto Divide 10 G80 to G89 Call Subroutines or conditional call with G90 Absolute Positioning G91 Incremental Positioning G92 Circular Interpolation Radius for use with linear table G93 Zero Referenced Moves from second coordinate M Codes M00 Program Stop M18 Disable step finish relay 1 M19 Enable step finish relay 1 M20 Disable step finish relay 2 M21 Enable step finish relay 2 M22 Disable brake on M23 Enable brake on M30 End of Program M36 Enable pulse generator M37 Disable pulse generator M38 Enable backlash M39 Disable backlash M40 Enable continuous motion M41 Disable continuous M42 Enable mirror image M43 Disable mirror image G Code D er G04 Dwell 7 digits 1 to 8388607 millisecs 04 1000 would cause the axis to remain in position one second before being ready to exec
80. munications Unplug the power cord and remove the cover from the UDNC Check the ribbon cables coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 and ask for technical assistance with the UDNC 244 does not communicate with the UDNC 1 Confirm that the TIC Terminal Interface Cable is securely plugged into both the and the UDNC e care that vou did not bend any of the 4 pi E 2 Confirm that the batteries are not low and or dying 3 Confirm that the preferences are correctly set on the HCT Turn on the HCT confirm NO HOST and press the ENTER bar Scroll down the menu using the DOWN ARROW key until you highlight Preferences push F key F OK The next screen will have your choices in the black Boxes on the bottom of the screen Each box corresponds with the button below it A F Select default setting 9600 8 bit Even AO Using the NXT key changes the screen and options in the Boxes Push ENTER to complete the selection sequence and return to the main menu Highlight OFF ENTER ON to see if you have established communications 4
81. n type INSTALL and press ENTER RUNNING YUASA TERMINAL To run YUASA TERMINAL from your hard disk type CD YUASA and press ENTER Then type YUASA and press ENTER 50 After the two windows appear on the screen and a listing of the function keys appears in the right hand window you will be prompted with a question such as the following System Configured as Card Number 0 Port COMI Baudrate 9600 ASCII Type 8 bit no parity Communication timeout milliseconds 35 Do you want to change it y n Note All UDNC 100 controllers are factory set to the above settings unless otherwise requested before shipping 2 If your Controller Card is configured for this setting simply press lt N gt or lt ENTER gt If you press lt Y gt you will be allowed to configure YUASA TERMINAL to the proper card address 0 7 port type com or com 2 baudrate 19200 9600 4800 2400 1200 600 300 ASCII type 8 bit no parity 7 bit even parity and timeout setting which is proper for your controller setup Also refer to the Alt F1 Configure key description in Section 2 of this manual for detailed instructions YUASA TERMINAL proceeds to poll the available cards A0 through A7 and determines which cards are connected to your system You will then be placed into Terminal Mode If no cards are connected or the communication port in your computer is not properly configured you will geta message Cards foun
82. nal point or sometimes from a pin on a connector like a Honda plug to one side of the coil on the relay normally pin 7 and 8 but check with your meter Hook another wire from the other side of the relay coil to ground 6 If the M code output is a switch type like most machines Run a wire from the M code to one side of the coil and voltage normally 24V DC to the other side 7 Then always connect wires 2 and 3 of the remote cable to the normally open contacts of the relay again check with your meter Note To simplify this Our machine requires a contact closure on wires 2 amp 3 DO NOT APPLY VOLTAGE Parameter i32 is programmable to the type of handshaking that most machine require R Cycle Finis The way most machines work once the M start is initiated the rotary table controller will execute the next step in the program driving the table to the desired position Once in position the rotary encoder verifies location and either a contact closure will occur if using normally open contacts or a contact open will occur if using normally closed contacts j wi Again it is imperative that you consult your electrical drawings for confirmation but if your machine is looking for open contacts on the return signal you would hook wires 4 and 5 on our remote cable to 24V DC and the M Finish on your CNC machine There may be a number of different configurations to this formula If your machine needs normally closed
83. nd is given Note 3 Care must be taken to specify a T time which will result in a feedrate within the machine s capability Otherwise a Position Following error will be generated 19 Note 4 The accel and decel parameter 108 remain effect during T moves Note 5 The T time specified is the time from beginning of acceleration to the beginning of deceleration therefore in some applications it is necessary to make allowances for the decel time which is not included in the T move To calculate decel time please refer to 108 parameter description Note 6 T time is specified without a net motion occurring it will be treated as a dwell 4004 command except that the command will alter the dwell time See G04 for further details The T time dwell should be used in synchronized motion applications since it is more accurate than the G04 Circular Move In conjunction with the G32RNNNNNNN which specifies the radius and the G92CNNNNNNN which specifies the starting angle the C command causes the controller to execute a motion with sinusoidal velocity profile For example the following program 0 addresses the card Z sets current position to zero zor E clears buffer F1000 sets the feedrate to 100 of the 106 value G92R10000 sets the radius to 10000 G92C0 sets the starting angle to zero degrees M30 end of program Send a Rub or an S or an to execute the program
84. o 500 the delay will increase to 4 seconds In all cases the number following the W command will take the same amount if time to execute as a move of the same size W1500 will take the same amount of time as an B1500 regular move regardless of the F and 106 values In a multi axis system the W command can be used on the idling axis while the other axis is moving A program can then be executed continuously with all stops and moves blending accurately When specifying idle time on one axis when the other axis is making a circular move it is necessary to specify a W command size equal to the path of the other axis not just the net move For example if an axis is making a 90 degree circular move with a radius of 5000 the specified W wait time should be 5000 X 2 PI R divided by 4 7854 21 4 Unlike the Run command which starts the control executing blocks consecutively without a stop and can be used as a stand alone on line non buffer command the command when used with the G92 command is used to set the radius for a circular interpolation move G92RNNNNN specifies the radius of the move and can be from 0 to 262139 encoder counts This means that if the system is using 1000 encoder counts per inch the largest circle can be 524 278 inches in diameter The G92R command is modal and will remain in effect until changed This command when entered in a program will have no eff
85. ogram Copy RAM to EAROM Download EAROM to RAM Send error code Send following error Home Inn send stored parameter Jog Kill servo Learn position Send current position Send memory data Save program and parameters in EAROM Must be entered in terminal mode Self test Write memory data Send time click Purge buffer prepare to accept new program Input Data Command Characters Backspace CR CNTRLX Space Comma Period Slash Colon Back line pointer one character End of line character Cancel input line Separation character Separation character conditional jump value delimiter Conditional jump bit delimiter Comment delimiter U command delimiter i Value delimiter TI This command is used as an axis identifier For most applications our use will be for rotary movements but this controller can also be used for linear moves For either axis movement i e B180 180 degrees or B2 5000 2 1 2 linear move using T instead of F we utilize the B or X for the movement For a reverse direction move simply input a minus sign i e B 180 would be 180 degree move in the counterclockwise direction F Feedrate Setting The F setting in the program acts as a percentage of feed based on the value setting of parameter i06 For example F100 sets the feedrate to 10 of the maximum feedrate value of i06 F1000 would set the feedrate to 100 of i06 Think
86. program to the controller using the F3 key dump to card buffer and save Note Dwnld amp Save File will save your program and all parameters to the card Download File F5 will automatically take you from editor mode to terminal mode where the small 5 can be entered to save the file if desired This program format can be duplicated substituting different B movements for example B60 B120 B180 B240 B300 BO would be 60 degree movements By simply inserting a minus sign in front of the movement you can move counter clockwise There are a number of other ways of accomplishing these simple index movements like using the loop G70 function but for a quick start this is the easiest way to begin min With the HCT connected to the UDNC controller push the ON button The screen should say HOST FOUND Push the OK button which corresponds to the F key and you will be in the Yuasa Menu You will find the following list of options OFF Turns HCT off File Manager Takes you to files that are stored in your hand held or lets you write files Note Files marked with 5 parameter files and P are program files If you choose the parameter files that do not match your unit your table will not run correctly New F ile Create files to run your index and store them in the HCT Terminal Menu Diagnostic and MDI operations See HCT manual for further explanation Preferen
87. re you are connected to the correct port on the CNC machine 48 The requirements for the Yasnac control is as follows 1 You MUST HAVE MACRO B this should be a standard control feature but check to be sure An RS232 cable pin configuration and gender described below A spare accessible M Code if you require a Step Finish signal 2 Getting the Yasnac Control ready The following is a series of steps in order to prepare the Yasnac control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the Yasnac I80 amp MX 3 Confirm parameter settings for your individual control 1 to maintenance screen depress the soft key ALLPARA then softkey 5 select RS232C 2 Next a set up screen will appear input the data as follows You are now ready to write a TEST program on the Yasnac control PROGRAM program 3100 AOEF1000G91B90M30 M21 example of Machine M Code M30 IN OUT Units RS232C RS232C BPS 9600 9600 Stop Bit 1 1 Bits 8 8 Parity Off Off Xon Off On On Rts Ctl Off Off Parity ISO On On RS232 Output Channel No 1 2 ISO EIA ISO Control Code ON Stop Bit 1 Baud 9600 Parity OFF 49 MINA I YUASA TERMINAL V1 X is an all purpose programming tool for the UDNC 100 Controller It allows for on line terminal operations program editing
88. rogram to stop at the next program block 9 6 Cycle Start M Z Return The cycle start button initiates a step start Each depression of this button will cycle the rotary table one individual movement To initiate a Machine Zero Return M Z you must depress and hold the cycle start switch for 5 seconds This will begin the search for the C channel of the encoder which is classified as Machine Zero Note 5 5CA and 132 models you must first jog to within four degrees of home and then depress and hold the cycle start switch for 5 seconds This will begin the search for the channel of the encoder which is classified as Machine Zero These units Home at every 4 degrees 7 W Z Set This Work Zero set button sets the current position of the rotary unit as work zero Once you have depressed this button any previous work zero settings will be lost and the controller will recognize this new position a work zero This switch is enabled only in the manual mode Typing Z in the terminal mode will perform the motion card s Z command 8 W Z Return One depression of this button will return you to the current work zero setting It will also cause the motion program to go to the beginning of the program selected by the program select switch This switch is enabled only in the manual mode 9 Feed Hold A single depression this button automatically sets the feedrate to zero stopping all table and motor
89. rs needsj i i iti n Factory setting 2 This is reflective to the motor encoder accuracy and is preset to our motor specifications Do Not Change Incorrect values will seriously damage the encoder and or controller voiding your warranty 02 Set H Directi One digit 0 or 1 Specifies direction in which home will take place 0 is negative and 1 is positive direction 103 Set Home Offset Factory Set 3000 During the homing operation immediately after the encoder C channel is detected this parameter will cause the axis to make a move by the specified amount and direction The final position will be interpreted as the axis zero position For homing instructions please see G28 and M Z instructions 104 Set Home Three digits where NNN is 0 to 999 and represents the of maximum feedrate of 106 the axis will be moving during the homing operation An i04 value of 500 would be 50 such as a value of 250 would be 25 of the maximum value set in 106 105 Set Backlash Compensation Five digits based on encoder lines and specifies the direction in which and the number of encoder lines the axis will overshoot the desired position and return Approaching position always from the same direction eliminates the effects mechanical looseness on positioning accuracy A number causes the axis to overshoot position and return when the axis motion is in the direction A number will
90. rs of the card currently addressed The parameters are divided into two screens To display the next screen press the lt Pg Dn gt key located on the numeric keypad To display the previous screen press the lt Pg Up gt key located on the numeric keypad Once the parameter you wish to modify is displayed on the current screen you may access it by positioning the cursor bar over the parameter To move the cursor bar use the Up Arrow and Down Arrow keys and to modify the parameter press lt ENTER gt After positioning the bar over the desired parameter and pressing ENTER the following message will appear in the right hand window CHANGE ixx Maximum XXXXXX Minimum XXXXXX Default XXXXXX Units Now XXXXXX ENTER NEW VALUE gt The values listed refer to the appropriate values of the parameter you selected You may enter a new value or press lt ESC gt to cancel the change If you enter a value which exceeds the critical values of the parameter a warning message will flash and you will be prompted to try again When you finish reviewing the i parameters press lt Esc gt to return to Terminal Mode or s to save the parameters F2 DISPLAY I O STAT This key displays the current I O status This function key displays the current card status F4 LIST PROG BUF This key will display the buffer of the card currently addressed You are prompted for the starting line number after which eac
91. s 1 Loading program Insert Yuasa Terminal diskette into drive A then type INSTALL This will automatically begin to load the YUASA TERMINAL Note Not all of the programs contained on the diskette will be transferred only those required for Yuasa Terminal Other programs are for separate operations and require you to enter separate INSTALL commands or for you to copy them directly to your hard drive or work diskette 2 Configure Screen Confirm that the Terminal program is properly configured for your computer A Com Port Is the correct COM port selected You have the choice of using either Com 1 Com 2 1 is most often the 9 pin port whereas Com 2 is the 25 pin port Unless you are using a PS 2 style mouse you probably have a mouse plugged into Com 1 DEFAULT Com 2 B Card Address You have the choice of Card Address O 7 Unless Specified prior to shipping Card Address is AO FACTORY DEFAULT 0j C Baud Rate As stated you can communicate at baud rates between 300 and 9600 FACTORY DEFAULT 9600 BAUDj D Data Bits Again you have the choice of 8 bit even or 7 bit odd parity FACTORY DEFAULT 8 bit evenj E Time Out Select the Communication Timeout that suits your computer Older 295 computers 80286 386 may require higher numbers 486 and better will work with default setting DEFAULT 35 Type Y to save your new settings The program will then connect to the controller Note C
92. s have several functions as shown in the electrical schematic drawing but for this quick interface we will only concern ourselves with the two cycle start wires 2 and 3 which black amp green and the two cycle finish wires Z 4 and 5 which are red white amp orange Unfortunately machine tool builders did not get together when they were building their equipment and as such provided us with no commonality to develop a single interface drawing What I can offer you here in addition to our electrical drawing are some hints on how to accomplish this task Warning When installing the Remote Cable pay very close attention to the colors of the wire as some of the colors appear to be similar Red may look very much like Red White Connecting these wires incorrectly can create a very expensive amp extensive repair Note Before beginning this interface compare our electrical schematic with your CNC machine s electrical drawings for actual signal information All machines are dissimilar and may need to be installed differently M Code Finish 1 2 M Code Finish 2 Emergency Stop Feed Hold N C Remote Home M code or other circuit 6 Step Finish Types Based on Step start types Type 0 Step Finish Remote step Rotation Remote finish Type 1 No Handshake Remote step aa Rotation Ha NA ET ues poc mer tee d Remote finish i re 2 Handshake
93. s of the motor cable connector and the motor cover periodically Never use this unit with loose bolts and nuts Avoid having tools or workpieces crash into the indexer NEGLECTING ABOVE CAUTIONS WILL VOID OUR WARRANTY POLICY SPECIFICATIONS ma inch INDEX HEAD Kg Lbs SUDX 140 TABLE 0 D L110 4 33 140 5 51 170 669 220 8 66 280 11 02 1 TABLE BORE 30 1 18 25 0 98 42 1 65 42 1 65 42 1 65 20 2 5 M36P3 0 M36P3 0 M36P3 0 105 4 13 115 4 53 130 5 12 160 6 30 190 7 48 PLACING DIRECTION HOR ZONTAL VERTICAL GUIDE BLOCK WIDTH 14 0 5512 18 0 70866 SPINDLE BRAKE TORQUE Kg m Lbs foot at 85 PSI 6 40 9 65 15 110 25 180 45 325 BRAKE SYSTEM PNEUMATIC 5 7 Kg cm 70 100 PSI PARALLELISM OF TABLE TO BASE 0 02 0 0008 TABLE AXIAL CONCENTRICITY 0 015 0 0006 SQUARENESS OF BOTTOM TO SIDE BASE 0 01 100 0 0004 4 ill HORIZONTAL 30 65 50 110 180 120 260 180 400 LOAD LVERTIGL 15 33 25 5 40 90 130 90 200 THRUST VERTICAL LOAD FTN NST TABLE HORIZONTAL LOAD SURFACE CIRCUMFERENT AL 400 880 500 1100 600 1300 1000 2200 1500 3300 250 550 300 660 400 880 600 1300 900 2000 10 240 150 330 200 440 c
94. s saved after power shut down in the EAROM f Range 0 255 LSB 16 msec default is 16 256 msec defines a system with no brake The servo integrator gain will never be zeroed if i29 0 Factory Set Do not change Range 0 255 LSB 16 msec default 8 128 msec This i variable allows the delay of turning on the brake and remote step finish signals In order for the 430 time to be used in determining the delay of the step finish signals 129 must be a non zero value at least 1 i31 Range 0 255 LSB 16 msec default 16 256 msec Allows the pulse length adjustment of the remote step complete signal for the 132 types 1 amp 3 32 5 The format is 132 type polarity Type 0 No Step Finish To see a visual representation of i32 types refer to page 7 of this manual 1 No handshake with a delay set by i31 2 Handshake by remote step input going low 3 Handshake by second remote step input going high The remote step should stay set until it sees the remote step finish change state or remain set for at least the time set in i29 4 Step Finish is synchronous with motion start and resets the step finish when the Remote CYCLE START resets Note 132 is a motion program buffer command It can be put into a motion program to change the Step Finish Type signal during the program The type must be the same for the step finish 1 amp step finish 2 33 Pol
95. the SUDX in absolute G90 the SUDX will always be in the correct location even when re starting the machine program at another line see explanation of moves commands below G91 for more detailed information _If you utilize CAM CAD program for developing CNC machine files you may use this format for incorporating the SUDX moves Macro programming permits the use of variables which are very useful for creating calls for various types of functions such as half indexes math functions etc Sub Programs may also be used for ease of programming repeat moves The following information is only to be used as a guide CNC machine controls may need different machine parameters and pin configurations for the RS232 cable for each type and make of control Please confirm all information with your particular machine parameters guide The requirements for the FANUC control is as follows 1 You MUST HAVE MACRO B 2 An RS232 cable pin configuration and gender may vary 3 A spare accessible M Code The following is the procedure for interfacing an SUDX Programmable Rotary table for direct operation through the Fanuc controls via an RS232 connection Getting the SUDX Controller ready 1 gt Remove the controller cover and change dip switch 1 bit 5 to open This will change the data format to 7 bit even parity one stop Fanuc controls can only communicate in this format We normally ship the S
96. ther policy other than the foregoing will be authorized or accepted by Yuasa International SERVICE POLICY 1 Warranty cards must be on file within 30 days of invoice date for a warranty repair If warranty card is not on file proof of purchase must be submitted when requesting service If neither is supplied all repairs will be charged to the customer 2 There will be a minimum charge of 120 00 for handling and inspection fee on all items sent in for inspection if no defect is found warranty or if customer declines service on unit s non warranty such shipments will be sent back to customer Freight Collect 3 Units must not be previously altered repaired or serviced by anyone other than an Authorized Yuasa Service Center Any and all misuse of an item will void warranty 4 Before any item will be repaired the customer will receive a written estimate which must be returned within 15 days signed Approve Disapprove repair f after 30 davs we have j W wi 2 arged M wj rel 5 All repairs preformed a the Yuasa International Service Center California carry 30 day warranty warranty limited to only the exact items repaired or replaced 6 All merchandise must be sent in Prepaid All repairs covered as warranty will have freight charges credited back to their account 441 141949 ZA SLOWAY 194135 REMOTE
97. uploading and downloading the UDNC 100 It is written in the C programming language YUASA TERMINAL Version 1 X runs on IBM PC 80286 or compatibles with at least 640K and one disk drive In addition one standard serial port is required Making a backup copy of your diskette is essential for insuring that the programs are not destroyed if the original diskette is ever erased or damaged If you have two floppy disk drives you may backup the original YUASA diskette as follows 1 Insert your DOS diskette into Drive A and a blank diskette into Drive B and reset the computer 2 At the A gt prompt type FORMAT B and press lt ENTER gt 3 After the disk in Drive B is formatted type COPY A B and press lt ENTER gt 4 Remove the DOS diskette Place the YUASA diskette in Drive A and press ENTER to the prompt 5 After the original disk is copied store it in a safe place and use the backup copy as your working master If you have a hard disk drive you may back up the original YUASA diskette as follows 1 At the C prompt type MD YUASA and press ENTER 2 CD YUASA and press ENTER 3 Insert the supplied YUASA disk in the correct drive amp Type INSTALL then press ENTER Note The supplied diskette operates under DOS Version 5 0 or greater To install YUASA TERMINAL to your hard disk insert the backup copy of the provided disk go to the appropriate floppy drive the
98. ute the next block G04 requires a step or rub command to be executed It is block of data that causes the In position register to report false during G04 execution Note 1 G04 dwells are not affected The dwell period starts at the beginning of decel If decel is very long the dwell time may go to zero Note 2 For multiple axis use when a dwell is proportional to a move size and a feedrate is required use the W command T in r f r Started with LO through L9 and terminated by G17 See L command For example LO G04X500 M19 04 1000 G17 is a subroutine that dwells 4 second turns relay 1 on waits 1 second and continues at the program step after the G80 that called the subroutine vbt 2 iti Under program control and as specified by initialize parameters i02 03 and 04 104 is zero home command is disregarded When G28 is issued and i04 is non zero the servo will move in the direction specified by i02 until the home switch is seen It then looks for the encoder C channel When the C channel is detected the control executes the 103 move terminating the homing procedure Note On 5C 5CA and 132 the rotary table does not have home limit switches it will be necessary to first jog the table to vernier zero prior to executing G28 or the M Z function on the control panel This position is automatically Machine zero position G30 to G39 Jump to Subroutine This command is simil
99. wear to gears etc You must use a Filter Regulator Lubricator FRL in line with the pneumatic and Pneumatic over Hydraulic brakes If water condensation or moisture gets into the indexer s brake chamber it will cause the brake s to drag and eventually fail Water and rust will need to be removed from the brake chamber Avoid Motor Cable Damage Setup the Indexer so that the cables will Incorrect Correct not be rammed into splash guard or caught in X Y Z axis table Failure to do so can break not only the cable but the internal wiring and leave them susceptible 77 gt to coolant metal shavings etc Broken and Damaged Cables Periodically check the motor cables for breaks holes or cuts Coolant can and will damage internal wiring encoder and A C power causing motor failure and possible Amp and Motion Control Card damage Please do not merely patch but replace as soon as possible When adjusting mounting repairing or performing general maintenance make sure that the A C power is turned off and preferably removed from controller Any and all service should be preformed off of the CNC VMC and in a clean safe environment Never lift pull or brace the indexers by their cable s Do not hit the work piece with your cutting tool This can damage your worm gears and will definitely cause you to realign your machine zeros grid shifts and lead screw compensation Do not over torque th
100. will clamp the spindle To use this function connect air to the index head a Air must be set to 5 7Kg cd 70 100 PSI b The air solenoid valve will be off in Clamp condition and will be on in Unclamp condition Always use F R L air filter Regulator Lubricator unit when supplying air to the index head 011 for Lubricator Turbine Oil Kind 1 ISO VG32 OPERATING NSTRUCTIONS 1 CHECKING THE LUBRICATING OIL VOLUME AND OILING In order to rotate the index head smoothly and maintain its performance and accuracy for a long time lubricating oil is indispensable Oil the index head uhile taking care for the following points a Use lubricating oil with strong oil film excellent rustproofing characteristics and oxidization stability b When you have oil change remove the hex head bolt 62 at the bottom Side of the indexer body and exhaust oil Clean up the dusts or chips on the top of the body and take the OIL cover 105 off to drain oil smoothly Put the hex head bolt 62 back after drain oil completely As to SUDX 130 remove the hex head bolt 124 at the bottom or side of the indexer body and exhaust oil Clean up the dusts or chips on the top of the body and take the indicator 102 off to drain oil smoothly Put the hex head bolt 124 back after drain oil completely Pour the lubrication oil from 011 cover as to SUDX 130 indicator at the top of the urit matching the oil level from the oil gauge
101. y vary but the tool change position is always the same relative to the initial home zero M Codes descripti M00 Program Stop This function causes the control to stop executing the buffer program much like the Feed Hold button on the UDNC front panel Use a Start Run Step or Rub Out command to resume motion MIS Step Finish 1 Disabl Writing this code into a program block will disable the step finish signal on relay 1 Writing this will enable the finish signal on relay 1 if M18 has been used It is not necessary to put this statement in a program the relay is turned on by factory default This command will disable the step finish signal on relay 2 This command will enable the step finish signal on relay 2 if a M20 has been used M k 1 This command will disable Brake function in Remote mode Default Brake On in Remote Mode r i This command will enable the Brake On function in Remote mode Default Brake On in Remote Mode Note To enable brake function in Manual Mode parameter i12 needs to be set to a value of 1 This command will not function in Manual Mode All written programs must be terminated by an M30 command and carriage return The M30 instruction is interpreted two different ways by the UDNC 1 If the program consists of less than 448 blocks the M30 will reset all M functions and feedrate instructions to their default values It also sets the progra
102. you when the last line ts reached In addition the following function keys may be used lt Fl gt BL This key uploads the current I Variables into the displayed buffer file shown at the bottom of the screen lt F2 gt FILE UTILITIES This key allows you to load save insert or delete a program on the current disk In addition you may print the file currently in the editor or a file saved on a diskette You will be presented with the following selection menu in the left window lt 1 gt Load File 4 Delete File 2 Save File 5 Print Current File 3 Insert File 6 Print Disk File 9 DOS Commands ESC EXIT Enter the number of your selection at the prompt The selections perform the following tasks lt 1 gt Load File Allows you to bring a file in from disk to the editor buffer Any program currently in the editor buffer will be erased 2 Save File Allows you to save the program currently in the editor buffer to disk Note Filenames are limited to eight standard characters and unless you specify your own extension the extension MCC 15 automatically added to any filename Disk and subdirectory specifiers can be entered in front of a 55 filename up to a total of 40 characters The default filename for newly created program in the editor buffer is NONAME MCC lt 3 Insert File Allows you to bring a file in from disk and insert it into the progr

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