Home

User`s Manual - Kitagawa Europe

1. 1 5 5V CONTROLLEF utput ormat RELAY ave UA2 5N gt BLKFI N BLKFI NOM rm A 4 mM A IAW 360FI NL ux USNU MW _ ii 0 1 Li ALMIUIB l zT EVV RESI A is routed as conmon wring as shown di agram OJIGOV is output conmon wring for excl usi ve B axi s 2 SNJ M 7 Qly MC nini v 4 ASW 360FI N2 im mM y Y M SUR SN _ ZININ ua E i 1 C9 2 KITAGAWA MAC mini iH Series Connection Manual I O Signal Format electric specifications for output contact are within values specified to PELV Protection Ultra Low Voltage and the following specifications are to be observed Max switching voltage 25V ACrms 30V DC Max switching current Max switching capacity DC24W AC25VA Min applicable load DCIV 1 9 2 2 Output format for 5V CONTROLLER clamp RELAY G5N AIDCSV i TN A BK1 Clamp output specification Output rating ________ 100 05 9 2 3 Emergency stop EMG STOP output format HW1B V3 AH165 V5R02 gt Da EMOUT olo
2. 9 2 9 2 2 Output format for clamp C9 3 9 2 3 Emergency stop output format scscscscscsccccccscscscscsccccscssssscscscs C9 3 9 3 PRECAUTIONS USING I O CIRCUIT cccccccccccccccccccccccccccccccccccccs 9 4 10 Detailed External Connection CB3i cable 10 1 10 1 MAC MINI IH THE THP TYPE C10 1 10 2 MAC MINI 1H2 IHT TYPE sulla C10 2 11 RS232C Connection 1 1 11 1 DETAILED RS232C CONNECTOR C11 1 11 2 DETAILED RS232C CABLE WIRING ccccccccccccccccccccccccccccccccccecce C11 1 12 Connection to Machine 12 1 12 1 MACHINE CONNECTION WIRING ccccccccccccccccccccccccccccccccccccceees 12 1 12 2 MACHINE CONNECTING EXAMPLE cccccccccccccccccccccccccccccccccccces C12 2 13 Block Diagram ilari C13 1 13 1 MACMINIIH IHF BLOCK DIAGRAM C13 1 13 2 MAC MINI 1H2 THT BLOCK DIAGRAM C13 2 KITAGAWA C3 Contents MAC mini iH Series Connection Manual C4 KITAGAWA MAC mini iH Series Connection Manual Appearance 1 Appearance 1 1 Appearance of MAC mini MAC mini 1 are equipped with each pendant in Clause 1 3
3. PRM PRM PRM PRM PRM PRM PRM PRM 003 004 008 011 013 038 044 513 xe A axis 41 66 41 66 41 66 72 0 1 0 350 Initial value B axis 16 66 16 66 16 66 180 0 1 0 350 120 50 00 50 00 50 00 60 x X X X R 200 L 33 33 33 33 33 33 90 i R 250 33 33 33 33 33 33 90 1 250 160 TMX 200 33 33 33 33 33 33 90 1 250 25 00 25 00 25 00 120 160 200 33 33 33 33 33 33 90 250 25 00 25 00 25 00 120 1 320 16 66 16 66 16 66 180 200 33 33 33 33 33 33 90 251 25 00 25 00 25 00 120 320 16 66 16 66 16 66 180 2100 83 33 83 33 83 33 36 0 3100 50 00 50 00 50 00 60 1 2160 33 33 33 33 33 33 90 3160 25 00 25 00 25 00 120 R 100 83 33 83 33 83 33 36 1 0 1 RSM 2 o 33 33 33 33 33 33 90 200 ib 1 101 axis x X X B axis 25 00 25 00 25 00 120 TIM 120 Aaxis 33 33 33 33 33 33 90 181 axis X 251 A axis 25 00 25 00 25 00 120 8 33 8 33 8 33 240 KITAGAWA P1 13 Parameter MAC mini iH Series Parameter Expansion Manual 1 3 Detailed parameters The set value in on description for each parameter explanation shows the standard set value NAME ROM Version Description The system program version of controller is inputted PRM002 NAME MZRN DE
4. 75839 0546 Ok ar 2 02 KITAGAWA 1 Start up MAC mini iH Series Operation Manual Start up 1 1 Power ON OFF 1 1 1 Power ON 1 1 2 Power OFF Turn ON the power switch of the controller The sum check of control is performed in start up 1 2 See Screen Configuration in Start up Turn OFF the power switch of the controller Wait for 5 seconds before turning ON the power again If the power is turned ON again within 5 seconds any data memory may be incorrectly stored KITAGAWA 01 1 Start up MAC mini iH Series Operation Manual 1 2 Screen Configuration in Start up When the controller is started the information and sum check situation for the controller are displayed on the screen and their contents are as follows Sum check situation of servo parameters System information EDIT information 1 2 1 Sum check situation When the power is turned ON the system checks that the servo parameter stored of servo parameters into memory in previous power shutoff corresponds to the data set value Because the set value varies when the servo amp inside of controller is changed for maintenance the system encourages the resetting for servo amp and also gives warning so as to operate the machine in safety Check Display for Servo Parameter When any FAULT occurs by the servo parameter check the checked number
5. Tra N2 A c gt i lil de 52 1 A p Fl x i ii i i i I i t L a el SK 54 Nm 2 2 a T GI ap 10 2 25 25 55 5 ii Sk2 sa SIG 4 How wd 256 MECI 5 E a g g mer gt i i i i i i gt 5 3 1 m n gt 3 b gt e gt I A 52 7 all SH m m 5 T 3 a An far 3 PBS F a CABLE 205 al 744 4 144 2 9 MI 2012 2 1 3 2513 del 6 i VY VW 14 5274 7 22 BK U2 N NA 714 slide 5 y y 2a lm m 2 4 5 17 PTs 22 OF B2 SERVOL 19 14 10 NON o HERE CNL OB 2121 LINE N _ te x ice oc ER ull gt Bi dl lt i pg ucl 218 7 XX 34 XX V l2 __ 1 V F2 Jal 1 ij MIR 7 SHELL it BATL 1 LINE 2 SOS BT Ll sgl i XX bs 5 d 3 L2 4 XX cm 1 82 PA d Lic a 5t EIN R F3 deli 35 A SHELL 1 2 2 gers 2 BK Cl SERVO m n f BK UCL S X OT AL 7 12 1 13 7 24 B1 IN CONTROL PANEL 7 gt 10 15 i a BKL CABLE PARTS LIST un om un
6. 5 _ 5 0 KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 3 4 G07 Time chart When using G07 BLKFIN OUTPUT timing can be changed by 21 PRM021 0 START SIG ST UNCLAMP CHECK CLAMP CHECK BK UC BK UC TABLE ROTATION BLKFIN SIG 0 021 0 20 5 PRM020 1 START SIG ST UNCLAMP CHECK CLAMP CHECK BK UC BK UC TABLE ROTATION BLKFIN SIG PRM021 1 pi PRM035 2 5 0 8 3 5 G21 Time chart In machine interlock of G21 it is very difficult to adjust the timing with the machine Therefore it is necessary to be synchronized simply by setting the following time X Since this controller is synchronized with the machine by an external signal a complete synchronization is impossible START SIG ST gt 5msec dx BRAKE OUTPUT TABLE ROTATION PRM047 BLKFIN SIG O BLKFIN PRM043 PRM035 5 However PRM042 1 PRM035 0 KITAGAWA C8 17 I O Signals MAC mini iH Series Connection Manual 8 3 6 BLKFIN In the timing outputted when BLKFIN signal is finished object contents can be Time chart changed by setting the parameter The object contents include CLAMP CHECK signal UNCLAMP CHECK signal and position deviation The following shows the timing by this combination CLAMP CHECK TYPE 022 0 PRM038 1 PRM032 0 TT
7. gt Mark in remarks column shows that a set value cannot be changed gt Formark in remarks column it is necessary to turn OFF power in order to make a changed parameter valid gt AUTO in remarks column shows that the value is automatically set by other parameter The set value cannot be directly changed on the parameter item of AUTO gt same standard set value of servo parameter is set to both A axis B axis Name STD No Set Unit Set Range Remarks Displayed Message Set value 3 500 Function Select Basic Switch 0 0011 Hox AUTO P000 BASIC SWO Function Select Basic Switch 1 ai P001 APPLICATION SW1 one hex 502 Function Select Basic Switch 2 0000 ia 002 APPLICATION SW2 Function Select Basic Switch 6 205 006 APPLICATION SW6 pane 507 Function Select Basic Switch 7 0002 P007 APPLICATION SW7 Function Select Basic Switch 8 908 008 APPLICATION SW8 9999 Speed Loop Gain id P100 SPEED LOOP GAIN 290 ae 2009 Speed Loop Integration Time Constant 511 P101 SLG INTEGRATION 2000 0 01 5 150 51200 Position Loop Gain 12 4 1 512 5102 POS LOOP GAIN p9 07896 TOL 2990 Moment Ratio of Inertial 513 P103 INERTIA RATIO 350 o OL 20000 1 274 Speed Loop Gain 14 4 1 P104 2TH S LOOP GAIN 09 1011 2000 Constant in 2 Speed Loop Integration 515 P105 2TH SLG INTE 2000 0 01msec 150 51200 274 Position Loop Gain 1 4 me P106 2TH POS L GAIN 52 TOT 2000 Bias 0 517 107 BIAS 0 mi
8. 500 2000 Description Sets a machine vibration frequency Corresponds to the parameter Pn40C of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME 2 Notch Filter Q value KITAGAWA P1 57 Parameter MAC mini iH Series Parameter Expansion Manual MESSAGE DATA UNIT 0 01 P40D 2TH NOTCH FLT 500 1000 Description When overshoot occurs even if machine vibration is restricted adjust it with Q value Corresponds to the parameter Pn40D of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM602 UNIT 0 Vibration Suppression Damping Ratio in Stop P420 V CTL RATIO DATA RANGE 100 100 Description This function reduces the servo gain during stop in order to suppress vibration during stop This function is effective for the vibration during stop However it does not correspond to the vibration during shift Corresponds to the parameter Pn420 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM603 NAME Vibration Suppression Start Ratio in Stop MESSAGE P421 V CTL START DATA msec DATARANGE 00 65535 Description The inside servo gain is performed at the rate of PRM602 after the time of this timer elapses from Position Command 0 Corresponds to the parameter Pn421 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM604 NAME Gravity Compensation Torque
9. DI US et a BLKFIN SEM BLKFIN Timer _ PRMO035 STD Set value 500msec O4 16 KITAGAWA MAC mini iH Series Operation Manual Program PRM020 1 PRM032 0 Start Rotation Clamped Unclamp Clamp BLKFIN gla BLKFIN Timer PRM035 STD Set value 500msec PRM020 1 PRM032 1 Start Rotation Clamped Unclamp Clamp BLKFIN gt BLKFIN Timer PRM035 STD Set value 500msec Precautions 1 Since CLAMP UNCLAMP times are added by changing PRM032 the OUTPUT timing varies KITAGAWA 04 17 Program MAC mini iH Series Operation Manual When the clamp mechanism of the table is unused usually unclamped state by commanding a CLAMP UNUSED G10 the clamp release time every block is eliminated and the system can be smoothly interlocked to the machine from the next block When PRM032 1 G10 becomes INVALID Since G10 and are modal commands unless opposite command G10 amp G11 is commanded they are continued continuously When G10 is executed under the SINGLE mode the table is clamped after G10 block is executed In the SINGLE mode the table is clamped per block Since G08 command unclamps the table at the space to G09 G11 command becomes invalid Program G1 0 Boldface and italic type characters can be G1 1 DIT JI abbreviated G10 Clamp unused G10 is commanded independently G11 Clamp use
10. IIT NR 5259 55 ca Gab eterna SO cable for Aaxis BRAKEL 1 5000 _ 100 etena SQ cable for 5 anog 1 25 YASS3 5 AA Cable for pu se generator eno KITAGAWA C3 3 Interactive Connection Diagram MAC mini iH Series Connection Manual 3 3 mini AAA AA AAA 5000 Cable power cable 2M LJ 9 L 9 5000 700 E H j 1 25 YASS3 5 CB3 Gable external on e LS RA 7 CJ e for nanual se generator B C3 4 KITAGAWA MAC mini iH Series Connection Manual CBli Cable 4 Connection Cable The connection cable Controller Circular table of MAC mini iH Series differs by the controller CB1HA Cable MAC mini iH 182 iHT CB1iF Cable MAC mini iHF CB1iHB Cable MAC mini 182 iHT The cable of CB1iH type is equipped with a poly
11. PRM026 When the current coordinate is in the area this signal is continuously outputted from the connection between 360FIN and OUTCOM TABLE REV 7777 i PRM026 2 x 1 BRAKE OUTPUT PRM036 PRM256 360FINI is for A axis single axis and 360FIN2 is for B axis 360FIN2 is for exclusive MAC mini 182 8 2 2 4 ZRNFIN signal gt Contents When the motion for MZRN command is finished the contact between ZRNFIN and OUTCOM is closed The output time of ZRNFIN is fixed to 500msec The output start timing is the same as BLKFIN TABLE REV BRAKE OUTPUT CLAMP CHECK BK C MZRN FIN ZRNEIN 500msec ZRNFINI is for A axis single axis ZRNFIN2 is for B axis ZRNFIN2 is for exclusive MAC mini 182 KITAGAWA C8 13 I O Signals 8 2 2 5 ALMOUT Signal 8 2 2 6 CHOUT Signal 8 2 2 7 EMOUT signal C8 14 MAC mini iH Series Connection Manual When G23 is commanded only single or both at 2 axis spec and BLKFIN is outputted at operation finish of both axes the axis that finished MZRN outputs ZRNFIN When G23 is commanded on both axes and operation of either axis is finished backwardly A axis table rotation AY A axis BK OUTPUT BK _ Lo A axis CLAMP CHK BK C o ____ A axis MZRN FIN ZRNFIN1 500msec B axis table rotation _ B axi
12. Backlash Compensation Amount MESSAGE BACKLASH COMP AMOUNT DATA UNIT deg DATA RANGE 0 0000 9 999 Description Sets the backlash compensation amount of machine Precautions 1 In usual power ON OFF since the backlash direction is remembered this parameter is not influenced 2 To make this parameter valid it is necessary to turn OFF the power once PRM206 NAME OV RUN Contact Type MESSAGE OV RUN CONTACT TYPE 001 Description Sets the contact specifications of OVRUNI 20 Over Travel INPUT 00 O A contact A axis standard 10 B contact B axis standard Precautions To make this parameter valid it is necessary to turn OFF the power once P1 38 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM208 PRM231 55 DATA UNITO deg Pitch Error Compensation PITCH ERROR 01 PITCH ERROR 24 DATARANGE 32 766 32 766 Description Sets the pitch error compensation amount Actually measured value Theoretical value every 15 that divides revolution 360 table MZERO position to 24 equipartition on the basis of Precautions NAME DESCRIPTION PITCH ERR COM 01 Compensates for 20 15 of machine coordinate system PITCH ERR COM 02 Compensates for 215 030 0 of machine coordin
13. o oy OVA IA 18 AMB Dy 0 COV 19 VAM OV IGA 20 __ Omia 21 Qoia 22 aan py Mn Omia 23 24 oy VAM Qoia 25 aars py Mn 26 EMUT O Dy 600V 10A Mn AQ DOV 5 Dy or Tr 24 lolo Mn 101 A 29 __ o UXVO4A Mn Dow 10 A 30 joy _____ Min Do The marking part in the above columns shows the additional spec data for MAC mini 1H2 iHT MAC mini iHP have not spec data KITAGAWA C8 19 1 0 Signals MAC mini iH Series Connection Manual C8 20 KITAGAWA MAC mini iH Series Connection Manual I O Signal Format 9 O Signal Format 9 1 Input format 9 1 1 Input format CONTROLLER 24V 4 7KQ PHOTOCOUPLER PS2501L 1 4 7KQ INPUT SIG MAX DC24 6V 6 5mA MIN DC21 6V 3 9mA Electrical specifications for the contact connected as the input signal are as follows DC30V 10mA Minimum switching DC24V 3mA or less current Leakage current in OFF 0 5mA or less KITAGAWA C9 1 I O Signal Format MAC mini iH Series Connection Manual 9 2 Output format
14. Because the table is rotated forcedly by pushing OVR key take extreme care to release OT For safety reasons rotation speed is set at 0 5min in the collision direction The detect switch for over travel is out of 2 Replace the over travel detecting switch order The cable for over travel is incorrect Replace the cable Parameter setting is inadequate Recheck and change PRM206 EEPROM Writing error An inconsistency is identified by checking after EEPROM WRITE 1 1 Reset or turn ON power again 1 2 Clear RAM if it is not released by power recharge EEPROM clear error An inconsistency identified by checking 1 1 Reset or turn ON power again after the content of EEPROM erased 1 2 Clear RAM if it is not released by power recharge 11 12 MAC mini iH Series Maintenance Manual Alarms After EEPROM writing a check mode indicates that the data of address G is inadequate The memorized channel number is not valid EEPROM address J writing error After EEPROM writing a check mode indicates that the data of address J is inadequate 1 1 Reset or turn ON power again 1 2 Clear RAM if it is not released by power recharge An error occurs during EEPROM check in power ON 1 Reset or turn ON power again 2 Clear RAM if it is not released by power recharge EEPROM address P F writing error After EEPROM writing a check
15. In case of PRM042 1 PRM043 100 Delay time 1sec 00 G21 A360 Start Rotation Clamp Output ____ is tumed OFF at BLKEIN START OFF iN PRM035 STD Set Value 500msec 1000msec KITAGAWA 04 23 Program MAC mini iH Series Operation Manual G21 199 command In case of 42 0 PRMO042 1 PRM043 lt 0 02 Delay time 20msec 00 G21 A360 FO 199 Start Rotation BLKFIN G99FIN MUT va PRM036 20msec STD Set Value 500msec 21 199 command In case of 042 1 PRM043 100 Delay time 1sec Program 00 G21 A360 FO 199 Start Rotation Clamp Output MU UU tee ee ORE vox dub x M Ro ode Ee Ke ALE ER BLKFIN PRMO036 G99FIN DEP STD Set Value 500msec 1000msec O4 24 KITAGAWA MAC mini iH Series Operation Manual Program 4 5 8 CONT 5 The ST signal rotates the table at Rotary Direction and Feedrate specified in continuous start command G22 and a next signal stops the table At this time BLKFIN is outputted once in ST for first start and also once in ST for stop When Addresses A and F are not specified for G22 command the rotary direction and the feedrate are determined by PRM040 and PRM041 Program Boldface and italic type characters can be G22 A Ff J 7 abbreviated G22 Cont start Rotar
16. MAC mini iH iHF iHP MAC mini iH2 iHT User s Manual MAO0126EHGI aaa 2004 06 Configuration of user s manual The user s manual consists of the following items gt Operation Manual Parameter Expansion Manual Maintenance Manual Connection Manual Parts List Carefully understand conditions such as product specifications usage limit etc before using products gt gt This manual is described to help you get the best use from your MAC mini iH series Improper handling can cause unexpected accidents or damage therefore read this manual carefully and thoroughly before using the equipment MAC mini iH Series User s Manual FOR SAFE OPERATION Keep this manual handy for easy reference as it will help you use many controls to their full advantage FOR YOUR SAFETY following two types Nnnnnnn Before using the equipment carefully read this instruction manual and familiarize yourself with the equipment and all safety precautions Safety precautions in this manual are divided into the Indicates an imminently hazardous situation which will result in death or serious injury if proper safety procedures and instructions are not adhered to JAN CAUTION ndi cates a potentially hazardous situation which may result in minor or moderate injury if proper safety procedures and instructions are not adhered to
17. Operates the program edited by EDIT mode automatically Executes the program block by block as often as a start signal is inputted Interlocks M signal from an external start signal MANUAL Manual Run Rotates the circular table manually Performs a manual MZRN manual WZRN and WZRN position setting Operates a manual pulse generator too EDIT Program EDIT Edits the program for automatic operation Inputs and outputs the program from to the external equipment Communicates the programs to some personal computers with the data management software It is necessary to use the exclusive data management software PARAM Parameter Edits the parameters for operational conditions and data setting required for controlling by the controller Inputs and outputs the parameters from to external equipment Communicates the parameters to some personal computers with the data management software It is necessary to use the exclusive data management software SINGLE Single Run 03 2 Does not output a BLKFIN and a G99FIN in case of SINGLE mode though an operation content is the same as an AUTO mode KITAGAWA MAC mini iH Series Operation Manual Program 4 Programs 4 1 Program structure The program consists Block Address Data Channel Block Data IL ll 12 90 000 FO T T T Addre
18. WZERO POS The table rotates twice in direction from the current position and it advances at 30deg The table rotates twice in direction from the current position and it advances at 30deg of work coordinate system Fig 4 04 14 KITAGAWA 5 3 1 MAC mini iH Series Operation Manual Program 4 5 4 0000000 CONT BUFFER The blocks from a continuous buffer START COMMAND G08 to END COMMAND 009 are operated continuously In the block during continuous buffer execution BLKFIN G99FIN are not outputted Since G08 and 009 are modal commands unless opposite 08 lt gt 09 15 commanded they are continued continuously Program Format C08 Boldface and italic type characters can be 9 7 07 FT JU abbreviated Continuous buffer start command Continuous buffer end command Rotation angle Setting unit deg Setting range 999 999 In incremental 0 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 Equal dividing number Setting range 0 999 Program jump Setting range 1 999 destination J 1 Subprogram return command Description Addresses A F D and J are the same as Non G code Type Standard Precautions on 2 axis spec When commanding 008 and 009 2 axis specifications are limited to the following items gt When commanding G08 both axes execute buffer continuously gt Since th
19. EMOUTCOM CONTROLLER O Contact specifications for emergency stop push button Rated insulation voltage 600V Rated current 10A Min applicable load AC DC3V 5mA KITAGAWA C9 3 I O Signal Format MAC mini iH Series Connection Manual 9 3 Precautions using I O circuit When the load connected to the output mode is an inductive load it is possible to reduce noise by providing the serge killer such as diode barrister CR etc gt When the power used for the inductive load is DC Direct Current use the serge killer of diode type Fig A gt When the power used for the inductive load is AC Alternating Current use the serge killer of CR type Fig B Unless the serge killer is inserted the service life of contact is shortened or noise occurs sure to insert the serge killer so as not to cause malfunction or damage A Protection by diode B Protection by CR T_ Le Use electric apparatuses within rated range C9 4 KITAGAWA MAC mini iH Series Connection Manual Detailed External Connection 10 Detailed External Connection CB3i cable 10 1 mini iH iHF iHP type I N CONTROLLER PANEL PI N NO BLOCK FINISH BLKFI N y 1 BLOCK FINISH COMMON OPT FINISH 1 GD9FI NI 3 360 OUTPUT 1 NL 4 He ALARM OUTPUT ALMOUTA 1
20. MESSAGE Description Sets the MZRN direction MZRN DIRECTION 001 of table O 000 Direction Clockwise when viewed from table top 1 Direction Counterclockwise when viewed from table top MZRN Direction PRM016 0 PRM016 1 As shown in left figure the table rotates in the rev direction set to 16 even if MZRN start position is in any position Precautions PRMO16is set as Plus when the table rotates in CW direction Unless PRM017 1 SHORT CUT MZRN is set MZRN is performed as set for this parameter Z amp Concerned parameter 017 PRMO17 NAME MESSAGEJ MZRN WZRN in Short Cut Direction ZRN SHORT CUT DIR 00102 Description Sets whether MZRN WZRN of table is performed or not in short cut direction or table returns to the zero position in the short cut direction by regarding the angle optionally set as boundary 0000 The table returns to MZRN position in the direction set to PRM016 when A axis standard returning from any position It returns to WZRN position in the plus direction certainly lt Rev direction of PRM016 0100 The table returns to ZRN position in the short cut direction of CW at 1809 more and of CCW at below 180 by regarding the position of B axis standard 180 000 as the boundary 2 Optionally sets the boundary ang
21. Waiting time PRM jump destination Description Address A Waiting time Boldface and italic type characters can be abbreviated Setting unit second Setting range 999 999 Setting range 1 999 J 1 Subprogram return command When Address A is not set an internal processing is performed without waiting time BLKFIN is outputted simultaneously with START Address J is the same as Non G code Type Standard Precautions on 2 axis spec When commanding G04 2 axis specifications are limited to the following items gt When commanding G04 on both axes Err962 EDIT ILLEGAL occurs gt output timing of BLKFIN is as follows 1 When a dwell time is longer than the time of axis that the operation command is completed BLKFIN is outputted after the dwell is completed 2 When a dwell time is shorter than the time of axis that the operation command is completed BLKFIN is outputted after the dwell is completed 3 When any data is not set to either axis the BLKFIN is outputted after the dwell is completed However since non command axis is also unclamped and clamped when the dwell time shorter than its time is set the BLKFIN is outputted after the axis is unclamped and clamped 04 10 MAC mini iH Series Operation Manual Program Timing chart In case of 1 axis spec Start BLKFIN Dwell time PRMO035 Address A set value In case o
22. 6 3 Over Travel MAC mini iH Series Parameter Expansion Manual 6 2 3 To release OVER The safety avoidance direction when Err 031 OVER TRAVEL occurs is TRAVEL usual side and the releasing method to the safety avoidance direction is as follows However the table does not shiftin direction even if pushed Push RESET button to reset Err 031 Set the mode to MANUAL Shift the table in direction with of JOG key When JOG operation is performed pushing the table rotates at rapid traverse The safety avoidance direction when Err 032 OVER occurs is usual side and the releasing method to the safety avoidance direction is as follows However the table does not shiftin direction even if pushed Push RESET button to reset Err 032 Set the mode to MANUAL Shift the table in direction with INS of JOG key When JOG operation is performed pushing the table rotates at rapid traverse 6 2 4 Forcedly shifting When Err031 OVER TRAVEL occurs the forced shift in direction method is as follows Push RESET to reset Err 031 Set the mode to MANUAL When pushing INS with OVR pushed the table shifts in direction of danger direction The forced shift of Err 032 OVER TRAVEL is as follows Push RESET to reset Err 032 Set the mode to MANUAL When
23. PRMI44 CHA PRMI74 CH A PRMII5 45 PRMI45 C45 PRMA75 CH 5 16 0106 6 76 PRMI17 CH7 PRMI47 CH 77 CH 7 PRMIS PRS C48 PRMA78 078 PRMII9 CHI9 PRMI49 lt gt PRMA79 CH 9 lt gt PRMISO 60 PRMA80 PRM21 PRMI51 PRMI81 1 981 PRMI22 PRMI52 CH2 PRMIB2 082 PRMI23 023 53 PRMI83 PRMI24 G24 PRMI54 PRMIBA PRMI25 O25 PRMI55 55 PRMIB5 85 PRMI26 PRMI56 066 PRMIB6 086 PRMI27 G7 57 C67 PRMI87 087 PRMI28 028 PRMIS8 658 PRMI88 CHBB PRMI29 gt 29 PRMI59 9 PRMI89 KITAGAWA P4 3 Expansion Channel MAC mini iH Series Parameter Expansion Manual 4 2 2 1 Parameter setting Example PRM400 CH00 1000 PRM401 CH01 500 PRM402 CH02 300 examples One measured volume shows 100 blocks Example PRM400 CHOO PRM489 CH89 20 COC Saga ae E GR measured volume shows 20 blocks Example 0 PRM400 CH00 PRM401 CH01 500 PRM402 0 PRM403 1000 X One measured volume shows 100 blocks This setting is performed all blocks after setting PRM402 0 become invalid Example 0 PRM400 CHOO PRM401 CH01 1000 402 1 When pushing INPUT Err 951 CH BLOCK SET ERROR
24. 029 2 When ZRN is inputted within 5 sec he Start Start input time Rotation BLKFIN S9 G99FIN _ mm ZRN PRMO27 1 PRMO028 5 0 029 2 __ When ZRN is not inputted within 5 sec Start DUNS Start input time Rotation BLKFIN G99FIN ZRN set time Err 217 occurs 028 ALMOUTA KITAGAWA 04 45 Program MAC mini iH Series Operation Manual 4 6 Dividing Feed Function This is the function to divide the optional angle uniformly by optional dividing number 4 6 1 ZEN POS Dividing feed 000 G91A120D4F0 GExe point 001 A120 002 90 D6 Exe 003 JO Divides angle of 120 into 4 and indexes 30 four times Divides angle of 90 into 6 and indexes 15 six times Timing chart Start signal Rotary motion BLKFIN signal 0 PRM020 1 ND00 NOD 02 Precautions X 000 block operates four times before advancing to 01 Similarly 002 block operates six times before advancing to 003 X Itis necessary to start the operation in the dividing command block X When the relationship between angle command A and dividing command D is less than a minimum shift unit as shown in the following formula Err207 DIVIDE COMMAND ERROR occurs Angle Command A Dividing Command D Minimum Shift Value 0 001 X Wh
25. 305 325 c KITAGAWA C1 1 Appearance MAC mini iH Series Connection Manual 1 2 Appearance of MAC mini 2 iHT iHP MAC mini 182 1 1 are equipped with each pendant in Clause 1 3 A 398 7 250 C1 2 KITAGAWA MAC mini iH Series Connection Manual Appearance 1 3 Appearance of pendant 255 X controller may be changed without prior notice because of modification spec change etc KITAGAWA C1 3 Appearance MAC mini iH Series Connection Manual C1 4 KITAGAWA MAC mini iH Series Connection Manual Power Connection 2 Power Connection 2 1 1 INPUT power voltage Input power voltage of AC200 230V is used at range of 100 10 range The frequency of 50 60Hz is used Precautions If power exceeds AC230V 10 the machine damage will be caused 2 1 2 Momentary power D momentary power interruption of 1 cycle or less is not detected interruption 2 In the momentary power interruption between 1 and 4 cycle the machine stops or restarts normally When the momentary power interruption exceeding 4 cycle the machine restarts X Restarting means that the power is turned ON from OFF 2 1 3 Withstand power The power noise from external equipment is to be within 1 5KV 50n
26. CB3 connector NYS5 17B DAIWA CB4 connector NYS5 11B DAIWA A2 2 CB100 connector NYS5 8B KITAGAWA DAIWA MAC mini iH Series Parts List MAC mini iH2 iHT Parts List 23 Servo motors NO Code Parts Name Type Maker Qty Remarks SGMPS 04A2A6S YASKAWA MAC mini iHT SVMI Servo motor 1 SGMAS 08A2A6S YASKAWA MAC mini iH2 SVM2 Servo motor SGMAS 08A2A6S YASKAWA 1 Battery JZSP BA01 YASKAWA 1 BAT2 Battery JZSP BAO1 YASKAWA 1 KITAGAWA A2 3 MAC mini iH2 iHT Parts List MAC mini iH Series Parts List A2 4 KITAGAWA MAC mini iH Series Parts List Pendant Parts List 3 Pendant Parts List 31 Arrangement view 52 JE i a TUN 1 4 duc EEI Es ii To TAI p 3 88 e mini i series o KITAGAWA A3 1 Pendant Parts List 3 2 Pendant Unit Parts Name Type MAC mini iH Series Parts List Maker Remarks Pendant substrate PB006 H001B KITAGAWA Emergency stop switch AH165 V5R02 FUJI DENKI ENABLE s
27. 011 20 000 012 A30 000 Repeating command NO10 12 are repeated 6 times To program top of 000 Incremental command 10 rev at Ritrvs 20 30 rev at R trvs rev at R trvs 8 5 Subprograms 08 2 12 00 991 A20 000 J10 001 A30 000 J10 002 A40 000 J10 N010 NO11 012 20 000 0 000 A40 000 J 1 end place jumping KITAGAWA Incremental command 209 at rapid traverse Subprogram jumps to 10 309 at rapid traverse Subprogram jumps to 010 40 at rapid traverse Subprogram jumps to 10 20 30 40 at rapid traverse Because of subprogram returned to original before rev at rapid traverse rev at rapid traverse PARAMETER EXPANSION MANUAL m Readers for This Manual Readers for this manual are as follows gt Persons who make trial run or servo adjustment gt Persons who adjust parameters gt Persons who control inside data E 2 N c fom 49 e mini iH Series Parameter Expansion Manual Contents 1 Parameter cccccccccsccccccscccccccsccccsesccccscoscscssosese 1 Contents L L PARAMETER SETTING P1 1 1 1 1 Setting preparation e nero vecesseseedecseesecsses 1 1 11 2 Setting P1 2 L2 PARAMETERIIST iaia P1 3 L3 DETAILED PARAMETERS P
28. CP22RM 10 B1 FUJI DENKI MAC mini iHF MAC mini iH CPI cover 136029 1020 KITAGAWA Servo amplifier SGDS 04A01A YASKAWA SGDS 08A01A YASKAWA MAC mini iHF MAC mini iH Nozzle filter MBS 1210 22 DENSEI LAMBDA Nozzle filter MBW 1203 22 DENSEI LAMBDA Ferrite core ZCAT3035 1330 TDK Magnet conductor SJ 0G DC24V 1 FUJI DENKI DC power AC200V DC5V LDAIOF 5 COSEL DC power AC200V DC24V LDA30F 10 COSEL Fan PUDC24D4 NIPPON SERVO Fan cover F 80 NIPPON SERVO NE le le le Renewal parts Surge protection element ENE471D 14A FUJI DENKI Spark killer RE1201 OKAYA Mounting legs CP 30 FF 4A TAKIGEN Mounting hole plug OB 13 IZUMI RS232C D Sub25 connector HDEB 9P HIROSE D Sub25 connector cover DE 60 J2 JAPAN Aviation Electronics Industry housing CZIO6L ILME JAPAN CNI connector CDDF24 ILME JAPAN CNI pin CDMFO0 3 ILME JAPAN CNI pin CDFMI 0 ILME JAPAN Hole plug CP 30 HP 10 ILME JAPAN CB3 connector NYS5 15B DAIWA CB4 connector NYS5 8B DAIWA CB100 connector Parts Name NYS5 8B Type DAIWA Maker Remarks Servo motor SGMPS 04A2A6S YASKAWA SGMAS 08A2A6S YASKAWA MAC mini iHF MAC mini iH A1 2
29. MESSAGE P422 GRAVITY COMPTQ DATA UNIT 0 01 RANGED J 20000 20000 Description Corresponds to the parameter Pn422 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM605 NAME MESSAGE Sweep Torque Command Amplitude P456 TQ AMPLITUDE 10 800 Description Corresponds to the parameter Pn456 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM607 NAME Revolution Detecting Level 502 ZERO SPEED LV O DATA UNIT min DATA RANGE O 00 10000 Description Sets the rev speed to detect the revolution when judged as during motor rotation Corresponds to the parameter P502 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 58 KITAGAWA PRM608 MAC mini iH Series Parameter Expansion Manual Parameter NAME Speed Correspondence Signal Detecting Width MESSAGE P503 SPEED CMP WIDTH DATA UNIT 100 Description When the difference of a speed command and a actually rotated speed of motor is less than the set value the speed correspondence output is issued Corresponds to the parameter P503 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Momentary Hold Time P509 BLACKOUT HOLD DATA UNIT msec 200 1000 Description When the power voltage supply to th
30. gt Specifies the block No to part and calls the number directly KITAGAWA MAC mini iH Series Operation Manual Program Operation 5 3 Program INPUT for 1 axis The following explains the steps to input the program for 1 axis 5 3 1 Program examples 5 3 2 Program input examples CHO7 WZRN 00 G90A270F0 Exe 001 A 180 F500 Exe 002 991 90 JO Exe 180 The absolute command functions the angle position command from the WZRN position G90 The table shifts to the angle position to be 270 from WZRN position A270 The table rotates at the rapid traverse FO The table rotates to the angle position to be 180 from WZRN in reverse direction A 180 The table rotates at 5min F500 The incremental command functions as the relative command from the current position G91 The table rotates 90 from the current position in reverse direction A 90 After executing the program the program returns to 000 block 70 X For 001 block G90 Absolute command of N000 is continued X When there is no rotation speed command as well N002 the rotation speed commanded at a former block is continued The inputting steps of the above program examples are as follows 1 Since each is changed in order by pushing MODE push this button until EDIT is selected LED lighting several times 2 05 gt Calls channel No 7
31. program EDIT 2 gt Calls the channel to be edited 3 Bm em gt Call the block to be deleted 4 gt When left keys are pushed for 2 seconds mord CH PRG displayed and the H Pusha iore 1 data in the block is cleared CH PRG is only displayed in the blink of an eye during program deletion KITAGAWA 5 6 Program copy MAC mini iH Series Operation Manual Program Operation The program can be copied at between channels and on the single block 5 6 1 Program copy between channels The programs can be copied at between channels Though all programs inside of channels can be copied the part of n line n line of block cannot be copied 1 N w gt Select the EDIT of program EDIT Select the channel to be an original copy When the left keys are pushed for 2 seconds Pushed for 2 second more screen of channel copy mode is displayed Copy Mode Screen The right channel No that is copying destination is deleted and the value can be set Determines the channel No of copy destination Starts the copy at between channels During copy channels Nos of copy source and copy destination flicker After a long time END is displayed and the program is completed All programs in the channels are deleted and the NOOO of selec
32. 535 536 4 Speed Loop Gain 400 P12E 4TH S LOOP GAIN 4 Loop Integration Time Constant 2000 P12F 4TH SLG INTE 0 1 sec 0 1Hz 10 20000 15 51200 537 4 Position Loop Gain 400 P130 4TH POS L GAIN Gain Change Time 1 0 1msec 10 20000 299 P131 GAIN CHANGE T1 i ius es EE i eem quee E AE NE cr UIT cm ne ANENE ama SS 1099 oa OFRE TN n Doo mee adc dan Do M A ud AD SERIO RIGIDITY i er n oA SERIO ik 549 Speed Feedback Filter Time Constant 30 0 01 300 3200 P1A2 SPEED F B FLT KITAGAWA P1 9 Parameter MAC mini iH Series Parameter Expansion Manual Name STD Displayed Message Set value Speed Feedback Filter Time Constant 2 P1A3 SPEED F B FLT2 Torque Command Filter Time Constant 2 P1A4 TQ FILTER2 Control Assistance Switch P1A7 CTLASSISTANCE Auxiliary Integration Gain P1A9 AUX INTE GAIN Position Ratio Gain P1AA POS RATIO GAIN Feed Integration Gain P1AB FEED INTE GAIN Feed Ratio Gain P1AC FEED RATIO GAIN Position Control Type Select Switch P200 POS CTL SELECT Multi turn Limit Setting P205 MULCH TURN LMT Position Control Function Switch P207 POS CTL FUNC SW Position Command ACC DECL Bias 1 COM wee P209 POS REF BIAS unit sec 9159355 Electric Gear Ratio Numerator P20E ELE GEAR
33. 57 BLKFIN SIG 1 28 MAC mini iH Series Parameter Expansion Manual Parameter Precautions Inthe BLKFIN OUTPUT though a output time is the time set to 5 when the start signal is OFF in PRM035 time when its signal is not OFF even if the time of PRM035 elapses BLKFIN is outputted continuously until the start signal is OFF When the parameter is used at PRM035 0 consider at the external equipment so that a next start signal will not be inputted during 5 output If the start signal is inputted during BLKFIN output its BLKFIN may be regarded as FIN SIGNAL there is a possibility that an incorrect operation is caused When the start signal is inputted at one shot and PRM035 0 is set the BLKFIN OUTPUT is ON OFF immediately For this reason since the BLKFIN OUTPUT may not be read at the remote machine set a proper output time PRM036 NAME 360FIN Timer 360FIN TIMER DATA UNITI sec 0 000 1 00 Description Sets the output time of 360FIN OUTPUT signal when the table stops at MZERO position passes through its position For timer operation see the figure for PRM025 0 Precautions 1 Incase of PRMO025 1 2 the timer of this parameter becomes invalid Concerned parameters PRM025 PRM037 NAME Timer from Unclamp to Shift Start ST TIMER FROM UCL
34. 6 1 3 12 External mode selection 2 2 4 1 1 3 2 OUTLINE OF MODE 03 2 3 2 L Outline of mode 2 2 lt 03 2 KITAGAWA O1 Contents MAC mini iH Series Operation Manual 4 Programs ssd 04 4 1 PROGRAM STRUCTURE cccccccscssccscssccscssccscccccscssccsessccsesscess 04 1 4 2 PROGRAM ARFA STRUCTURE 21 04 2 4 3 PROGRAM DISPLAY METHOD 04 3 4 4 ADDRESS FUNCTIONS cccscccccscccccsccccccccccccccsccsccsccscssccsseecs 04 5 4 5 G CODE FUNCTIONS ieri rv 04 6 4 5 1 E 04 8 4 5 2 GOAT DWELL cessa iaia 04 10 4 5 3 607 LEAD 04 12 4 5 4 GO9 CONT O4 15 4 5 5 G10 CLAMP UNUSED USED _ O4 18 4 5 6 G16 POS DEV CHECK VALID INVALID 04 20 4 5 7 G21 INTERLOCK STARTI eee ee ee ee ee ee eene e eere ene 04 22 4 5 8 5221 CONT ssaa iii 04 25 4 5 9 G23 MZRN ssi artt 04 27 4 5 10 241 ironici 04 28 G250 LOOBSUMER 04 30 4 5 12 G27 REPEATING 04 32 4 5 13 90 691 ABSOLUTE INCREMENTAL 04 35 4 5 14 G92
35. Battery JZSP BAO1 KITAGAWA YASKAWA MAC mini iH Series Parts List MAC mini iH2 iHT Parts List 2 MAC mini iH2 iHT Parts List 21 Arrangement view wo a A H V P 7 mu 8 iq 4 E 5 ty e d L 6 4020 i 2 Bi ge VU 9 410 OI 4 E gt 1 4 m mm m PN M e No eut 3 E ey 8 ar X 5 NE o o Lg 5 9j e gt A m KITAGAWA A2 1 MAC mini 2 Parts List MAC mini iH Series Parts List 22 Controller unit Parts Name Type Maker Remarks Pendant KITAGAWA Control substrate 001 001 2 axis substrate 004 001 Control substrate 008 001 Ci
36. Block 000 is called when the channel is called 3 The under bar is displayed under the character when is inputted After inputting ENT Address flickers and the value can be set KITAGAWA 05 3 Program Operation MAC mini iH Series Operation Manual 2 8 S 5 80 N 09 10 gt gt 2070568 gt 900 is inputted in Address and it lights At this time character flickers When inputting A the under bar is displayed under the character After inputting ENT Address A flickers and the value can be set 2700 is inputted in Address A and it lights When inputting F the under bar is displayed under the character After inputting ENT Address F flickers and the value can be set is inputted in Address and it lights Calls N001 block adding 1 to NOOO w 8 09 88 5 8 Be 04 0 14 15 9 1 89 5 0 06 89 AE gt 05 4 KITAGAWA When inputting J the under bar is displayed under the character After inputting ENT Address J flickers and the value can be set MAC mini iH Series Operation Manual Program Operation 20 05 gt is inputted in Address J and it lights The
37. KITAGAWA 1 3 Alarms MAC mini iH Series Maintenance Manual 1 2 2 Alarm rank 2 Alarm No Alarm Content Release Page External ZRN input WZERO specification error RESET ZRN WZERO ERROR WZRN alarm WORK ZRN ALARM Stack underflow STACK UNDERFLOW RESET mele Stack overflow STACK OVERFLOW Not return alarm RESET NOT RETURN ALARM Positioning time over RESET Divide command DIV error DIVIDE CMD ERROR G27 data 0 error G27 DATAO ERROR RESET 11 15 G27 gt Error G27 P gt E ERROR RESET ino F data error F DATA ERROR Neo Software limit RESET 11 15 SOFTWARE LIMIT Software limit RESET 11 15 SOFTWARE LIMIT Zero return alarm MZRN INPUT ERROR RESET s Angle error in absolute command ANGLE ERROR IN ABS BEST ia G99FIN time out G99FIN TIME OUT Channel set alarm CHANNEL SET ALARM 1 18 External mode selection error EXT MODE SEL ERROR RESET nns G09 execution axis error ILLEGAL G09 REE 11 4 KITAGAWA MAC mini iH Series Maintenance Manual Alarms 1 2 3 Alarm rank Alarm No Alarm Content Release Alarm Message goo Addresserror ______________ RESET NC ADDRESS ERROR NC axis command error NC set range error NC SET RANGEOVER NC channel number error NC CHANNEL ERROR er NC block number error NC BLOCK NO ERROR NC command error NC COMMAND ERROR RS232C Hardware alarm RS232C H W ALARM Flaming alar
38. O BO B2 B3 INPUT signal changed to content selected with channel No gt CHSET Channel Set OUTPUT signal to show a channel No change finish BLKFIN Block finish signal gt KITAGAWA P5 1 External Channel Selection 5 1 3 Binary list 5 1 4 Timing Precautions P5 2 MAC mini iH Series Parameter Expansion Manual CH B BO CH BO CH EO 4 2 11 NO 42 1 2 1 00 06 2 01 7 02 08 e 03 e e 04 10 e e Mark shows INPUT state ON 500msec or more External channel 1 2 3 External channel set CSET Channel change finish KFI 100msecor more 900msec 5 Because input time is 100 external channel is not set DEN Channel is changed at this time External channel select INPUT signal is to be continuous 100msec or more by considering the chattering External channel INPUT signal is to be continuous 500msec or more by considering the chattering After inputting CHSET signal FIN OUTPUT is to be started at 500msec BLK FIN OUTPUT time is to be time of PRM035 Channel does not change even if CHSET INPUT is turned ON during BLKFIN and G99FIN OUTPUT When INPUT time of CHSET is 500msec or less the channel doe
39. OFF BLKFIN PRM035 STD set value 500msec 7122 72 G99FIN 773 G99FIN Timer _ 500msec Fixed KITAGAWA MAC mini iH Series Operation Manual Program 027 1 28 5 0 29 2 When ZRN is inputted within 5 sec Start Rotation m y N BLKFIN Timer BLKFIN 5 set value 500msec G99FIN ZRN In case of 7 PRMO35 0 BLKFIN is 7 turned OFF at START OFF 027 1 28 5 0 029 2 When ZRN is inputted within 5 sec Start Rotation BLKFIN Because ZRN inputted within ZRN PRMO28 set time Err 217 occurs ALMOUTA m PRMO28 set time KITAGAWA 04 43 Program MAC mini iH Series Operation Manual 4 5 17 0 0 0 Optional block finish output G99FIN OUTPUT G99 command outputs G99FIN on the program execution At this time it does not output the BLKFIN Program Format Boldface and italic type characters can be G99 D abbreviated G99 G99FIN OUTPUT command Rotation angle Setting unit deg Setting range 999 999 incremental O O 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 Equal dividing number Setting range 0 0 999 Program jump Setting range O 1 999 destination J 1 Subprogram return command Description Addresses D and J are the sa
40. T BLKFIN Timer 5 STD Set value 500msec PRM021 1 PRM032 1 Start Rotation lg m UD Clamped srl Clamp BLKFIN BLKFIN is turned OFF at START OFF eem BLKFIN Timer PRM035 STD Set value 500msec KITAGAWA O4 13 Program Precautions 1 The OUTPUT time of BLKFIN is the set time of PRM035 in PRM035 0 In case of 035 0 BLKFIN OUTPUT is turned OFF at the timing of START OFF MAC mini iH Series Operation Manual 2 Since CLAMP UNCLAMP times are added by changing 2 the OUTPUT timing varies Operation examples Different operation contents by command modal information Execution program GO7 A30 D2 FO Modal information Incremental Modal information Absolute 4 MZERO POS MZERO POS _ Start point 15 circle 1 27 circle gt 30 End point WZERO POS 2 circle End point A 30 WZERO POS The table rotates twice in direction from the current position Start point and it advances at 30deg The table rotates twice in direction from the current position and it advances at 30deg of work coordinate system Execution program GO7 30 D2 FO Modal information Incremental Modal information Absolute 4 MZERO POS 4 MZERO POS End point lA 15 circle 2 circle point WZERO POS 1 circle 279 circle End point 7
41. Wiring color Signal Name Signal Display CB3i Cable Orange short bar EXE RESET RST Bright green short bar EXE ZRN REQUEST 1 ZRNI Pink short bar EXE ZRN REQUEST 2 ZRN2 Violet short bar EXE MANUAL MODE SELECT MANUALSET Black long bar EXE AUTO MODE SELECT AUTOSET White long bar CHANNEL NO OUTPUT 0 SELOUTO Red long bar CHANNEL NO OUTPUT 1 SELOUTI Green long bar CHANNEL NO OUTPUT 2 SELOUT2 Yellow long bar CHANNEL NO OUTPUT 3 SELOUT3 Blown long bar CHANNEL NO OUTPUT 4 SELOUT4 Blue long bar CHANNEL NO OUTPUT 5 SELOUTS Gray long bar CHANNEL NO OUTPUT 6 SELOUT6 Orange long bar OUTPUT COMMON 1 OUTCOMI Bright green long bar OPT FINISH OUTPUT 2 G99FIN2 Pink long bar 360 OUTPUT 2 360FIN2 Violet long bar ZRN FINISH 2 ZRNFIN2 Connector Spec Connector Name Black white Parts Name OUTPUT COMMON 2 Type OUTCOM2 Maker NCI Connector DF1B 20DS 2 5RC HIROSE ELECTRIC CO Pin DF1B 2022SC HIROSE ELECTRIC CO Connector DFIB 15S 2 5RC HIROSE ELECTRIC Pin DF1B 2022SC HIROSE ELECTRIC CO NC2 Connector DFIB 4S 2 5RC HIROSE ELECTRIC Pin DF1B 2022SC KITAGAWA HIROSE ELECTRIC C6 5 CB3i Cable M
42. destination Description Addresses A D and J are the same as Non G code Type Standard Notices Input the new G code for changing the code of incremental and absolute in each case there are those code in each channel For Ex is performed the absolute instructions and 01 is performed the incremental instructions 1 NOOO 890 125 FO Nooo 897 125 FO 001 A199 A199 NO02 161 JO NO02 161 JO KITAGAWA O4 35 Program Program check Program examples Executed programs D 2 9 are compared with the above programs 04 36 MAC mini iH Series Operation Manual Start pos DIS Stop position program G90 Abso G91 Incr Rotates 270 in CW and stops at 90 pos 90 Rotates 90 in CW and stops at 270 pos Rotates 90 in CCW and stops at 90 pos A 90 Rotates 90 in CCW and stops at 90 pos Note 10 A 180 Not rotated A180 000 Rotates 180 in CW and stops at 0 pos Note 10 A 180 Not rotated Rotates 180 in CCW and stops at 0 pos Rotates 180 in CW and n stops at WZRN position Not rotated 9210 Rotates 180 in CCW and AD stops at WZRN position X All coordinate systems show stop positions Not rotated 9210 Note 1 When the UNIDIRECTIONAL positioning is set the approach amount of unidirectional positioning varies G90 Abs
43. m A G98A360F0 B G97A90F0 m A G97A360F0 B G98A90F0 Prg G98 2 G98 is commanded to each axis and G99 to another axis m A G98A360F0 B G99A90F0 m A G99A360F0 B G98A90F0 KITAGAWA O4 41 Program Concerned parameters Timing chart 04 42 MAC mini iH Series Operation Manual PRMO27 Selects the timing of G99FIN OUTPUT 0 Outputs G99FIN in BLK execution start 1 Outputs G99FIN in BLK execution finish PRMO28 In case of PRM029 2 though G99FIN OUTPUT and ZRN INPUT signals are used as handshake signals the time to cause an alarm is set when ZRN signal is not received in time after outputting G99FIN During this set time G99FIN is outputted continuously PRMO29 Specifications of ZRN INPUT are set 0 Outer MZERO Machine zero return spec 1 Outer WZERO Work zero return spec 2 Handshake check spec In case of usual operation Start IW gt gt JT In case of Rotation E N f PRM035 0 BLKFIN is BLKFIN D Ti turned OFF at START imer BLKEIN PRM035 STD set value 500msec 7 G99FIN In case of G98 command PRM027 0 PRM029 211 Start ____ case of Rotation J PRM035 0 BLKFIN is v OFF at START BLKFIN PRM035 STD set value 500msec G99FIN Timer G99FIN 500msec Fixed ID Start Lu In case of Rotation N PRMO35 0 BLKFINis EURI T Y turned OFF at START imer
44. 0 LA 22 1 10 4 000 FO I ru 11 7 P20 E21 12 3 18 m ES a 20 A30 000 FO QD 221 7 P30 E31 12 X wr 19 TX i 26 n f 030 A20 000 FO Bn Maa eo loue NO31 G27 PAO E40 12 s Mag Naan us Naan oy 10 000 FO Li pi pe 6 9 13 16 21 24 28 31 KITAGAWA MAC mini iH Series Operation Manual Program The absolute command G90 sets the absolute coordinate on the basis of WZRN position The incremental command G91 sets the relative coordinate on the basis of current position Since G90 and G91 are modal commands unless opposite command G08 lt G09 is commanded they are continued continuously After power distribution the incremental command G91 is set When the same coordinate value is specified in the absolute command G90 the program does not shift and BLKFIN is outputted However when PRM105 UNIDIRECTIONAL is set the unidirectional motion is performed Program Format G90 Boldface and italic type characters can be G91 abbreviated G90 Absolute command G91 Incremental command AQ Rotation angle Setting unit deg Setting range 999 999 In incremental O 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 O 999 Program jump Setting range O 1 999 J 1 Subprogram return command Equal dividing number Setting range
45. Alarms MAC mini iH Series Maintenance Manual Detailed explanation on the alarm for Err 016 Pattern 2 The following shows a flowchart of troubleshooting for Err 016 that occurs soon after the rotation starts or during Error 016 occurred Yes clamp output normal Yes pa Was clamp signal checked when rror 016 occurred No Di the brake output when unclamping See the checking method 4 Yes No See the checking method 3 lt a tina Yes No Error 016 does not occur under this situation Contact our service department if an alarm occurs 11 30 KITAGAWA Either internal circuit error or break down of the brake wiring is considered Contact our service department if no error was detected in the wiring check Error 016 occurs either when unclamp signal is kept OFF exceeding the set time for PRMO23 during unclamping gt Error 016 occurs when clamp signal is kept ON exceeding the set time for PRM024 during unclamping If any abnormality above is not checked internal circuit may be incorrect Contact our the service department Either a failure of unclamp check pressure switch SP2 or breakdown of unclamp wiring is considered As for replacement see the instruction manual of NC circular table MAC mini iH Series Maintenance Manual Alarms Check Method C
46. END is displayed the clear mode is finished Even if CAN is pushed during parameter clear the parameter clear mode cannot be interrupted 5 Starting screen The same screen as a starting state in usual power ON is displayed to start the screen Because parameter clear is performed Err 400 MZERO POS UN SETUP and Err 930 ENC BATTERY ALARM occur certainly 12 2 MAC mini iH Series Maintenance Manual RAM Clear 2 2 All data clear of programs When this operation is performed only program data stored into the memory in the controller is erased 1 The all clear mode CL 1 of program is entered in power ON E Program Clear Screen 2 gt When the all clear of program is started ALL PRG flickers and ALL PRG is displayed the all clear mode is finished the mode is shifted to the parameter clear mode Even if CAN is pushed during program clear the program clear mode cannot be interrupted 3 Starting screen The same screen as a starting state in usual power ON is displayed to start the screen KITAGAWA 12 3 RAM Clear MAC mini iH Series Maintenance Manual 2 3 All data clear of parameter When this operation is performed the parameter data stored into the memory in the controller is initially set 1 2 1 The all clear mode CL 2 of program is entered in power ON L Paramete
47. MAC mini iH Series Parameter Expansion Manual No Name aot valig Set Unit Set Range iod Displayed Message A axis B axis 5 021 BLKFIN Output Flag G07 0 0 1 BLKFIN FLAG 007 022 Object Signal of OUTPUT 0 0 1 BLKFIN TRIGGER 023 Alarm Scan Cycle of Unclamp Signal 0 00 SEC 0 000 10 00 ALARM SCAN UNCLUMP Al le of Cl ignal jii ent sea 0 00 SEC 0 000 10 00 ALARM SCAN CLAMP 025 360FIN Output Spec 0 0 1 360FIN OUTPUT SPEC FIN Area Bop 0 000 deg 0 0000 1 000 25 1 360FIN OUTPUT AREA 027 360FIN OUTPUT SPEC 0 0 1 2 G99FIN OPR SPEC pog SE eee met 0 00 SEC 0 000 9 99 G99FIN CHECK TIMER 029 External ZRN Input Spec 0 042 EXT ZRN SPEC SP Signal Function Spec SP EXT SP FUNC SPEC 0 1 External MZRN Function MZRN BY THE EXT ST 0 1 2 3 Clamp Spec CLAMP SPEC 0 1 External Channel Spec EXT CH SPEC 0 1 360FIN Output Contact Flag 360FIN CONTACT FLAG 0 1 BLKFIN Timer BLKFIN TIMER 360FIN Timer 360FIN TIMER Timer from Unclamp to Rev Start ST TIMER FROM UCL Clamp Signal Flag CLAMP SIGNAL FLAG 0 1 Clamp Output Contact Flag BRAKE CONTACT FLAG 0 1 Rev Direction in Continuous Start G22 REV DIR G22 0 1 Rev Feed in Continuous Start G22 REV FEED G22 0 00 99 99 BLK G99
48. Positioning finish 5V Positioning unfinished OV 09 Speed feed forward 100 Pn07 2 Analog monitor 1 signal factor selection O 00 I 1 time 01 10 time 02 100 time 03 1 10 time 04 1 100 Analog monitor 1 OUTPUT voltage C1 X Signal select PRM507 0 X Signal factor PRM507 2 OFFSET voltage PRM632 8 Concerned parameter PRM632 PRM508 NAME Function Select Switch MESSAGE P008 APPLICATION SW8 DATA UNITO hex RANGED 001 Description Selects the analog monitor content of servo motor Corresponds to the parameter 008 of servo pack SGDS made by YASKAWA ELECTRIC CORP Pn008 0 ALARM WARNING selection of battery voltage drop 0 Battery voltage drop is regarded as ALARM A 830 1 Battery voltage drop is regarded as WARNING A 930 Pn008 1 Single phase of three phase INPUT mode 0 Three phase INPUT mode is used by three phase INPUT mode Pn008 2 Warning detection selection 0 Detects WARNING KITAGAWA P1 47 Parameter PRM510 MAC mini iH Series Parameter Expansion Manual NAME J Speed Loop Gain P100 SPEED LOOP GAIN DATA UNITO O 0 1Hz DATA 100 20000 Description Sets the responsibility of servo motor to control speed Corresponds to the parameter Pn100 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Speed Loop Integratio
49. gt ec MAC mini iH Series Parts List Contents Contents 1 mini iH iHF Parts List A1 1 1 1 Arrangement view ERE 1 1 1 2 Controller unit iure 1 2 1 3 SORVOMMOLOTS 1 2 2 MAC miniiH2 iHT Parts List A2 1 2 1 Arraug ment vien sure A2 1 2 2 Controller unit Dto e OH A2 2 2282 Servo Motors leali 2 3 3 Pendant Parts List lt il A3 1 3 1 APPANGEMENE VIEW Licia rr A3 1 222 2 Penda t unit suna A3 2 KITAGAWA Al Contents MAC mini iH Series Parts List A2 KITAGAWA iH iHF Parts List ini MAC m MAC mini iH Series Parts List iHF Parts List ini MAC mi 1 LT Arrangement view 1 1 A1 1 KITAGAWA MAC mini iH Parts List 1 2 Controller unit Parts Name Type MAC mini iH Series Parts List Maker Remarks Pendant KITAGAWA Control substrate 001 001 Control substrate 008 001 Circuit protector CP22RM 5 B 1 FUJI DENKI
50. gt The parameter that the parameter column is masked shows that it is common parameter in case of 2 axis spec No yale Set unit Set range Displayed Message A axis B axis 5 000 ROM Version e ROM VER 005 HNDE EL 0 70 min 0 000 1 00 MZRN LOW FEED Traversal speed 4668 mir 0 000 99 99 Notei RAPID TRAVERSE OS H Speen 41 66 16 66 0 000 99 99 Notet HI JOG FEED gga Speed 1 00 min 0 00 99 99 LO JOG FEED up eed Amount 0 001 deg 0 0000 10 000 STEP FEED AMOUNT 007 MZRN Shift Amount 0 000 deg 360 000 MZRN SHIFT AMOUNT 360 000 41 66 min 0 000 99 99 MZRN FEED 009 Position Deviation Check Setting Time 0 30 SEC 0 00 1 00 POS DEV CHECK TIMER 010 Position Deviation Check Setting Amount 0 100 deg 0 0000 16 000 POS DEV CHECK AMOUNT gii eat Raig 72 180 0 36 45 999 Di GEAR RATIO 1 X Note 013 Motor Rev direction Flag 0 0 1 MOTOR DIRECTION Note1 014 Override Step Amount 5 9L op 100 MOTOR DIRECTION 015 Deviation Check Amount in Clamp 0 020 deg 0 000 16 000 POS DEV CHECK CLAMP 016 MZRN Direction 0 0 1 MZRN DIRECTION 017 MZRN WZRN in Short Cut Direction 0 1 0 12 ZRN SHORT CUT DIR Optional Angle Assignment in Short Cut 018 Return Direction 0 000 deg 0 0000 359 999 ZRN DIR OPT POS 020 BLKFIN Output Flag 208 G09 0 0 1 BLKFIN FLAG 608 KITAGAWA P1 3 Parameter
51. 001 Description Sets the VALID INVALID of ENABLE SW mounted on the pendant 0 INVALID VALID Precautions 1 In case of no pendant spec though a standard set value becomes 0 in case of pendant spec the standard set value becomes 1 NAME MZRN Dead Slow Speed Percent MESSAGE MZRN 2TH FL RATE UNITI 100 Description Sets the percent of 2 stage deceleration speed MZRN The percent for value set to 002 is provided See the explanatory drawing of 02 for operation Concerned parameter 002 NAME 360 FIN Chattering Prevention Timer MESSAGE 360FIN CHATTERING DATA SEC RANGE 0 00 1 0 Description Though 360FIN is outputted when 250 1 is set this CONT OUTPUT is started after checking that the table exists for PRM256 time in PRM026 set area Thus this timer is provided to prevent the chattering in area Entering point in actual area Machine MOTION PRMO026 2 CHECK OUTPUT IN AREA 360FIN Concerned parameters PRMO25 PRMO26 KITAGAWA P1 43 Parameter mini iH Series Parameter Expansion Manual PRM257 MZRN Mode MESSAGE HMODE DATA UNITO sec Description Sets the value relative to MZRN However since the value is fixed it cannot be changed PRM258 NAME MZRN Time out MESS
52. 02 1 2 1 OPERATION SWITCHES seine 02 2 2 1 1 Power switch m ene 02 2 2 1 2 Emergency stop switch 02 2 2 1 3 ENABLE switch 02 2 2 2 KEY OPERATION 02 3 2 2 1 Mode operation key 2 222 02 3 2 2 2 Axis Change key otiose 02 3 2 2 3 Manual operation keys 1 02 3 2 2 4 Automatic operation keys 2 22 2 02 4 2 2 5 Program operation keys 2 02 5 2 2 6 Program communication KEYS 02 7 2 2 7 Parameter operation 02 7 2 2 8 Parameter communication KEYS 02 8 2 2 9 Self diagnosis operation keys 02 9 2 2 10 Operation Keys im alarm cce ee eee ee eee ee eee teneo seen n 02 9 2 3 LAMP INDICATION sora O2 10 2 3 1 hy L6 p cop 02 10 2 3 2 STATUS SALARI RISI ia 02 11 2 3 3 STATUS 02 11 24 DATA DISPLAY lane 02 12 2 4 L Data display part 02 12 Mode soglia Ode 3 1 SELECTION siae Ila tantra 03 1 3 LL Mode selection
53. 1 noise sec If the power noise exceeds 1 5 the machine damage will be caused 2 2 Grounding Route a grounding cable at C class grounding Grounding resistance value 1000 less or more X The machine without routing a grounding cable may cause an electric shock KITAGAWA C2 1 Power Connection MAC mini iH Series Connection Manual C2 2 KITAGAWA MAC mini iH Series Connection Manual Interactive Connection Diagram 3 Interactive Connection Diagram The interactive connection diagram of controller is shown every type KITAGAWA C3 1 Interactive Connection Diagram MAC mini iH Series Connection Manual 31 mini iHF Types C3 2 Cabl f or Gable external on e a SORRY MOSS eternal SO se generator CN LJ TIT KITAGAWA MAC mini iH Series Connection Manual Interactive Connection Diagram 3 2 mini 2 iHT Types 2 To circuit protector cH Cable power cable TRU 1 25 YASS3 5 Ch external comecti on a
54. 21 11 21 22 22 22 22 22 22 23 23 Over load Continuous maximum load OL RATINGMAX DB Over load DB OVERLOAD Inrush current limit resistance overload INRUSHRESOL Released by servo L 23 Released by 11 23 servo Released by servo l1 23 Heat sink overheat HEATSINK HEATING Encoder backup alarm ENC BACKUP ALARM Encoder same check alarm ENC SAMECHK ALARM KITAGAWA Released by servo L Released by servo L Released by servo 23 24 11 24 Alarms MAC mini iH Series Maintenance Manual Alarm Content Alarm Message ENC BATTERY ALARM Servo Encoder data alarm Released by ENC DATA ALARM servo Encoder over speed ENC OVER SPEED Servo Encoder overheat ENC OVER HEAT servo Speed command A D error V REF A D ERROR servo Torque command A D error TREF A D ERROR servo Current detection alarm 1 Released by CURRENT DET ALM1 Servo Current detection alarm 2 Released by CURRENT DET ALM2 Servo Current detection alarm 3 CURRENT DET ALM3 Servo SYSTEM ALARMO Servo SYSTEM ALARMI Servo System alarm Released by 11 25 SYSTEM ALARM2 servo System alarm Released by SYSTEM ALARM3 servo dum SYSTEM ALARMA servo Burn up check detection BURN UP CHKDET servo Encoder clear error Released by ENC CLEAR ERROR servo Encoder communication error Released by ENC COMMUNI ERROR servo Encoder communication position data acceler
55. ENT Set value ENT Change to set value Similarly change the parameter required for change INPUT Parameter setting register Parameter setting e As the parameter selection method of the parameter can also be selected one by one with N Next selection Former selection e When inputting the set value of the current set value flickers by pushing ENT first When pushing ENT after inputting the set value a newly set value lights Precautions 1 When INPUT is not pushed after changing the parameter the final parameter is not set When the mode is changed and power is turned OFF without pushing INPUT the parameter set value returns to the value before changing P1 2 KITAGAWA MAC mini iH Series Parameter Expansion Manual 1 2 Parameter list Parameter gt Mark in remarks column shows that a set value cannot be changed gt Formark in remarks column it is necessary to turn OFF power in order to make a changed parameter valid gt In MAC mini iH2 iHT when a standard set value differs per axis the values of A axis B axis are entered to the standard set values In case of MAC mini iH iHF 1 axis spec A axis is set
56. Example CHOS program input ended X Input the program to be transmitted in accordance with the data format explained in the later section of this instruction manual The indicating display remains until next key in is performed Precautions 1 Previous program is lost at the beginning of program forwarding Save program data backup before input operation P7 2 KITAGAWA MAC mini iH Series Manual Data Communication 7 2 2 Interruption during This is to stop program input in process program input gt Program input is interrupted and the display goes back to original EDIT screen Example EDIT screen for 5 The program forwarded is stored before the interruption X Previous program is cleared at the beginning of program forwarding 7 2 3 Program output This is to output a program in a selected channel to an external equipment External equipment gt Prepare the external equipment ready to standby for download receive transmitted data gt Push to select EDIT 05 gt Call out a desired channel to transmit the 0 program to Only a channel number is displayed on the upper left of a screen DEL gt The screen to display the program output mode Li is displayed Example 5 program output mode gt With the key in program output in the channel is executed and the number of block be
57. G99 or G21L99 is executed G99FINI is outputted PTION FIN FIN1 SEA 27 G98 this signal is outputted together with BLK FIN In G99 BLK FIN is not outputted During PRM25 One shot output type when the table passes through WZERO position or stops at its place 360FIN1 is outputted for the time set to PRM036 360 FIN 360FINI During PRM025 1 Continuous output type when the circular table shifts in the area set to PRMO26 this signal is outputted The signal is continuously outputted while the circular table is in the area ZERO RETURN When MZRN is finished this signal is FINISH ZRNFINI outputted ALARM OUTPUT When alarm occurs the signal that A contact A CONTACT ALMOUTA is closed is outputted ALARM OUTPUT When alarm occurs the signal that B contact B CONTACT ADNMOUTB is opened is outputted CHANNEL NO Channel number while selecting currently is OUTPUT outputted by binary CHOUT6 Content is the same as above G99FINI However this code is outputted for B axis Content is the same as above 360FIN1 However this code is outputted for B axis ZERO RETURN Content is the same as above ZRNFIN1 FIN2 However this code is outputted for B axis OUTPUT COMMON 2 OUTCOM2 Common line of No 16 18 The EMG STOP SW mode on the panel is EMG STOP outputted to machine side NC side at OUTPUT B contact state EMGSTOPOUTPUT RP COMMON EMOUTCOM Th
58. Malfunction of the speed command Reset the alarm and start operation input read in unit B20 1 Servo pack substrate is broken Replace the servo pack Malfunction of the torque command Reset the alarm and start operation input read in unit B31 L 1 Malfunction of U phase current il Replace the servo pack detection circuit i B32 L Malfunction of V phase current i detection circuit i I B33 L System alarm 0 n error in the internal program processing System alarm 1 Internal program operation error System alarm 2 urrent control processing internal program error System alarm 3 i An error in the encoder interface processing unit System alarm 4 The order among U V and W phases in motor wiring is wrong 2 Servo pack is broken A Replace the servo pack 3 Encoder is broken A Replace the motor KITAGAWA 11 25 Alarms Servo pack is broken Encoder is broken Encoder communication error Encoder communication position data acceleration error Encoder communication timer error Encoder echo back error Encoder connection error Contact error Noise generates because of different encoder cable specification Noise generates because encoder cable is long Encoder cable is bundled with large sized current cable or runs close to it FG fluctuates with the influences from the welder with the motor Excessive vibration impact on the encoder Servo pack is broken
59. P12C 3TH SLG INTE DATA RANGE 150 51200 Description Corresponds to the parameter Pn12C of servo pack SGDS made by YASKAWA ELECTRIC CORP KITAGAWA P1 51 Parameter PRM534 Description MAC mini iH Series Parameter Expansion Manual NAME J DATA UNIT 0 1msec CORP NAME J UNITO 0 34 Position Loop Gain P12D 3TH POS L GAIN 0 DATA RANGE 100 20000 Corresponds to the parameter 12 of servo pack 5605 made by YASKAWA ELECTRIC 4 Speed Loop Gain P12E 4TH S LOOP GAIN 0 1 sec DATA 100 20000 Description Corresponds to the parameter Pn12E of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM536 MESSAGE UNITO 0 1Hz 4 Loop Integration Time Constant P12F 4TH SLG INTE O 150 51200 Description Corresponds to the parameter Pn12F of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM537 NAME J DATA 0 1msec 4 Position Loop Gain P130 4TH POS L GAIN DATA RANGE 100 20000 Description Corresponds to the parameter Pn130 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM538 NAME J MESSAGE DATA UNIT Gain Change Time 1 P131 GAIN CHANGE T1 DATA 00 65535 Description Corresponds t
60. PRM243 NAME Servo Parameter Check Function in Power ON MESSAGET SERVO PRM CHECK FUNC O 1 2 Description Selects the specifications of servo parameter to be checked when power for the controller is turned ON 00 O Communication YES Parameter check YES Checks that the servo parameter content stored in previous power OFF is correct in power ON When there is incorrect content by the servo parameter check the parameter No is communicated on the start screen in power ON and it is automatically corrected into the stored servo parameter 1 Communication Parameter check YES Checks that the servo parameter content stored in previous power OFF is correct in power ON Even if there is incorrect content by the servo parameter check the parameter No is not communicated and it is automatically corrected into the stored servo parameter 2 Parameter check NO The servo parameter in power ON is not checked Even if the parameter does not correspond to the stored servo parameter it is not corrected Precautions 1 make this parameter valid it is necessary to turn OFF power once 2 This parameter functions from power OFF to next power ON Therefore the servo parameter can be changed during power ON KITAGAWA P1 41 Parameter MAC mini iH Series Parameter Expansion Manual PRM250 NAME Imposition Width IMPOSITION WIDTH
61. PRM510 and position loop gain PRM512 Raise or reduce command pulse the frequency of position Review the electronic gear ratio Optimize the position deviation over level PRM623 Review the load 1 Position deviations are accumulated excessively when servo is OFF D02 Servo ON POS DEV over 1l When servo is turned ON with position deviations increased command pulse is inputted during operation at the limited speed exceeding the position deviation over alarm level PRM623 F10 Power line open phase Keep the motor stop when servo is OFF Optimize the limited velocity level PRM628 when servo is ON In either R S or T phase remains at low voltage for 1 second when the main power source is ON a pia pia hia n Hia pia i an ani ami ami ai 1 Servo pack is broken 2 Wiring for three phase power source is wrong 3 Imbalance in the three phase power source F20 Motor cable disconnection Replace the servo pack Correct the power source wiring Repair the imbalance in the power source Replacement among phases Motor cable is disconnected 1 Motor cable is disconnected Main CPU communication error Communication cable connection error Main board is broken Servo pack is broken N 400 Mac
62. Standard setting START SIG ST RDUM TABLE ROTATION CLAMP CHECK BK C UNCLAMP CHECK BK UC BLKFIN SIG BLKFIN 4 UNCLAMP CHECK PRM022 0 PRM038 0 PRM032 0 START SIG ST TABLE ROTATION CLAMP CHECK BK C UNCLAMP CHECK BK UC BLKFIN SIG BLKFIN e li 1 8 038 0 8 1 Shortened to this time shorter than CLAMP CHK time POS DEVIATION CHECK TYPE PRM022 1 PRM032 1 START SIG ST POS DEVIATION CLAMP CHECK BK C UNCLAMP CHECK BK UC BLKFIN SIG BLKFING C8 18 7 2 i p PRMO10 uU CAI IA T HK Shortened to this time shorter than CLAMP CHECK time Standard time MAC mini iH Series Connection Manual I O Signals 8 4 EXE I O SPEC LIST D p or Tr 2 19 I DAV 10A 771 EXT EM or Tr DO4V i loyer oa ton 5 10581 wi Tee 7 owes ______ 42 2 9 1857 1 10 jzu 1 JANGET 0 02 12 MNASET myo T 1 amw oloy 14 15 __ Mn IGA 16 oy COV 17
63. There is a possibility that serious accident will be caused by the situation even items described for CAUTION therefore be sure to observe contents carefully B Reference Each manual can t be mentioned about all terms of use though it was intended to be mentioned for the details In thing not mentioned consider that it is IMPOSSIBLE Please understand that the manual may be changed without prior notice because of machine modification specification change etc KITAGAWA Safety Safety 1 To Prevent Electric Shock MAC mini iH Series User s Manual Do not open the cover because any electric shock will be caused High voltage terminals and live parts are exposed in the controller and live parts are remained even if the main power is turned OFF Check the voltage with the tester etc after the power is turned OFF before performing wiring work and inspection because the electric shock will be caused Perform the grounding work of Class D Class No 3 Only qualified persons shall perform the wiring work and inspection Never touch the equipment with wet hands because the electric shock will be caused Do not damage pull cables forcedly ride heavy thing on cables and also do not pinch the cables because the electric shock will be caused Because electric shock burning and unexpected motion of machine will be c
64. Use the self diagnostic function Method Push to display self diagnostic screen and push six times to check EA 0 Output signal for each axis BRAKE ON The above BRAKE ON shows the following information 0 Non excitation State of clamp 1 Excitation State of unclamp Check Method D Use the self diagnostic function Method Push B to display self diagnostic screen and push B four times to check EA 1 Input signal for each axis UNCLAMP CLAMP In the case of the checking method 4 items shown below are normal 0 Not detecting Clamp checked 1 Detecting Unclamp checked Pattern If Error 016 occurs when the power is ON and brake is not used PRM032 1 take measures of troubleshooting in the pattern 2 after the section of Do you hear the exhaust sound when brake is OFF as for air KITAGAWA 11 31 Alarms MAC mini iH Series Maintenance Manual 11 32 KITAGAWA MAC mini iH Series Maintenance Manual RAM Clear 2 RAM Clear When RAM clear is performed because inputted data and set work zero position are erased and the reconstitution of data becomes impossible take extreme care of operation It is recommended to save the program data parameter data and work zero position with the external equipment Though the following RAM clear modes are provided unless otherwise special reasons are provided do not use these modes 1 Program data Para
65. address is displayed on the right side off PARAM CHECK on the screen When nothing is displayed on the right side off PARAM CHECK the servo parameter means the same content in the previous power shutoff 7X The servo parameter sum check function can change the content by the parameter For details refer to the explanation of parameters 1 2 2 System information The version of system program for the controller is displayed and the creation date of software is also displayed on its right side Version Display 01 2 KITAGAWA MAC mini iH Series Operation Manual Start up 1 2 3 EDIT Information The channel number of program selected in the screen start and the coordinate of machining zero position that the channel is common are displayed EDIT Information for 1 Axis EDIT Information for 2 Axis KITAGAWA O1 3 Start up MAC mini iH Series Operation Manual O1 4 KITAGAWA 2 MAC mini iH Series Operation Manual Key Switches amp Display Key Switches amp Display Part Controller s switches and operation keys feature various operations During operation each mode LED and the screen may indicate machine conditions Operation switches 1 Power switch 2 Emergency stop switch 3 ENABLE switch Operation keys 1 Mode operation 2 Axis change operation 3 Manual operation JOG feed Zero position return Machining zero position return Automatic operation Program op
66. gt Concerned parameters channel PRM300 PRM389 WZERO setting position every KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM100 Software Limit Specification MESSAGE S W LIMIT SPEC O 00102 Description Selects the specification of software to limit a machine operation range by the software 000 Invalid 1 Check during operation When the position coordinate during operation reaches a software limit MIN PRM101 and software limit MAX PRM103 on the machine coordinate system an alarm occurs 2 Check before operation The shifting destination coordinate is checked before operation in the program operation When the coordinate reaches a software limit MIN PRM101 and software limit MAX PRM103 on the machine coordinate system an alarm occurs During manual feed this mode is the same as check during operation PRM100 1 Z amp Concerned parameters PRMIOI PRM103 NAME Software Limit MIN MESSAGE S W LIMIT OF MIN DATA UNITI deg DATA 0 0000 359 999 Description Sets the machine coordinate position to limit a minus side when the software limit is valid PRM100 1 or 2 8 Concerned parameters PRM100 PRM103 NAME Software Limit MAX MESSAGEJ S W LIMIT OF MAX DATA UNITI deg DATA 0 0000 359 999 Description Sets the machine coordinate position to
67. occurs Example 0 PRM400 CH00 1000 401 01 1001 After inputting PRM401 After pushing ENT Err 950 RANGE OVER occurs P4 4 KITAGAWA MAC mini iH Series Parameter Expansion Manual 5 External Channel Selection The program channel of controller can be selected by external input mode This external channel selecting methods are as follows gt Binary mode CHOO max CH15 gt Mesignal mode CHOO max CH89 External channels can be changed when STATUS is STOP or RESET mode 5 1 Binary mode Binary is a binary number External Channel Selection Each input signal is allocated to the digit of binary number and the program channel is selected by its combination When selecting the external channel by the binary even if the expansion channel is set only max CH15 can be selected The channels of CH16 or more cannot be selected ae setting When the external channel is selected with the binary mode set parameters as shown below 033 0 External channel is selected by binary mode PRM112 1 External channel is selected 5 1 2 External I O signals signals relative to external channel selection of binary mode are as follows Input signals to show channel Nos gt gt gt gt CHSELO Binary signal CHSEL1 Binary signal CHSEL2 Binary 1 CHSEL3 Binary signal
68. out of the subprogram When the program is called the alarm Err203 STACK OVER FLOW occurs X When J 1 Return command is executed without subroutine call the alarm 202 STACK UNDER FLOW occurs X When J 1 Return command is not executed on a final block executed after calling the subroutine the alarm 204 NOT RETURN ALARM occurs KITAGAWA 04 47 Program MAC mini iH Series Operation Manual 04 48 KITAGAWA MAC mini iH Series Operation Manual 5 Program Operation Program Operation 5 1 Channel call To call the program to be selected select the channel 5 1 1 Channel call The following describes the steps changing from channel No 0 to 7 gt Since each is changed in order by pushing MODE push this button until EDIT is selected LED lighting several times 05 The channel select screen is displayed in G CH input Channel Select Screen After inputting ENT the program initial screen on the channel destination is displayed Initial Screen in EDIT Selection KITAGAWA O5 1 Program Operation MAC mini iH Series Operation Manual 5 2 Block number call Calls the block to be selected 5 2 1 Former block call 5 2 2 Next block call 5 2 3 Block number call 05 2 Calls the block just before current block DJ gt Calls the next block of current block
69. 18 Compensates for z 255 270 of machine coordinate system PITCH ERR COM 19 Compensates for 2270 285 of machine coordinate system PITCH ERR COM 20 Compensates for 2285 300 of machine coordinate system PITCH ERR COM 21 Compensates for z 300 315 of machine coordinate system PITCH ERR COM 22 Compensates for 2315 330 of machine coordinate system PITCH ERR COM 23 Compensates for 2330 345 of machine coordinate system PITCH ERR COM 24 Compensates for 2345 360 0 0 of machine coordinate system The pitch error compensation becomes effective after MZRN MZRN is not compensated Since a minimum set unit is 0 001deg the pitch error compensation less than this value is impossible The pitch error is compensated for only the target coordinate during program operation and it does not compensate in the middle way of trace When stopping at ALARM and STOP the compensation is not performed In set angle area 15 the set pitch error is compensated even if stopped at any positions KITAGAWA Z amp For details see Pitch Error Compensation P1 39 Parameter PRM240 mini iH Series Parameter Expansion Manual NAME J MESSAGE DATA RS232C
70. 359 999 Description Determines the ZRN rev direction by regarding an optional angle as boundary In case of PRMOIS Current stop position direction is CCW In case of PRM018 Current stop position ZRN direction is CW However in this rev direction CW rotation is regarded as plus direction 0 See the MZRN and WZRN rev directions of PRMO17 Precautions When 17 2 is not set even if the angle is set it is invalid 2 optional angle is reflected on the machine coordinate system in MZRN and the work coordinate system in WZRN 8 Concerned parameter 017 KITAGAWA P1 19 Parameter PRM020 mini iH Series Parameter Expansion Manual NAME BLKFIN Output Flag in 008 G09 MESSAGET BLKFIN FLAG G08 RANGE 001 Description Sets that BLKFIN is outputted at any timing in G80 G09 000 Outputs BLKFIN when G08 BLK EXE is started BLKFIN does not output when G09 BLK EXE is finished 1 Outputs FLKFIN when 009 BLK EXE is finished BLKFIN does not output when G08 BLK EXE is started START SIG ROTATION CLAMP OUTPUT EXC UCL BLKFIN SIG PRM035 0 020 0 cei iu BLKFIN SIG PRM035 4771 0 020 1 FLKFIN OUTPUT time in PRM020 1 becomes PRM035 setting time when the start signal is turned OFF within 5 time When the start signal is not turned OFF even if 035 time elapses the
71. CLAMP OUTPUT EXC UCL CLAMP CHECK SIG 0 BK cg BLKFIN SIG Position deviation monitoring Clamp check signal monitoring Valid only in PRM032 0 PRM022 0 PRM038 0 ROTATION PRM009 CLAMP OUTPUT EXC UCL CLAMP CHECK SIG uU UNCLAMP CHECK SIG O BK UC In PRM022 1 since BLKFIN signal is outputted by a position deviation amount the BLKFIN signal can be outputted sooner than the type of PRM022 0 BLKFIN SIG time without clamping after BLKFIN SIG OUTPUT See left figure However there is any PRM022 0 Clamp Check Signal Monitoring setting the check signal differs by the value set to PRM038 When PRM038 0 the table clamp is monitored by the clamp check signal and PRM038 1 monitored by the unclamp check signal In case of PRM032 1 Clamp unused POS DEV amount is monitored forcedly gt Concerned parameter PRM038 KITAGAWA P1 21 Parameter mini iH Series Parameter Expansion Manual PRM023 NAME Alarm Scan Cycle of Unclamp Signal MESSAGE ALARM SCAN UNCLUMP DATA UNITI sec DATA RANGE 0 000 10 00 Description The unclamp signal is monitored usually to set the detecting times for incorrect signals such as unclamp signal OFF during operation unclamp signal ON during table clamp etc When the unclamp check signal fails over this set time the alarm of ERR016 BRAKE FAILURE occurs REV N
72. CLAMP OUTPUT SY EXE UCL IN ABNRML 7 INNRML UNCLAMP CHECK SIG CHECK CHECK p BK UCO 7 _ INABNRML When time is more than set value 23 Err016 occurs Precautions 1 when PRM032 1 Clamp unused or PRM038 1 this mode becomes invalid 2 In case of PRM023 0 the table is monitored by the unclamp check signal for only when operation START STOP Z amp Concerned parameters PRM032 PRMO038 PRM024 NAME Alarm Scan Cycle of Clamp Signal MESSAGE ALARM SCAN CLAMP DATA UNITO sec DATA 0 000 10 00 Description The clamp signal is monitored usually to set the detecting times for incorrect signals such as clamp signal ON during operation clamp signal OFF during table clamp etc When the clamp check signal fails over this set time the alarm of 16 BRAKE FAILURE occurs REV N CLAMP OUTPUT EXE UCL IN ABNRML IN ABNRML gt UNCLAMP CHECK SIG CHECK CHECK 0 BK C XC X IN NRML When time is more than set value PRM024 Err016 occurs Precautions when PRM032 1 Clamp unused or PRM038 0 this mode becomes invalid 2 Incase of PRM024 0 the table is monitored by unclamp check signal for only when operation START STOP Concerned parameter 038 1 22 MAC mini iH Series Parameter Expansion Manual Parameter 025 NAME 360FIN Output Spec MESSAGE 360FIN OUT
73. DATA RANGE O 00 2500 Description Corresponds to the parameter 1 4 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM553 NAME J MESSAGE UNITO Hz Auxiliary Integration Gain P1A9 AUX INTE GAIN DATA 00 500 Description Corresponds to the parameter Pn1A9 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME J DATA UNIT Hz Position Ratio Gain PIAA POS RATIO GAIN DATA RANGE 0 500 Description Corresponds to the parameter Pn1 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME J MESSAGE DATA UNIT Hz Feed Integration Gain P1AB FEED INTE GAIN 00 500 Description Corresponds to the parameter 1 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME J UNITO f Hz Feed Ratio Gain PLAC FEED RATIO GAIN DATA OL 2000 Description Corresponds to parameter 1 AC of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Position Command ACC DECL Bias MESSAGET P209 POS REF BIAS DATA UNITIJ 1 command unit sec DATARANGE 00 65535 Description Corresponds to the parameter Pn209 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 54 KITAGAWA PRM567 MAC mini iH Series Parameter Expansion Manual NAME MESSAGE Par
74. Dog type ORG MODE Selection The following explains the steps to set the MZERO position with the marker of motor encoder at DECEL Dog 2 4 1 Dog type ORG MODE gt Push MODE to select MANUAL Selection gt Perform MZRN When the DECEL dog is detected the table becomes deceleration speed and the table stops ENABLE switch immediately with the marker after DECEL Dog non detecting and ORG POS COMPLETE parameter is set to 1 thus establishing MZERO position X When setting ORG MODE SELECT directly set the ORG POS COMPLETE parameter to 0 X When the ORG POS COMPLETE parameter is automatically set to 1 STATUS READY LED lights X When MZERO is established by MZRN Err 091 POWER OFF ALARM and POWER OFF are required and displayed P2 4 KITAGAWA MAC mini iH Series Parameter Expansion Manual Pitch Error Compensation 3 Pitch Error Compensation 31 Outline Setting pitch error data can compensate the pitch error at 0 001 unit for a symmetric axis The PITCH ERROR can be set as a compensation reference position of MZERO position every given interval 15 3 2 Parameter setting The PITCH ERROR mode divides one revolution of circular table into 24 and the parameter is allocated in order at section every15 Thus the compensation value is set for the parameter of section required for pitch error 3 2 1 Parameters The parameter
75. Expansion Manual NAME J DATA UNITIJ Command unit Alarm Level of Excessive POS DEV in Servo ON P526 SVON P D ALARM DATA 107341823 22 1 Issues an alarm when the POS DEV pulse exceeds this set value in servo ON Corresponds to the parameter P526 of servo pack SGDS made by YASKAWA ELECTRIC CORP Description Warning Level of Excessive POS DEV in Servo ON PRM627 NAME J DATAUNITO 528 SVON P D WARNING DATA RANGE 100 100 Issues a warning mode when the POS DEV pulse exceeds this set value in servo Corresponds to the parameter P528 of servo pack SGDS made by YASKAWA ELECTRIC CORP Description PRM628 NAME J Feed Limit Level in Servo P529 SVON FEED LEVEL DATARANGE 00 10000 O DATAUNIT Description Limits speed at this set mode when the servo is ON with position deviation pulses saved Corresponds to the parameter P529 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM630 NAME Gain Limit MESSAGE P540 GAIN LIMIT DATA UNITO 0 1Hz DATA RANGE 100 20000 Description Corresponds to the parameter P540 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Analog Monitor 1 Offset Voltage MESSAGE P550 ANALOG MONITORI UNITO 0 0 1V RANGED J 10000 10000 Description Offsets the analog
76. G22 is commanded the table rotates continuously until SE CON one next START is inputted 023 MZRN Positions the table in MZRN position G24 WZRN Positions the table in zero position of work coordinate system G25 LOOP JUMP Loops the program until reaching WZRN When reaching WZRN the program jumps out of the loop and it executes next block G27 REPEATING Repeats the program from specified block to block to specified number of times G90 ABSOLUTE Positions the table at the absolute coordinate of work coordinate system G91 INCREMENTAL Positions the table at the relative coordinate G92 WCRD SYS SET Sets WZRN position optionally with the program BLKFIN G97 NON OUTPUT Not output BLKFIN BLKFIN G99FIN G98 OUTPUT Outputs both BLKFIN and G99FIN G99 G99FIN OUTPUT Outputs only G99FIN without outputting BLKFIN KITAGAWA 04 7 Program MAC mini iH Series Operation Manual 4 5 1 Non G code When G code is unnecessary on positioning dividing motion subprogram etc this code is set In case of non G code block the program is operated at the modal state before executing block The address of this non G code type is used normally Program Format Boldface and italic type characters can be A F J 7 abbreviated A Rotation angle Setting unit deg Setting range 999 999 In incremental 0 359 999 In absolute Rotation speed Setting unit 0 01min Setting r
77. NAME MESSAGET DATA UNITO 0 01msec Speed F B Filter Time Constant P308 SPEED F B FLT 00 65535 Description The primary delay filter is set to the speed feedback of speed loop At this time the feedback becomes smooth and vibration also becomes small If a large value is set it becomes a delay factor thus resulting in a poor responsibility Corresponds to the parameter Pn308 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM584 NAME 0 MESSAGE DATAUNIT 0 01 1 No 1 Torque Command Filter Time Constant P401 TORQUE REF FLT DATA O 65535 Description This parameter is changed when the machine vibrates because of servo drive damage When parameter number is smaller good responsible control can be made This corresponds to parameter Pn401 of SGDS of YASKAWA ELECTRIC CO PRM585 MESSAGE DATA UNIT 0 9 Clockwise Torque Limitation P402 CW TORQUE LMT DATA 00 800 Description Limits a max value of OUTPUT torque on CW side Corresponds to the parameter Pn402 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 56 KITAGAWA mini iH Series Parameter Expansion Manual Parameter PRM586 NAME Reverse Torque Limit P403 CCW TORQUE LMT UNITI DATA RANGE 00 800 Description Limits the max value of OUTPUT torque on reve
78. Parameter Expansion Manual Parameter N ES No sil 10 valle Set Unit Set Range d Displayed Message A axis B axis 5 ogg Widin 10 0 001deg 32767 IMPOSITION WIDTH 1 in Acceleration Deceleration 251 Constant 1 in Acceleration Deceleratio 150 00 1000 ACC DEC CONSTANT 1 Constant 1 in Acceleration Deceleration 252 1 msec ACC DEC CONSTANT 2 Enabl itch Fla 2p SW 9 0 01 ENABLE SW FLAG MZRN D 255 ead Slow Speed Percent 0 00 100 MZRN 2TH FL RATE ion Ti 256 360 FIN Chattering Prevention Timer 0 0 SEC 0 00 1 0 360FIN CHATTERING 257 MZRN Mode 15 SEC HMODE MZRN Time 258 ime out 100 SEC MZRN TIME OUT 300 WZERO Position Every Channel 0 000 deg 0 000 359 999 WZERO POSITION ition h CH 389 WZERO Position Every Channel CH89 0 000 dag 0 0000 359 999 WZERO POSITION CH89 hannel Block Str r 5 390 Channel Block Structure Spec 0 on 10 2 CH BLOCK CHECKIG SPEC 400 Number of Blocks every Channel CHOO 0 BLOCK 1000 BLOCKS OF 489 Number of Blocks every Channel CH89 0 BLOCK 1000 BLOCKS OF CH89 KITAGAWA Parameter Servo parameter MAC mini iH Series Parameter Expansion Manual
79. Reduce the revolving speed Reduce the speed loop gain 510 Set the ratio of moment of inertia PRM513 within an adequate range during the motor rotation The value of moment of inertia is higher than real value Or it changes with great fluctuation 710 Overload Momentary maximum load High load is rotated instantaneously 720 Load is rotated for a certain period with a torque Over load Continuous maximum load exceeding the rating Servo pack is broken Replace the servo pack Motor wiring is incorrect Correct the motor wiring Encoder wiring is incorrect Correct the encoder wiring Effective torque exceeds the rated torque Review the conditions for loading and operation Startup torque exceeds either the rated torque or the maximum torque by a large margin Rotating energy when dynamic brake DB is shut 730 06 down exceeds the capacity of DB resistance 1 Servo pack substrate is broken 1 2 Rotating energy when dynamic 12 1 Reduce the working frequency for motor brake DB is shut down exceeds the 122 Reduce the load moment of inertia capacity of DB resistance i 2 3 Reduce the occurrence of DB shutdown 740 Switch the main circuit power source ON OFF at the frequency that exceeds 10times 2min Replace the servo pack Inrush current limit resistance overload Servo pack substrate is broken Inrush current resistance exceeds the limit of permissible frequ
80. and cable are short circuited Servo pack substrate is broken The order among U V and W phases in the motor wiring is wrong Encoder wiring is wrong Noise occurs in the encoder and it is operated in mistake Over input of commands for location and speed Dividing pulse output speed Dividing pulse output frequency exceeds 1 6MHz MAC mini iH Series Maintenance Manual Replace the servo pack Review the loading and operation conditions Set an adequate voltage Replace the servo pack Replace the servo pack Check and correct the wiring Check 501 and set it to 0 Check PRM633 and set it to 0 Set AC power source voltage within the normal range Review the loading and operation conditions Adjust AC power source voltage within the normal range Replace the servo pack Reset the alarm and start an operation Replace the motor Repair the cable Feedback speed that exceeds the maximum frequency 1 1 is detected Replace the servo pack Correct the motor wiring Correct the encoder wiring Countermeasures against noise in the encoder wiring Reduce the command value Check the PG dividing ratio PRM566 Reduce the motor revolving speed 11 22 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Description of alarm i Details Par soe s Abnormal vibration is detected during the motor rotation Abnormal vibration is detected
81. axes both axes return to the origin at once P1 26 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter 2 MZRN External Start available Type 2 The first External Start input signal just after power turns on implements MZRN And then after Machine return to the origin it automatically switches to AUTO mode Additionally in this type of MZRN MANUAL mode still outputs the signals of both BLKFIN and ZRNFIN In case of 4 and 5 axes the 4 axis returns to the origin first and then the 5 axis returns to the origin afterward 3 MZRN External Start available Type 3 The first External Start input signal just after power turns on implements MZRN And then after Machine return to the origin it automatically switches to AUTO mode Additionally in this type of MZRN MANUAL mode still outputs the signals of both BLKFIN and ZRNFIN In case of 4 and 5 axes the 5 axis returns to the origin first and then the 4 axis returns to the origin afterward Precautions 1 When other measures such as by Panel and External origin return completes MZRN this function becomes invalid 8 Concerned parameter 029 MESSAGE CLAMP SPEC DATA RANGED O 001 Description Selects whether the clamp mechanism of table is used or not O Clamp mechanism used 1 Clamp mechanism unused When the clamp mechanism is unused the table becomes an unclamped state usually NAME External Channel S
82. block during operation and it becomes a next execution block during stop Command machine coordinate display MP R The angle commanded by the program is displayed on the coordinate system on the basis of WZRN position 0 000 7 3 1 Command machine Channel No Command angle coordinate screen Block No Command machine coordinate display X n case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution block during stop KITAGAWA 07 3 Diagnostics MAC mini iH Series Operation Manual 74 Remained shift display RD R Remained shift is displayed for the command position 7 4 1 Remained shift Channel No Remained shift Screen Block No Remained shift display X In case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution block during stop 07 4 MAC mini iH Series Operation Manual Diagnostics 7 5 External connection INPUT condition display AGI The INPUT signal condition of external connection CB3i cable is displayed with 1 0 OFF 7 5 1 External connection INPUT signal condition INPUT screen I 1 ON 0 External select chan
83. block structure 1 O When Channel Block are optionally set with the expansion channel function the program is checked 2 O When Channel Block are optionally set with the expansion channel function the program is not checked 8 Concerned parameters 4000 489 gt For details see Expansion Channel PRM400 NAME Number of Blocks every Channel PRM489 MESSAGE BLOCKS OF BLOCKS OF CH89 DATA UNITI O BLOCK DATA O 00 1000 Description When channels blocks are changed with the expansion channel function the number of blocks is set every channel Precautions 1 In PRM390 1 2 this parameter becomes valid 2 channel that the number of blocks is set to 0 and the channel after its channel cannot be selected gt Concerned parameter PRM390 gt For details see Expansion Channel KITAGAWA P1 45 Parameter MAC mini iH Series Parameter Expansion Manual Parameters relative to servo control Though the parameters relative to servo for the controller are described below do not change the parameters PRM506 NAME Function Select Switch 6 MESSAGEJ P006 APPLICATION SW6 DATAUNIT hex DATA RANGE 0000 409 Description Selects the analog monitor content of servo motor Corresponds to the parameter Pn006 of servo pack SGDS made by YASKAWA ELECTRIC CORP Pn006 0 Analog monitor 1 signal selection Pn006
84. code rotates the table at the rapid traverse set to PRM003 as WZRN feed When WZRN is finished 360FIN and BLKFIN signals are outputted Though WZRN direction is set to PRM016 when SHORT CUT ZRN of PRMO17 is set PRM017 takes precedence When G24 is commanded at WZRN position WZRN is performed again and BLKFIN and 360FIN are outputted However when UNIDIRECTIONAL is valid the unidirectional motion is performed Program Boldface and italic type characters can be G24 J 7 abbreviated G24 Work zero return WZRN Program jump Setting range 1 999 J 1 Subprogram return command destination Description Address J is the same as Non G code Type Standard Concerned parameters PRMOOS3 The WZRN feed is rapid traverse PRMO17 Selects ZRN SHORT CUT DIR 0 INVALID 1 VALID 2 ZRNSHORT CUT DIR VALID of OPT POS spec type 18 Sets the angle position M C coordinate system that is the boundary of ZRN SHORT CUT DIR of OPT POS spec type PRMO25 Selects the OUTPUT FORM of WZRN position conf 360FIN O One shot OUTPUT 1 Area OUTPUT PRMO26 Sets the output range of area output type of WZRN position conf 360FIN O4 28 KITAGAWA MAC mini iH Series Operation Manual Program Timing chart In case of PRM025 0 Standard One shot Start Rotation xo PRM003 Sw I Clamped Unclamp a neq uu
85. deletes 0 000 deg 32 7660 32 766 PITCH ERROR 12 220 Pitch Error Com 130 180 9 195 0 000 deg 32 7660 32 766 PITCH ERROR 13 221 Pitch Error Com 140 gt 195 g 210 0 000 deg 32 7660 32 766 PITCH ERROR 14 999 Pitch Error Com 150 210 225 0 000 deg 32 766 432 766 PITCH ERROR 15 Pitch Error Com 16 z 225 240 32 7660 432 766 PITCH ERROR 16 Pitch Error Com 17 z 240 255 32 766 432 766 PITCH ERROR 17 Pitch Error Com 18 gt 255 270 PITCH ERROR 18 32 766 432 766 Pitch Error Com 190 z 270 285 PITCH ERROR 19 32 766 432 766 Pitch Error Com 20 z 285 300 PITCH ERROR 20 32 766 32 766 Pitch Error Com 21 300 315 PITCH ERROR 21 32 766 432 766 Pitch Error Com 22 z315 330 PITCH ERROR 22 32 766 432 766 Pitch Error Com 23 z 330 345 PITCH ERROR 23 32 7660 432 766 Pitch Error Com 24 z 345 360 PITCH ERROR 24 32 7660 432 766 RS232C Communication Speed RS232C BAUD RATE 00 10 20 3 RS232C Data Length RS232C DATA HEAD 1 RS232C Parity Bit RS232C PARITY BIT or 10 2 RS232C Stop Bit RS232C STOP BIT 1 P1 6 Servo Parameter Check Function in Power ON SERVO PRM CHECK FUNC KITAGAWA 0102 MAC mini iH Series
86. droop check set time larger than acceleration time Make the droop check set amount larger 11 14 KITAGAWA MAC mini iH Series Maintenance Manual Processed angular value of divide command becomes 0 001 or less G27 data 0 data error Any of the addresses is set to zero or is not set at all when G27 is executed G27 P gt E error The value of the address P is larger than the address E when G27 is executed F data error Rev speed is not commanded to the address F when the program is executed Software limit Software limit Manual operation exceeds the software limit PRM103 for normal motion when PRM100 1 or 2 Automatic operation exceeds the software limit PRM103 for normal motion when PRM100 2 Manual operation exceeds the software limit PRMIOI for reverse motion when PRM100 1 or 2 Automatic operation exceeds the software limit PRM103 for reverse motion when PRM100 2 Main board s fails Alarms The values of address P E L are inadequate when G27is executed Check and correct the program The relation between the addresses P and E at G27 is inadequate Check and correct the program Rev speed is not set during the program Check and correct the program Current position or the reached position exceeds the limited area Correct the value of the parameter if PRMIOI and PRM103 are in adequate Perform manual operation with a
87. iH Series Maintenance Manual Alarms Input the wrong value for the program address The address in the sending program through communication is wrong Parameter range over The total number of the blocks exceeds 2000 when PRM390 is not 0 Backup the program if existing program is necessary Program must be deleted when Set PRM390 2 if the program is not necessary PRM390 is set to 1 Block set error The setting of the number of blocks in CHOO is 0 when PRM390 is not 0 When the channels used for Set the blocks to PRM400 PRM489 of continuous 89 are not continuous channels EDIT block copy error The starting block for G27 falls on the final block The finishing block for G27 falls on the final block Final block copy is executed when the destination of jump is the final block KITAGAWA 11 19 Alarms MAC mini iH Series Maintenance Manual Description of alarm Address A is set empty at 007 command Address A is set empty at G25 command Check and correct the program Jump command does not exist at G25 command When operating with two axis only one axis has G22 command lt 1 11 20 KITAGAWA MAC mini iH Series Maintenance Manual Alarms off parameter WRITE The number of times of parameter WRITE exceeds the limit Main circuit detection error EEPROM and peripheral circuit are broken The capacities of serv
88. is allocated on the basis of MZERO position every 15 block clockwise as shown in the following figure The parameter is set by the difference data Actually measured value Theoretical value for the pitch error LL MZRN 4 11 X 08 21 315 0 23 2 1 275 45 0 PITCH ERRO No x 41 NC Gu 5 Lr e a H 87 7 16 9 7 15 10 250 VM 13 12 7350 MER dicc ME 100 180 0 117 12 KITAGAWA P3 1 Pitch Error Compensation 3 2 2 Parameter setting examples P3 2 MAC mini iH Series Parameter Expansion Manual The following explains the parameter setting method according to the following reference examples Measured example Data measured every 5 180 001 270 000 269 985 314 992 914 952 724 993 1900 325 70 70 010 160 001 250 99 165 002 255 000 350 000 350 001 5 80 000 80 012 170 000 170 000 260 000 259 985 355 000 354 999 85 000 85 014 175 000 175 000 265 000 264 986 360 000 360 000 8 8 3 Position slipped data KITAGAWA MAC mini iH Series Parameter Expansion Manual When set on basis of pos every 15 After 40 006 Pitch error No 10 11 12 13 14 15 16 compensatin
89. is indicated regardless of the alarm rank An alarm is displayed in three digits consisting of numeric and the alphabet characters The first digit indicates the alarm rank and the following two digits indicate the kind of the alarm Alarm rank Axis name Alarm number Alarm message KITAGAWA 11 1 Alarms MAC mini iH Series Maintenance Manual 1 2 1 Alarm rank 0 Alarm No Alarm Content Release Page Alarm Message Emergency stop EMERGENCY STOP External emergency stop EXT EMERGENCY SP Abnormal temperature in controller ABNORMAL TEMP Watch dog time out WATCHDOG Power OFF 11 10 Brake failure BRAKE FAILURE Positioning deviation over in braking POS DEV OVER GL Power OFF 11 11 Brake clamp positioning deviation waiting POS DEV WAIT CL ST signal alarm ST SIGNAL ALARM nid Te SP signal alarm SP SIGNAL ALARM ZERO pulse waiting RESET 11 11 ZERO PULS WAIT Overtrave OVER Over travel OVER TRAVEL ont Hehe WATE ER EEPROMGICHERR os across P F error adoress DIE error EEPROM address writing error SPR creak ER 11 2 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Alarm No Alarm Content Release Page Alarm Message NC pulse CPU connection time out RESET 11 13 NC PLS CPU TIMOUT Power OFF alarm OFF 11 1 Power error 5 11 14
90. mode indicates that the data of address P F is inadequate EEPROM address D E writing error After EEPROM writing a check mode indicates that the data of address D E is inadequate EEPROM address A L writing error After EEPROM writing a check mode indicates that the data of address A L is inadequate EEPROM check error An inconsistent or incorrect data is detected during EEPROM check in power ON NC pulse CPU connection time out A failure in data communications An error occurs during EEPROM check in power ON 1 1 Reset or turn ON power again 1 2 Clear RAM if it is not released by power recharge An error occurs during EEPROM check in power ON 1 1 Reset or turn ON power again 1 2 Clear RAM if it is not released by power recharge An error occurs during EEPROM check in power ON 1 1 Reset or turn ON power again 1 2 Clear RAM if it is not released by power recharge An error occurs during EEPROM check in power ON 1 1 Turn ON power again 1 2 Clear RAM if it is not released by power recharge A failure occurs in data communications between the main CPU and the target CPU Power OFF alarm 1 Parameter that requires power distribution is changed 2 Parameter is inputted from outside equipment 12 Turn ON power again KITAGAWA 11 13 Alarms MAC mini iH Series Maintenance Manual Data fetching fails in power ON Reset or turn ON power again External ZRN input WZERO
91. of parameter is selected the external communication screen appears During data communication the message and the parameter No are displayed When the communication is finished the message of END is displayed KITAGAWA gt Communication EDIT keys 2 2 9 Self diagnosis operation keys gt Self diagnosis display key gt Operation key 2 2 10 Operation keys in alarm gt Change keys MAC mini iH Series Operation Manual Key Switches amp Display 23 77 Cancels variously established data and interrupts the data communication Operated for checking various conditions of circular table For details see Clause 7 Self diagnosis The self diagnosis screen becomes effective under AUTO MANUAL and SINGLE modes ba DJ When some alarms occur ALARM LED of STATUS flickers Various self diagnosis screens are changed and displayed in order This is the positive direction change key that the signal displayed in the I O self diagnosis means what to be displayed This is the opposite direction change key that the signal displayed in the I O self diagnosis means what to be displayed Selects the top of signal displayed in I O diagnosis At this time the alarm contents except display can be checked with the following keys 4 BJ When some alarms occur the operation can be changed with the left keys in order KITAGAWA O2 9 Key Switches amp Display MAC mini iH
92. program block is stored 21 E gt Stores the block of program Wher A flickers during program EDIT it shows that the program is changed While flickering A the changed program is not stored into the memory The timing that the program is stored is when the following operations are performed e When block change is operated by N e When block No is called by N ENT e When forcedly written by INPUT e When the mode is changed by MODE Therefore the data is stored into memory every block shift during program EDIT However the power is turned OFF while flickering of A or RESET is pushed the program returns to the state before changing KITAGAWA 05 5 Program Operation MAC mini iH Series Operation Manual 5 4 Program INPUT for 2 axis The following explains the steps to input the program for 2 axis 5 4 1 Program examples 5 4 2 Program input examples 05 6 CH07 000 001 002 270 G90 270 FO Q Exe A 180 F500 Q Exe G91 A 90 JO Exe QWZRN pos WZRN pos Start point Start point axis following content is commanded to A axis The absolute command functions the angle position command from the WZRN position G90 The table shifts to the angle position to be 270 from WZRN position A270 The table rotates at the
93. program does not run C12 2 KITAGAWA MAC mini iH Series Connection Manual Block Diagram 13 Block Diagram 131 mini iH iHF Block diagram C w CABLE 5 5 pt 42 2 13 ANEI 15 gt 6 dod 7 2318 pa 9 V 710 11 23112 22 27 22 gt _ 14 15 17 118 19 1 i 1 1 1 i gt A om un apn in im 20 14180 NOCP1 INED SS 1 1 Sa gt lt gt lt 1 2 M 1 2 Win 5 ta zh ii 115 4216 iin 8 iti Lab 3 4 5 9 2 10 qa 1 V t an X y 5 i V 2 2 4 Pendant 4 F10 PEN 3 2 04 Dia nl 2 2 224 2 a sa 4 5 gt 3 Ja 50 44 1 6L dy gr 5 3 d i gt 1 6 5 ZEE ne cal an 4444 170 i28 8 841 4 9 9L bl M 914 gt 10 10 Li _ 8 10 dl SVI 17 2 __ 1
94. pushing with pushed the table shifts in direction of danger direction The feedrate when the forced shift is performed is fixed at 0 5min Precautions Do not use this forced shift mode usually Because this forced shift is performed in a danger direction when performing the operation unavoidably check that the table does not interfere or collide with any obstruction P6 4 KITAGAWA mini iH Series Parameter Expansion Manual Data Communication 7 Data Communication 7 1 Data communication Controller handles program data parameter data and WZERO position data To enable the management of these data the controller is equipped to communicate with external equipment There are following two types of data communication gt Data communication by controller function The communication function of the controller enables Program and Parameter to communicate with external equipment This function however communicates programs by channel and do not handle WZERO position data communication Datacommunication by private communication software UPDOWNLOAD This private communication software enables to communicate Programs Parameters and WZERO position to external equipment The functions of this software are as follows e Batch communication of programs Communication every channel in programs e Parameter communication WZERO position communication e Batch communication of all
95. rapid traverse FO following content is commanded to A axis The absolute command functions the angle position command from the WZRN position G90 The table rotates 75 from the WZRN position in reverse direction A 75 The table rotates at 5min F500 The following content is commanded to A axis MZRN is commanded G23 The following content is commanded simultaneously to B axis MZRN is commanded G23 After executing the program the program returns to block N000 70 The inputting steps of the above program examples are as follows 1 gt Since each MODE is changed in order by pushing MODE push this button EDIT is selected LED lighting several times 2 05 Calls channel No 7 G Block NOOO is called when the channel No is called KITAGAWA MAC mini iH Series Operation Manual Program Operation 3 74 48 gt 5008 gt BS gt DITO 1 MEE 085 4802 11 NB gt 2008 795 88 518 5688 KITAGAWA The under bar is displayed under the character when G is inputted After inputting ENT Address G flickers and the value can be set Push A B to display A axis to screen When A axis is specified the LED on upper left on A B lights 900 is inputted in Address and it lights At this time character A flickers Whe
96. specification error WZRN is commanded at the state of NOT READY 123 0 WZRN is commanded at the state of NOT READY PRM123 0 Stack underflow Subroutine return is executed at J 1 without subroutine call Stack overflow Nesting exceeds 8 while repeating G27 Jump command is executed during subroutine call Return command is not executed at the final block when subroutine call is executed at the address J WZRN is commanded with EXT ZRN INPUT before determining MZERO position Determine the MZERO position before commanding to WZRN Command is issued by WZERO key or through communication to WZRN before determining MZERO position Check and correct the program Positioning time over Overloading The set time for droop check PRM00 is short The set amount of droop check PRMOIO is small i i i i i i i i i i L i i i i i i i i i i i i i i i LI LI LI LI LI LI LI LI L i i i i i i T i i i 1 i i i i i i i 1 i i i LI LI LI i i i i i i i i i i i i i i i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Deviation amount does not become smaller than set value for 10 within the duration set at PRM009 after distribution is finished while droop check is valid Reduce the load If speed cannot be reduced within the acceleration time servo adjustment is required Make the
97. the controller In this case the cable of CB2i is connected The cable of CB2i is connected to the connector for the brake of main board in the controller However the voltage outputted for the external solenoid is used for only DC24V 0 5 The CB2i cable is attached to only hydraulic clamp type its cable BRAKE1 ee rn EZ 02 i H X CB2icable is packed together with cable clamp parts MAC mini iHP Cable Name Connector Pin No Terminal Indication Other circular tables are not equipped with 5000 1 25 YASS3 5 Remarks 1 DC24V Brake BRAKEI DCHV Brake OUTPUT MAC mini iH2 iHT Cable Name Connector Terminal Indication Remarks 1 DC24V Brake OUTPUT for A axis DC24V Brake OUTPUT for A axis BK 1 BK 2 CB2i2 BRAKE2 EE KITAGAWA DC24V Brake for B axis DC24V Brake OUTPUT for B axis C5 1 CB2i Cable MAC mini iH Series Connection Manual C5 2 KITAGAWA MAC mini iH Series Connection Manual CB3i Cable CB3i Cable External Connection To communicate signals between the controller and the external equipment the CB3icable is used The controller is connected with the cable corresponding to the controller specification This CB3i cable is used for mini i iF CB3iHA Cable MAC mini iH iHF iHP CB3iHB Cable MAC mini iH2 iHT KITAGAWA
98. the panel is l Check the safety around the area and release the pushed i emergency stop Turn the emergency stop button clockwise to release it If alarm occurs when emergency stop button is not pushed the causes are as shown below 2 The contact point of the emergency stop 2 Replace the emergency stop button button is broken i 3 The emergency stop cable in the controller 14 Replace the cable is broken External emergency stop Emergency stop is inputted from outside Emergency stop is inputted from outside Check the safety around the area and release the external emergency stop cable is broken Replace cable The contact point for the external output 3 Refer to the manufacturer of the machine on the other machine is opened operational defect Abnormal temperature in controller The surface temperature of the main board exceeds 60 C The ambient temperature exceeds 45 C Shift the controller to well ventilated location Cooling fan stops because of clogging _ Replace the cooling fan Clean or replace the filter Exposed to direct sunlight Shut the sunlight or shift the controller in the shade Te main board is heated remarkably 1 Lower the feedrate 2 Increase the constant during acceleration Temperature sensor fails Replace the controller of the main board The watch dog circuit triggers to check CPU s normal operation 1 Noise Turn ON the power 2
99. time for PRMO24 during clamping Make the setup value PRM039 1 Internal circuit is considered to be incorrect Contact our the service department lt SP1 See the checking method 2 es Error 016 does not occur under this situation Contact our service department if an alarm occurs 11 28 KITAGAWA Either a failure of clamp check pressure switch SP1 or breakdown of clamp wiring is considered As for replacement see the instruction manual of NC circular table MAC mini iH Series Maintenance Manual Alarms Checking A Use the self diagnostic function Method Push Ba to display self diagnostic screen and push six times to check EA O Output signal for each axis BRAKE ON The above BRAKE ON shows the following information 0 Non excitation Clamped 1 Excitation Unclamped Checking Method B Use the self diagnostic function Method Push to display self diagnostic screen and push gt four times to check EA I Input signal for each axis UNCLAMP CLAMP In the case of the checking method 2 items shown below are normal 0 Not detecting Unclamp checked 1 Detecting Clamp checked X Clamp signal and unclamp signal never become 1 or 0 simultaneously under normal situation However it could happen just for a moment when solenoid is changed KITAGAWA 11 29
100. with the machine this command is not used usually This code is used for operating the circular table independently without operating environment equipment by BLKFIN output Precautions 1 Since the G97 does not output the BLKFIN for ST input from external equipment when the external start signal is turned OFF at FLKFIN OFF the external equipment waits the FIN signal thus stopping as is Program Format Boldface and italic type characters can be G97 AQ 7 Df J 7 abbreviated G97 BLKFIN NON OUTPUT command Rotation angle Setting unit deg Setting range 999 999 In incremental 0 359 999 In absolute Rotation speed Setting unit 0 01 Setting range 003 9999 Equal dividing number Setting range 0 0 999 Program jump Setting range O 1 999 J 1 Subprogram return command destination Description Addresses A D and J are the same as Non G code Type Standard KITAGAWA O4 39 Program MAC mini iH Series Operation Manual Precautions on 2 axis spec When commanding G97 2 axis specifications are limited to the following items gt In the block commanding G97 when another axis is programmed without G code G97 is set to both axes and finish signal is not outputted gt If G97 is commanded to another axis in the block that commands G97 Err962 EDIT ELLIAGAL G occurs Inadequate program example Prg G97 2 T G97 is commanded to each axis an
101. work without danger Do not climb on the equipment or place any objects on it Install the equipment in the specified orientation Ensure a specified space between the controller and the inside of control panel or other equipment Also arrange the equipment so that external cables are easily routed and space the controller at least 0 2m or more from the floor Do not enter the screws metal pieces of electrically conductive objects or flammable foreign matters of oil etc inside of the controller Since the controller is the precision equipment do not drop it or apply any impact shock to the controller Install the pendant at place where it will be arranged 0 6m or more from a working floor level that operator stands Also install the pendant so that the LCD of pendant can be checked Environment Install the main controller in the environment to pollution level 2 Ensure a specified space between the controller and the inside of control AUTION panel or other equipment not enter the screws metal pieces of electrically conductive objects or flammable foreign matters of oil etc inside of the controller Store and use the MAC mini iH under the environment conditions described in the Instruction Manual Ambient temperature ambient humidity storage transportation temperature storage humidity etc KITAGAWA 3 Safety 0 Wiring MAC mini iH Series Us
102. 002 G09 Rotation Clamped Unclamp IIS Clamp In case of PRM035 0 BLKFIN V BLKFIN OFF at START OFF In G15 used Start Program examples NOOO G08 001 G15 Rotation 002 A360 D3 FO 003 G16 Clamped Unclamp 004 0090 1 Clamp BLKFIN turned OFF at START OFF When commanding G15 the table decelerates to the position deviation volume of 010 set value or less after dividing completely at the joint between blocks operations The table checks that the position deviation volume becomes set value or less and it shifts a next operation without stopping KITAGAWA 04 21 Program MAC mini iH Series Operation Manual 457 INTERLOCK STARTO The INTERLOCK START command G21 can be synchronized with the external equipment simply by outputting BLKFIN when operation is started Program G21 17 JI Boldface and italic type characters can be abbreviated G21 Interlock start AD Rotation angle Setting unit deg Setting range 999 999 In incremental O 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 G99FIN Setting value 99 Program jump Setting range O0 1 999 destination J 1 Subprogram return command Description Address G99FIN Setting value of Address L is only 99 The G99FIN is outputted by specifying L99 in G21 command
103. 1 00 Motor rev speed DC1V 1000min 01 Speed command DCIV 1000min 02 Torque command DC1V 100 03 Position deviation DC0 05V 1 command unit 04 Pos amp deviation DC0 05V 1 encoder pulse unit 05 Pos commandspeed DC1V 1000min 06 Reservation 07 Reservation 08 Pos FIN command POS FIN 5V POS UNFIN 09 Speed feed forward DC1V 100 Pn006 2 Analog monitor 1 signal factor selection 000 1 time 01 10 time 02 100 time 03 1 10 time 04 1 100 time Remarks Analog monitor 1 OUTPUT voltage C1 X Signal select PRM506 0 X Signal factor PRM506 2 OFFSET voltage PRM631 gt Concerned parameter PRM631 P1 46 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM507 Function Select Switch MESSAGE 007 APPLICATION SW7 DATA UNITI hex 0 DATARANGE 0000 409 Description Selects the analog monitor content of servo motor Remarks Corresponds to the parameter Pn007 of servo pack SGDS made by YASKAWA ELECTRIC CORP Pn007 0 Analog monitor 1 signal selection 007 1 00 O Motor rev speed DC1V 1000min 01 Speed command DCIV 1000 O2 Torque command DC1V 100 03 Position deviation DC0 05V 1 command unit 04 Pos amp deviation DC0 05V 1 encoder pulse unit 05 0 Pos command speed DC1V 1000min 06 Reservation 07 Reservation 08 Positioning finish command
104. 1 14 2 ORG MODE Selection 2 1 2 1 TOSETORG MODE 2 1 2 2 DIRECTLY SETTING METHOD P2 2 2 2 1 Directly setting of ORG MODE 1 1 2 2 2 3 DETECTOR MARKER DETECTING METHOD NON DOG TYPE P2 3 2 3 1 Detector marker detecting Set 2 3 2 4 ORG MODE SELECTION 2 4 2 4 1 Dog type ORG MODE Selection tenore P2 4 3 Pitch Error Compensation 1 Seli OUTLINE e rire P3 1 3 25 PARAMETERSETTING ispirare P3 1 3 2 1 Parameters ve vasa 65 66 60 66060 P3 1 3 2 2 Parameter setting examples P3 2 4 Expansion Channel P4 1 2 1 5225 COSTIERI 1 4 2 PARAMETER SETTING ssa P4 2 4 2 1 Channel block structure Spec 4 2 4 2 1 1 PRM390 1 I CA IO IO I I IIC O EOC CROCCO Torts P4 2 4 2 1 2 PRM390 2 toad pies ois Meee bisa ARI I ER 4 2 4 2 2
105. 1 Structure The channel of controller changes the number of channels optionally and variably and it can set maximum 90 channels Maximum 1000 blocks of 1 channel can be set Thus the programs that cannot be created can also be stored However the program storable block capacity of the controller is 2000 blocks Thus it is necessary to set the number of blocks so that the program blocks inside of all channels are within a total 2000 block The following shows the channel and block structure when the expansion channel is used Standard setting before shipping CHOO 500 blocks CHOI CHIS 100 blocks CHA X One measured volume shows 100 blocks Expansion example 9 50 blocks CH13 250 blocks CH14 CH23 50 blocks X One measured volume shows 50 blocks Expansion example CHO1 1000 blocks X One measured volume shows 100 blocks As shown above since the block capacity can be freely divided if blocks are within 2000 blocks the block capacity can be used maximum by setting the blocks according to the program capacity KITAGAWA P4 1 Expansion Channel MAC mini iH Series Parameter Expansion Manual 4 2 Parameter setting To use the expansion channel it is necessary to set each parameter The parameter has the channel structure of expansion channel of use or change and program handling content and block setting mode every channe
106. 2 000 45 000 0 B A90 000F0 001 A G25A90 000J0 B G25A90 000J0 N002 A G24J0 B G24 Program examples Program Contents 000 G24 WZRN 001 A90 000 FO Indexes 90 at the rapid traverse of rotation speed 02 A30 003 G25 60 000 J2 Indexes 30 at the rapid traverse of rotation speed The program jumps to when stopping at WZRN and passing it position during this block operation and it jumps to NOO1 when not stopping at WZRN and passing it 004 A45 000 J1 Indexes 45 at the rapid traverse of rotation speed In the above program the loop for G25 command is N002 N03 Coordinate jump point of G25 Exe block value WZRN POS WCoordinate 04 Start pos 0 000 1 90 000 E Start point 120 000 4 180 000 X4 210 000 x M 270 000 IT pos 300 000 0 000 45 000 KITAGAWA 04 31 Program MAC mini iH Series Operation Manual 4 5 12 0000 REPEATING This repeating command G27 repeats the program by specified times at place between specified blocks Repeating start block Repeating end block G27 command can be nested by maximum 8 times G27 commanded between Repeating start block Repeating end block specified by G27 Program Boldface and italic type characters can be G27 J 7 abbreviated G27 Repeating command Repeating pr
107. 2 12 NAE 121 53 BI Lis X mk 4 14 20 1 115 v LIC cu 119 154 516 AA 2 133 16 NN L20 35 18 Di T 01 186 L2 2 2 L AL 14 43 22 2 UCL 44 23124 ba 29 124 5 10 ig OAL Cla 6 24 9 126 7 12 15 Lu 27 518 13 OF 8 2 9 _ 14 lg SERVO 5 2 22 M Cm 2 3 4 sal 1 IN CONTROL PANEL KITAGAWA C13 1 Block Diagram MAC mini iH Series Connection Manual 13 2 MAC miniiH2 iHT Block diagram PE L QN YE N BLUE Pendant C13 2 KITAGAWA Y 3 ITA T FT Ju N RR 2 esse sel j d 5 89888 599395 Bam CB3i CABLE
108. 4 High speed JOG feed Precautions 6 3 5 STEP feed Precautions MAC mini iH Series Operation Manual Operation A high speed JOG feed is actuated by a manual run e NS With two keys still pushed simultaneously the ON table rotates in CW Clockwise ENABLE switch beh gt With two keys still pushed simultaneously the table rotates in CCW Counterclockwise ENABLE switch STATUS RUN LED lights during feed X When releasing H during high speed feed the mode becomes the low speed JOG feed continuously When pushing HI during a low speed feed the mode becomes the high speed JOG feed gt high speed JOF feed the set speed of PRM004 However since the set value of Rapid traverse is determined as upper limit the set value more than its value is restrained by the set value of PRM003 gt machine can be manually operated only when the ENABLE switch is pushed Shift the table every angle determined NI gt The table shifts by the set angle in direction by keying in at one shot ENABLE switch gt The table shifts by the set angle in direction by keying at one shot ENABLE switch STATUS RUN LED lights during feed gt step feed amount is set to PRM006 and an initial set value is 0 001 gt One shot time is 1 second or less When pushing the button for 1 second or more the mode b
109. 5 ALARM B CONTACT OUTPUT 6 ZRN FINISH 1 ZRNFI NI 7 OUTPUT COMMON 1 8 STOP SP usi Ag START ST E 10 CHANNEL SELECTO 7 11 CHANNEL SELECT1 CHANNEL SELECT2 0582 E 13 4 CHANNEL SELECT3 lt 14 15 220 EXT EMG STOP INPUT va 16 INPUT COMMON NCOM 17 INPUT COMMON NOM 18 STOP OUTPUT EMUT A 19 EMGSTOPOUTPUTCOMMON 2 1 PI N NO 24 EXE RESET RST va fill 4 ZRN REQUEST ZRNI E 2 ZRN REQUEST ZN E 3 MANU MODE SEL MNASET 4 EXEAUTOMODESEL lt 5 E Az m CH NO OUTPUT 0 su 6 CH NO OUTPUT 1 mm CH NO OUTPUT 2 CH NO OUTPUT 3 CHOUI3 9 CH NO OUTPUT 4 10 _ OUTPUT 5 CHOUTS es CH NO OUTPUT 6 o D 13 14 OUTPUT COMMON 15 4 KITAGAWA C10 1 Detailed External Connection 10 2 mini 2 type 10 2 FINISH BLOCK FINISH COMMON NOM OPT FINISH 1 360 OUTPUT 1 ALARM A CONTACT OUTPUT ALMOUTA ALARM OUTPUT ALMOUTB ZRN FINISH 1 OUTPUT COMMON STOP START CHANNEL SELECT 0 CHANNEL SELECT 1 CHANNEL SELECT 2 CHANNEL SELECT 3 CHANNEL SET EX
110. 7 10 1 Channel Motor encoder cal value Machine coordinate encoder data screen Block No Machine coordinate encoder data display X n case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution block during stop KITAGAWA 07 9 Diagnostics MAC mini iH Series Operation Manual 7 11 display This mode displays the difference of the program command and an actual shift position 7 11 1 POS DEV screen Channel No POS DEV Block No POS DEV display X n case of 2 axis spec the content of is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution block during stop X When POS DEV shows it means that feed is insufficient When it means that the feed is passed 7 12 Rotor angle display This mode displays that any rotor angle is detected from the basic pulse of motor encoder 7 12 1 Channel No Rotor angle Rotor angle screen Block No Rotor angle display X In case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution bl
111. AC mini iH Series Connection Manual C6 6 KITAGAWA MAC mini iH Series Connection Manual CB4i Cable 7 CB4i Cable Power Cable CB4i cable for power supply of controller differs by type CB4iHA Cable mini iH iHF iH2 iHT CB4iHB Cable MAC mini iHP 7 1 CB4iHA Cable 5000 700 Terminal Signal Name uu Cable Spec Cable Color Power Indication Power 1 L1 Brown 1p AC200 230V 10 1 58Qx 3C PE Grounding GreewYellow 7 2 CB4iHB Cable Terminal Signal Name 2 Cable Spec Cable Color Indication Power 1 L1 Brown AC200 230V 10 2 55Qx 4C PE Grounding Green Yellow KITAGAWA C7 1 CB4i Cable MAC mini iH Series Connection Manual C7 2 KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 Signals 8 1 Input signal Two INPUT signals are provided for controller gt Input signal from rotary table gt Input signal from external terminal 8 1 1 INPUT Signals for rotary table MAC mini iH iHF iHP No Nam si 1 CLAMP Checks CLAMP of brake 2 UNCLAMP 212 22 7 UNCLAMP of brake OVRUNAI Checks Checks sideofovertravel 00 side of over travel OVRUNBI Checks side of over travel COMMON COM Common line of No 1 4 OVERRUN MAC mini iH2 iHT 2 axis controller CLAMP 1 Checks CLAMP of brake p na BK UCI Checks UNCLAMP of brake OVRUNAI Checks side of over travel OVRUNBI Checks
112. AGAWA P1 15 Parameter MAC mini iH Series Parameter Expansion Manual PRM008 NAME MZRN Feed MZRN FEED O DATA UNIT min DATARANGE 0 000 99 99 Description Sets the MZRN FEED when PRM123 2 is set DEC DOG MZRN MZRN DEC SIG _ DECO PRM008 N Normal MZRN PRMO002 PRM007 2550 Encoder ZERO PULSE Z amp Concerned parameters PRM002 PRM007 PRM009 NAME Position Deviation Check Setting Time MESSAGE POS DEV CHECK TIMER DATA UNIT sec DATA 0 000 1 00 Explained together at the following item of PRMOIO PRM010 NAME f Position Deviation Check Setting Amount MESSAGE POS DEV CHECK AMOUNT DATA deg DATA 0 0000 16 000 Description The POS DEV CHECK is started when the circular table is stopped WITHIN IMPOS AREA in the imposition area The POS DEV CHECK mode is the function to check that there is ca ce 009 no error to the value set to 010 for the commanded CMD POS value by checking the stop coordinate after positioning PRMOOO time elapsing 09 set time is used together with the time to table clamp from table entering time in the imposition NAME Gear Ratio 1 X MESSAGE J GEAR RATIO 1 X DATARANGE O 36 450 999 Description Sets the gear ratio between the ci
113. AGEJ MZRN TIME OUT DATA UNII sec Description Sets the time to make the time out when MZRN is not finished because of any reason in MZRN However the time is fixed it cannot be changed PRM300 NAME WZERO Position Every Channel PRM389 WZERO POSITION WZERO POSITION CH89 deg DATA 0 000 359 999 Description Sets the WZERO position every channel based on MZERO position Maximum 90 channels can be set to PRM300 PRM389 Common WZERO position 135 000 in PRM047 0 and WZERO positions when PRM300 CH00 45 000 PRM315 CH15 315 000 are set PRM047 0 Condi PRM047 1 WAER a every WZERO POS VALID every channel Call CH CHI5 CH00 CH15 4 YY Precautions When Sets WZERO POS every channel of 47 1 is selected WZERO position every channel becomes valid Concerned parameter PRM047 P1 44 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM390 NAME Channel Block Structure Spec MESSAGE CH BLOCK CONFIG SPEC O 00102 Description Selects the spec of channel block structure When the expansion channel function is used the function to check whether the existed program fails or not for the newly set Channel Block structure is selected to USED UNUSED Standard channel block structure CHO0 500 block CH15 100
114. AWA MAC mini iH Series Connection Manual I O Signals 8 1 2 8 RST signal gt Contents RESET mode is inputted by short circuiting RST and INCOM Operational contents is the same RESET key on the panel and it is shown in the following list gt alarm is released and the program is returned to top at EDIT mode gt RESET operation varies by mode and status Mode Status Content RUN PROGRAM STOP RUN STOP STOP PROGRAM RESET RESET PROGRAM REWIND ALARM _ ALARM RESET EDIT PROGRAM REWIND PROGRAM RESET amp REWIND AUTO gt Conditions 1 All RESET modes are to be valid 2 An RESET signal INPUT time is to be continuous 100msec or more 8 1 2 9 ZRN signal The zero return INPUT signal is divided into two kinds MZRN and WZRN by parameters and it can be inputted for finishing to G99 OUTPU ZRNI shows A axis and ZRN2 B axis 8 1 2 10 MZRN gt Contents MZRN of A axis is performed by short circuiting ZRN1 and INCOM MZRN of B axis is performed by short circuiting ZRN2 and INCOM Conditions 1 PRMO029 is PRM029 0 2 Only MANUAL mode is to be valid 3 ZRN signal INPUT time is continuous 100msec or more KITAGAWA C8 7 1 0 Signals 8 1 2 11 WZRN 8 1 2 12 FIN signal for G99 8 1 2 13 AUTOSET MANUALSET signals C8 8 MAC mini iH Series Connection Manual gt Contents WZRN of A axis is performed by short ci
115. BLKFIN is outputted continuously until the start signal is turned OFF Part enclosed by dot line BLKFIN Output Flag 607 MESSAGE BLKFIN FLAG G07 DATA RANGED 001 Description Sets that the BLKFIN OUTPUT mode of exclusive G07 in lead cutting in addition to an usual BLKFIN OUTPUT is outputted at any timing 000 Outputs BLKFIN when 007 BLK EXE is finished 1 Outputs BLKFIN when 007 BLK EXE is started START SIG ROTATION CLAMP OUTPUT EXC UCL BLKFIN SIG 5 1 0 PRMO21 1 BLKFIN SIG 5 0 021 0 The FLKFIN OUTPUT time in PRM021 1 becomes 5 setting time when the start signal is turned OFF within 5 time When the start signal is not turned OFF even if 035 time elapses the BLKFIN is outputted continuously until the start signal is turned OFF Part enclosed by dot line P1 20 KITAGAWA 022 MAC mini iH Series Parameter Expansion Manual NAME Parameter Object Signal of BLKFIN OUTPUT MESSAGE DATA RANGED O 001 BLKFIN TRIGGER Description Sets that the BLKFIN except G07 6080 G09 is outputted by any check Precautions onn PRM022 0 PRM038 1 TNE PRM009 ROTATION CLAMP OUTPUT EXC UCL lt CLAMP CHECK SIG 11 VN UNCLAMP CHECK SIG L BK UCO x BLKFIN SIG PRM022 1 POS DEV AMT N 009
116. Block re 4 2 2 1 Parameter setting examples op P4 4 5 External Channel Selection 5 1 Dake BINARY MODE ees eere sever eri P5 1 5 1 1 Paraineter settilgp P5 1 5 1 2 External T O signals eere ee ee P5 1 5 1 3 list 5 2 5 1 4 TAMING 5 2 9 2 IMSSIGNAL MODE P5 3 5 2 1 Parameter cessccseveseceasstacsestsovensecscsdcesevevecscsseesaescdeases P5 3 5 2 2 External T O signals ccsscssecscedevsessesssoccscsdeecscesevesecedeceessesteecssevsees P5 3 5 2 3 P5 4 6 Over Travel 6 1 6 1 PARALLEL DETECTING METHOD 6 1 6 1 1 Parameter setting Lila P6 1 6 1 2 OT Detection sesiicesicscccdissesvdescessccducsbestens ESEE sst P6 1 KITAGAWA P1 Contents mini iH Series Parameter Expansion Manual 6 13 To release OVER TRAVEL ccccccccccccccccsccsccsccsccsccsccsccsccscccees P6 1 6 14 shifting method 2 P6 2 6 2 SERIAL DETECTING METHOD 4 P6 3 6 2 1 Parameter setting P6 3 6 2 2 OT Detection arianna
117. C6 1 CB3i Cable MAC mini iH Series Connection Manual 6 1 CB3iHA Cable Tesi Fe H NOOP1 1 25 YASS3 5 n igna No in panel Wiring color Signal Name E Spec Name Pin No Black BLOCK FINISH BLKFIN White BLOCK FINISH COMMON BLKFINCOM Red OPT FINISH OUTPUT 1 G99FIN Green 360 OUTPUT 1 360FINI Yellow ALARM A CONTACT OUTPUT ALMOUTA Blown ALARM B CONTACT OUTPUT ALMOUTB Blue ZRN FINISH 1 ZRNFINI Gray OUTPUT COMMON 1 OUTCOMI Orange STOP SP UL2464 0 Bright green START ST AWG20x Pink CHANNEL SELECT 0 CHSELO Violet CHANNELSELECTI Violet CHANNEL SELECT 1 CHSELI Black short bar CHANNEL SELECT 2 CHSEL2 White short bar CHANNEL SELECT 3 CHSEL3 Red short bar CHANNEL SET CHSET Green short bar E MG STOP INPUT EXTEM Yellow short bar INPUT COMMON INCOM Blown short bar INPUT COMMON INCOM Blue short bar EMG STOP OUTPUT EMOUT Gray short bar EMG STOP OUTPUT EMOUTCOM gt d N 2 0 C6 KITAGAWA 1 N MAC mini iH Series Connection Manual Wiring color Orange short bar Signal Name EXE RESET RST Bright green short bar EXE ZRN REQUEST 1 ZRNI Pink short bar EXE ZRN REQUEST 2 ZRN2 Violet short bar EXE MANUAL MODE SELECT MANUALSET Black long bar EXE AUT
118. CEL speed 5 MZRN LOW FEED O DATA UNIT DATA O 0 00 1 00 Description Sets the feedrate for detecting MZRN dog MZRN DEC SIG DECO IN CEL DOG DETCT NRL MZRN 2 PRM255 2 STAGE MZRN PRM002 255 x PRM255 100 PRM002 t ENCDR ZERO PULS SIG OF MOTOR 1 ZRO PLS AT NON DETCT FRM DEC SIG Concerned parameters PRMOOS PRM255 NAME Rapid Traverse Max rotation speed MESSAGE RAPID TRAVERSE DATA UNITO 0 DATA O 0 000 99 99 Description Sets the max rotation speed of circular table In the following case the table rotates at max rotation speed When FO is specified to the program feedrate or max rotation speed is specified When MAX value is specified at OVERRIDE When WZRN is performed When MZRN is performed after POS is established PRM123 1 P1 14 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM004 NAME JOG HI Speed HI JOG FEED DATAUNIT DATA RANGE 0 000 99 99 Description Sets feedrate when the rapid traverse INS HIJOG or DEL HIJOG is manually commanded Precautions 1 Even if the feed is set over PRM003 it is clamped at the upper li
119. CTION OUTPUT CONDITION DISPLAY MACO dll aa 07 7 7 8 TABLE OUTPUT CONDITION DISPLAY 07 8 7 9 WCRNT ENCODER DATA DISPLAY WP E 07 9 7 10 MACHINE COORDINATE ENCODER DATA DISPLAY GiMBEET falla lilla 07 9 7 11 POS DEV DISPLAY P DEV 07 10 7 12 ROTOR ANGLE DISPLAY ROTOR 07 10 7 13 MZRN DATA DISPLAY DA ZP 07 11 7 14 CURRENT DISPLAY 0 1 07 11 KITAGAWA 03 Contents 04 8 8 1 8 2 8 3 8 4 8 5 mini iH Series Operation Manual Program 08 1 UNEQUAL PARTITION lassi 08 1 ciale ii 08 1 LOOP JUMPING FUNCTIONS cscscscccscscscsccccccsccccccscscccscscsecs 08 2 REPEATING FUNCTIONS cccccccscscccscscscsccccccccscscsccccscscscscsess 08 2 sotus 08 2 KITAGAWA MAC mini iH Series Operation Manual Body Pendant Main Body of MAC miniiH Series KITAGAWA ITAGAWA Main Body of MAC mini iH2 Series 00000000 00000 00000000 000 Dn t open the cortraller s cover cthervise case the e ectric shock acci dent o KITAGAWA KITAGAWA O1 Body Pendant MAC mini iH Series Operation Manual Pendant of MAC miniiH Series
120. CW Clockwise 1 CCW Counterclockwise Precautions 1 When 0 0 is set into Address A in program G22 commanded the program command takes precedence and this setting becomes invalid PRM041 NAME O MESSAGE DATAUNII O min Rev Feed in Continuous Start G22 REV FEED G22 DATA 0 00 99 99 Description Sets the feedrate when the feedrate is not set into the program in G22 commanded CONT START Precautions 1 When Address is set in program G22 commanded the program command takes precedence and this setting becomes invalid PRM042 NAME BLK G99 FIN Output Start Delay Flag G21 MESSAGE BLK G99 DELAY G21 001 Description Sets whether BLKFIN or G99FIN outputted when the program operation of G21 is started is delayed or not O 000 Invalid 1 Valid P1 30 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM043 NAME BLK G99 FIN Output Start Delay Timer G21 MESSAGE BLK G99 DELAY TIMER DATAUNIT sec DATA 0 000 1 00 Description Sets the delay time of output set to PRM042 PRM042 0 BLKFIN OUTPUT PRM042 1 PRM043 0 BLKFIN OUTPUT START SIG START SIG REV REV BLKFIN SIG BLKFIN SIG BLKFIN BLKFIN PRMO48 PRM042 0 G99KFIN OUTPUT PRM042 1 PRMO43z0 _G99FIN OUTPUT START SI
121. Channel is changed at CHOUTO this point CHOUT1 CHOUT2 CHOUT3 CHOUT4 CHOUT5 CHOUT6 CHoo cHIO CH20 CH30 CH32 CH22 An external channel select INPUT signal is to be continuous 100msec or more by considering the chattering Q After inputting the external channel selection FIN OUTPUT is to be started at 100msec Since a BLK FIN OUTPUT is turned OFF after checking the channel selection INPUT OFF the time of PRMO35 is not outputted Precautions Channel does not change even if the external channel selection INPUT is ON during BLKFIN and G99FIN OUTPUT The channel does not change even if other channel is inputted during external channel selection input When the interval of 100msec or more is not checked after external channel selection OFF the channel is not changed The timing to change the channel is after 100msec from EXCHSEL INPUT start P5 4 KITAGAWA MAC mini iH Series Parameter Expansion Manual Over Travel 6 Over Travel When an OVER TRAVEL signal 1 7 OVRUNI OVRUN2 detects an OVER TRAVEL state an alarm No 031 or 032 lights and this mode stops the control axis in emergency and immediately The OVER TRAVEL is detected by a serial detecting method gt Parallel detecting method Standard gt Serial detecting method 6 1 Parallel detecting method OVRUNI of over travel signal on side and OVRUN2 on side detect OVER TRAVEL OT individual
122. Communication Speed RS232C BAUD RATE 0 1 2 3 Description Sets the communication speed of comm protocol O 2400 bps 1 0 4800 bps 0200 9600 bps 0 19200bps Precautions 1 make this parameter valid it is necessary to turn OFF the power once PRM242 PRM243 PRM244 Concerned parameters PRM242 NAME J RS232C Data Length MESSAGE RS232C DATA HEAD RANGED 001 Description Sets the data length of communication protocol 000 7bit 1 8 bit Precautions 1 make this parameter valid it is necessary to turn OFF the power once PRM240 PRM243 PRM244 Z amp Concerned parameters NAME J RS232C Parity Bit RS232C PARITY BIT DATA RANGED 001 Description Sets the parity bit of communication protocol 1 D 2 Precautions make this parameter valid it is necessary to turn OFF the power once PRM240 PRM242 PRM244 Even Uneven None Z amp Concerned parameters P1 40 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM244 NAME RS232C Stop MESSAGE RS232C STOP BIT RANGED O 001 Description Sets the stop bit of communication protocol 000 2bit 1 O Ibit Precautions 1 make this parameter valid it is necessary to turn OFF the power once Concerned parameters PRM240 PRM242
123. Corresponds to the parameter Pn107 of servo pack SGDS made by YASKAWA ELECTRIC CORP gt Concerned parameters PRMS518 PRM518 NAME Bias Adding Width P108 BIAS ADD WIDTH DATA UNITI O 0 001deg DATA 00 250 Description The bias adding width is the value that indicates the timing adding the bias at a deviation pulse When the deviation pulse exceeds the set value of bias adding width the bias is added Corresponds to the parameter Pn108 of servo pack SGDS made by YASKAWA ELECTRIC CORP Concerned parameter PRM517 KITAGAWA P1 49 Parameter MAC mini iH Series Parameter Expansion Manual Bias When the pulse of deviation counter exceeds the bias adding width PRM518 this function function adds the bias amount 517 to the output speed command SP CMD of deviation counter and it stops the adding bias value when reaching the bias adding width For this reason the counted pulse of deviation counter is reduced thus shortening a positioning time When the bias amount is largest the motor rotation becomes unstable Since an optimum value varies by load gain and bias adding width adjust the value watching the reply When the bias function is not used set PRM517 to 0 SPEED speed without bias function Motor speed with bias function E BIAS ADD WIDTH BIAS OFF Setting of accm pulse PRM507 Pn107 PRM508 Pn108 NAME Fe
124. DATA UNIT 0 001deg 32767 Description When the slippage of machine position stopped by program operation and a commanded position absolute value of position deviation amount is smaller than the imposition width it is regarded as the case that the machine reaches the commanded position thereby setting the imposition width of positioning completion However the table rotates at the commanded position in place of the positioning completed width CMD POS REV When entering in imposition it is _PRM250 regarded as positioning finish __ p IMPOS WIDTH _ PRM250 2 NAME Constant 1 in Acceleration Deceleration ACC DEC CONSTANT 1 DATA UNITU msec DATA RANGE 1000 Description Sets the T1 time of ACC DEC T2 252 Ti Ti PRM251 lt Concerned parameter PRM252 NAME Constant 2 in Acceleration Deceleration 0 MESSAGE ACC DEC CONSTANT 2 O UNITO O msec RANGED 1 Description Sets the T2 time of ACC DEC Precautions Since the TC2 of constant 2 in ACC DEC is fixed to Imsec it becomes the linear acceleration deceleration actually Concerned parameter PRM251 P1 42 KITAGAWA mini iH Series Manual Parameter PRM253 NAME 0 Enable Switch Flag MESSAGE ENABLE SW FLAG DATARANGE
125. DATA UNITI sec DATA RANGE 0 000 1 00 Description Sets the time from an unclamp motion to motor start Its time is used for adjusting the operation timing of the mounted machine and the table Precautions When the brake is effective the system is operated in order of Brake Unclamp Servo ON Check of Servo ON OK NG It takes the time of about 100msec to finish the check of item Consequently even if PRM037 5 is set it is nonsense PRM038 NAME Clamp Signal Flag MESSAGE CLAMP SIGNAL FLAG RANGED O 001 Description Selects whether the clamp check signal to check the clamp motion is used not Even if the clamp check signal is not used an unclamp check signal is usually checked 0 Unused Used KITAGAWA P1 29 Parameter MAC mini iH Series Parameter Expansion Manual PRM039 NAME Clamp Output Contact Flag MESSAGE BRAKE CONTACT FLAG 001 Description Selects the clamp motion spec by solenoid output 0 Excitation CLAMP 100 Excitation UNCLAMP PRM039 0 Excitation CLAMP PRM039 1 Excitation UNCLAMP REV 7 REV wW CLMP OUTPUT Gai CLMP OUTPUT__ _ NAME Rev Direction in Continuous Start G22 MESSAGE REV DIR G22 001 Description Sets the rev direction when G22 CONT START of program operation is commanded O0 000
126. DIN C2 1 3 Interactive Connection Diagram C3 1 3 L MACHINIHIH IHE TYPES C3 2 3 2 MAC MINLIH2 THT TYPES 25 55 555 55 554 5 59 5669 5 C3 3 3 3 MAC MINI IHP TYPE C3 4 4 Connection Cable C4 1 4 1 CRUHACABLE canes 2 4 2 7 CBIIHE CABLE C4 3 4 3 CABLE 4 5 CB2i Cable External SOL Cable 5 1 6 CB3i Cable External Connection Cable 6 1 6 1 Us VPE e OS RR SEP eens 6 2 6 2 CBJIHB CABLE 6 4 7 CB4i Cable Power Cable C7 1 TA UCBAIHA CABLE ale arancia C7 1 7 2 CARER gt CX er C7 1 KITAGAWA C1 Contents MAC mini iH Series Connection Manual 8 VO Signals 8 1 INPUT SIGNALS 5505 uud Qa VF Oso usenet C8 1 8 1 1 INPUT Signals for rotary table e eee eee eee eee C8 1 8 1 1 1 BK C signal C8 2 8 1 1 2 BK UC Signal ses esee vce eis ee ob bbe ches ce C8 2 8 1 1 3 OVRUN Signal C8 2 8 1 2 INPUT signals for external te
127. EL gt On the screen the state being in the parameter output mode is indicated Parameter output mode When parameter output is started and parameter numbers are counted up to the last number then parameter output end is diplayed on the screen Parameter output ended 7 3 4 Interruption during This is to stop parameter output in process parameter output gt By pushing this key parameter output is interrupted and the display is put back to PRM110 screen The parameters forwarded to the external equipment before the interruption are output KITAGAWA Data Communication MAC mini iH Series Parameter Expansion Manual 7 4 Communication data format This section shows data formats for data transmission using the communicating function of the controller 7 4 1 Program data The program data format is as follows CRLF 1 CRLF N000G90A90F0 CRLF RE RE E N001A 0F500 CRLF NO99G23J0 CRLF 96 D 96 Code to denote the data begin here 2 CRLF Linefeed code Channel data 4 N000G90 Program data 5 96 Code to denote the data end here 7 4 2 Parameter data The parameter data format is as follows D CRLF P000A010B010 CRLF 9 CRLF mmm P580A0B0 CRLF 96 e D 96 Code to denote the data begin here 2 CRLF Linefeed code 3 P000A01
128. Encoder is broken Encoder parameter error Servo pack is broken Encoder is broken User constant for servo pack is wrong The setup of encoder multi turn limit value is wrong Encoder is broken MAC mini iH Series Maintenance Manual Replace the servo pack Replace the motor No communication can be made between the servo pack and the encoder Correct the encoder wiring Use the specified cable The maximum wiring distance is 20m Remove serge applied force from the encoder cable Route the grounding cable from machines to prevent the current branch to FG on PG Reduce the machine vibration or check the motor installation Servo pack is broken Encoder is broken Encoder parameter is incorrect Replace the servo pack Replace the motor Check 561 Re setup the gear ratio of PRMO11 Replace the motor 11 26 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Servo pack substrate is broken Connection among the motors U V and W is wrong Motor gain adjustment error Frequency of position command pulse is too high Position deviation over level PRM623 is not adequate Load condition and motor specification ON A gt e 5 d ae tH lt lt are not adequate D01 Servo OFF POS DEV over ors N Replace the servo pack Correct the motor wiring Raise the set values of velocity loop gain
129. FIN Output Start Delay Flag G21 BLK G99 DELAY G21 0 1 BLK G99 FIN Output Start Delay Timer G21 BLK G99 DELAY TIMER 0 00 1 00 Servo Control Flag SERVO CONTROL FLAG KITAGAWA 0 1 MAC mini iH Series Parameter Expansion Manual Parameter Name 2 Set Unit Set Range Displayed Message A axis B axis Panel ST Key Input Flag in AUTO Mode 04 ST KEY IN AUTO WZERO Position Setting every Channel E Each channel setting PRM300 PRM389 0 1 SETUP WZERO POS Software Limit Specification og 10 2 S W LIMIT SPEC Software Limit MIN 0 0000 359 999 S W LIMIT OF MIN Software Limit MAX 0 0000 359 999 S W LIMIT OF MAX 105 Unidirectional Positioning Spec 0 1 og 102 UNIDIRECTIONAL SPEC idirecti itioning Approach Amoun 06 Unidirectional Positioning ount 0 000 1 000 dg 0 0000 359 999 UNIDIRECTIONAL ANGLE P ission Fl 110 Parameter INPUT Permission Flag 0 10 999 PRM INPUT PERMISSION h Select FI 112 Channel Select 0 op 1 CH SELECT FLAG Axis Type iH iHF 0 TO eva iH2 iHT 1 Uu ID ing T 121 Over Travel Detecting Type 0 011 ADMIN 122 MZERO Position Setting Method 0 on 10 2 ORG MODE SELECT MZERO Position E lishing FI 123 Position Establishing Flag 1 00 1 ORG P
130. Filter Time Constant 40 65535 P307 SPEED REF FLT Speed F B Filter Time Constant 579 P308 SPEED F B ELT 0 0 01msec 65535 Vibration Detecting Switch iin P310 VIBRATION SW Vibration Detecting Sensitivity sa P311 VIBRATION SENS 100 Vibration Detecting Level car P312 VIBRATION LEVEL MT pod Torque Command Input Gain 0 1V PES P400 TORQUE REF GAIN 9 RTD TRQ 194 196 Torque Command Filter Time Constant 584 P401 TORQUE REF FLT 100 0 01msec 65535 Clockwise Torque Limitation 585 402 CW TORQUE LMT 596 fe VH B00 Reverse Torque Limit 5 298 P403 CCW TORQUE LMT 508 6 1598 External Torque Limit on CW Side f e P404 CW EXT T LMT 0809 External Torque Limit on CCW Side P405 CCW EXT T LMT 100 800 Emergency Stop Torque nor P406 EM SP TORQUE one di 00 800 Speed Limit in Torque Control 590 P407 TORQUE CL S LMT 10000 min 0 10000 Torque Function Switch 991 TORQUE FUNC SW wee 1 Stage Notch Filter Frequency 935 P409 1TH NOTCH FLT 008 Ne 21697 1 Stage Notch Filter Q value d P40A 1TH NOTCH FLT Q i v 2010008 274 Stage Notch Filter Frequency di P40C 2TH NOTCH FLT 2500 i e 274 Notch Filter Q value P40D 2TH NOTCH FLT Q m Sp 9 1999 2 Stage Secondary Torque Command 596 Filter Frequency 2000 Hz 500 2000 P40F 2TH TQ FLT 2 Stage Secondary Torque Command 597 Filter Q value 70 0 01 700 1000 P410 2TH TQFLTQ 8 Torque Command Filter
131. G START SIG REV sz GR REV ee G99FIN SIG 1 G99FIN SIG G99FIN G99FIN lt PRM043 PRM044 NAME Servo Control Flag MESSAGE SERVO CONTROL FLAG DATA RANGED 001 Description Sets whether motor power is excited or not during clamp 000 Motor OFF in clamp 1 Motor ON usually regardless of clamp In this motor control sequence differs by set value of 032 PRM032 0 PRM032 1 In Start Motor ON in clamp Motor ON in clamp after that clamp OFF In Stop Clamp ON in motor ON Motor ON as is and also motor ON during stop In Alarm Motor OFF in alarm Motor OFF in alarm Occurring occurring after resetting occurring after resetting alarm motor ON in clamp alarm motor ON in clamp ON as is OFF as is In Motion Motion start after setting PRM037 in clamp OFF Start Precautions Position deviation in clamp is held as POS DEV AMOUNT In motor ON usually when POS DEV AMOUNT is not 0 and the table is clamped the system attempts to return the POS DEV to 0 As a result current flows continuously to the motor thus heating the motor KITAGAWA P1 31 Parameter 46 Description Selects the VALID INVALID of mini iH Series Parameter Expansion Manual NAME J Panel ST Key Input Flag in AUTO Mode MESSAGE RANGED 001 mode PRM047 is va
132. INPUT key with the ORG key still pushed Displays the current override state Increases the override value The increased value of override is set to PRM014 Reduces the override value The reduced value of override is set to PRM014 When the mode is set to AUTO or MANUAL with the override set to 100 the mode LED lights and with the override set to the point except 100 it flickers This key is for operating the program automatically STAR ENABLE switch 9 Executes the program operation Or restarts the program while stopping once Stops the program once while executing Rewinds the program of selected channel to return it to a top block KITAGAWA 2 2 5 Program operation keys gt Address keys gt Numerical keyboard gt Channel key gt Rewind key gt Program EDIT keys MAC mini iH Series Operation Manual Key Switches amp Display These keys are used for editing the program to operate the circular table automatically For detailed program see 4 Program The following procedure is recommended for operating the program under the EDIT mode ZS PII JE NOA Di 68 LG Status display Pushed when various addresses are selected Pushed when numerical values are inputted This key is for selecting the channel Rewinds the program of selected channel to return it to the top block Establishes the sele
133. LE mode is selected when receiving a host command to order an operation EEPROM program area error Block copy is executed at the final block Parameter input error key is pushed regardless of parameter CHANGE or UNCHANGE in PARAM mode when PRM110 is not 1 or 110 not 999 MAC mini iH Series Maintenance Manual 1 Select AUTO or SINGLE mode when executing remote control Program EDIT is wrong Block copy cannot be executed at the final block Use an expansion channel if the number of blocks in the channel is not enough Remote control mode is wrong Set PRM110 at 1 or 999 when changing the parameter Program channel number input error Selected the channel the block number of which is 0 Selected the channel number that cannot be selected The channel the parameter of which is 0 cannot be selected for PRM400 PRM489 Program block number input error Selected a block number that does not exist Program G code input error Input a wrong value for program G code G code in the sending program through 4 communication is wrong 11 18 Selected the block number that cannot be selected Block numbers higher than set value for PRM400 PRM489 cannot be selected The set value for Program G code is wrong Input an adequate value for G code Check the transfer content program and send normal data KITAGAWA MAC mini
134. N BLOCK FINISH BLKFIN Operation steps STINPUT ON Brake OUTPUT UNCLAMPED gt CLAMP CHECK OFF UNCLAMP CHECK ON Rotation is started by checking UNCLAMP Entered in in position by indexing Brake OUTPUT OFF after PRM009 time CLAMPED CLAMP CHECK ON UNCLAMP OUTPUT OFF BLKFIN OUTPUT ON at CLAMP CHECK ON ST signal OFF at BLKFIN OUTPUT ON CHECK BLKFIN OFF at ST INPUT OFF CHECK BLKFIN is remained until ST INPUT is X Though ST signal can be inputted at one shot use the ST signal that is OFF at BLKFIN ON CHECK for preventing errors KITAGAWA C8 15 1 0 Signals 8 3 2 HOLD Time chart It is necessary to return SP to ON state before ST input in restart START SIG ST STOP SIG SP BRAKE OUTPUT BK 1 BK 1 TABLE SHIFT 8 3 3 G08 G09 Time chart PRM020 0 START SIG ST UNCLAMP CHECK BK UC TABLE ROTATION BLKFIN SIG 20 0 PRM020 1 START SIG ST UNCLAMP CHECK BK UC TABLE ROTATION BLKFIN SIG 0 PRM020 1 C8 16 MAC mini iH Series Connection Manual The basic time chart from the program start to operation finish is shown in the following figure Program is not restarted unless checking ST signal start di When using 008 G09 BLKFIN OUTPUT timing can be changed by PRM020 CLAMP CHECK BK UC 5 PRM035 0 PRM035 0 CLAMP CHECK BK UC
135. N OUTPUT of 2 When inputting ZRN for PRM028 time G99FIN OUTPUT is OFF For details of this item see PRM028 Precautions 1 Since this function requires ZRN INPUT only MAC mini iH series functions effectively Z amp Concerned parameters PRMO27 PRM028 PRM030 NAME SP Signal Function Spec MESSAGE SP EXT SP FUNC SPEC 001 Description Selects the function when STOP key of panel or pendant and an external SP signal are received during operation SINGLE O0 000 For SP INPUT the table stops temporarily In STATUS RUN STOP light 1 For SP INPUT STOP Program RESET are performed In STATUS RESET lights NAME External MZRN Function 5 MZRN BY THE EXT ST 0 DATA 00111213 Description Sets whether MZRN is performed or not by the external start signal O MZRN External Start INVALID Just after power ON STATUS NOT READY MZRN can be performed by MZERO key operation on the panel or pendant or an external ZRN mode 1 MZRN External Start available Type 1 The first External Start input signal just after power turns on implements MZRN And then after Machine return to the origin it automatically switches to AUTO mode Additionally in this type of MZRN MANUAL mode still outputs the signals of both BLKFIN and ZRNFIN In case of 4 and 5
136. N2 AC200 230V 10 AC200 230V 100 D 100 50 60Hz 0 6KVA MAC mini iHF 1 0KVA MAC mini iH 1 6 MAC mini 2 0KVA MAC mini iH2 2 5KVA MAC mini iHP MAC mini iH iHF 182 iHT MAC mini iHP 1 cycle or less Class D grounding Grounding resistance value 100Q or less or more 0 45 C 10 C 60 C 850 RH or less Condensation or freezing not to be occurred 0 5G or less 1G or less to pollution level 2 328 7x305x190mm not including convex MAC mini iH iHF 398 7x400x250mm 14kg MAC mini iH iHF 24kg MAC mini iH2 iHT not including convex MAC mini iH2 iHT iHP KITAGAWA OPERATION MANUAL m Readers for this manual Readers for this manual are as follows gt persons to use controller E 2 gt 53 MAC mini iH Series Operation Manual Contents Contents Main Pendant 1 Startup palpiti LL POWER ON OEP scialli O1 1 LLL PowerON sassoni O1 1 L12 Power OFE ollare O1 1 12 SCREEN CONFIGURATION IN START UP 012 1 2 1 Sum check situation of servo parameters 01 2 12 2 System information Ure s ee you es ee sou eva Ve yos S Ue avo O1 2 12 3 2 EUN UN O1 3 2 Key Switches amp Display Part
137. NAME Prediction Control Dignity Ratio MESSAGE P152 DIGNITY RATIO DATA UNITI DATA O 00 300 n EJ Description Performs the prediction control using a future position command Corresponds to the parameter Pn152 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM547 Servo Rigidity MESSAGE P1A0 SERVO RIGIDITY O DATA UNITO 9 DATA RANGE 500 Description Corresponds to the parameter 1 AO of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM548 NAME Servo Rigidity MESSAGE P1A1 SERVO RIGIDITY2 DATA DATA 00 500 Description Corresponds to the parameter Pn1A1 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM549 NAME Speed Feedback Filter Time Constant MESSAGE P1A2 SPEED F B FLT DATA UNITO O 0 01msec DATA 300 3200 Description Corresponds to the parameter Pn1A2 of servo pack SGDS made by YASKAWA ELECTRIC CORP KITAGAWA P1 53 Parameter Description MAC mini iH Series Parameter Expansion Manual NAME J DATA UNIT O 0 01msec CORP NAME J MESSAGE DATA UNITO 0 01msec Speed Feedback Filter Time Constant 2 P1A3 SPEED F B FLT2 DATARANGE 30 3200 Corresponds to the parameter Pn1A3 of servo pack SGDS made by YASKAWA ELECTRIC Torque Command Filter Time Constant 2 P1A4 TQ FILTER2
138. NUM Set Unit Set Range Remarks 30 0 01msec 300 3200 10 0 01msec 2500 hex Hz Hz Hz Hz 65535 564 184320 1073741824 2 AUTO Electric Gear Ratio Denominator 30 565 5210 ELE GEAR DEN 5625 10 1073741824 2 AUTO PG Dividing Ratio 30 566 P212 PG DIVID 1000 pulse rev 160 1073741824 2 AUTO Backlash Compensation Amount COM 567 P214 BACKLASH 2 UNIT 347671 92 67 568 Backlash Compensation Time Constant 0 65535 P215 BACKLASH TC Position Command ACC DEC Time Constant 569 5216 POS REF A D 0 0 1msec 65535 Pos Command Moving Average Time 2 217 P REF MOVE TIME 3 epee o vs ee Stig es co me a a Sat Gost am ma m 575 198 500 min 10000 577 Soft Start Deceleration Time 0 10000 P306 SOFT DEC TIME P1 10 KITAGAWA mini iH Series Parameter Expansion Manual Parameter Name STD No Set Unit Set Range Remarks Displayed Message Set value d 578 Speed Command
139. O MODE SELECT AUTOSET White long bar CHANNEL NO OUTPUT 0 SELOUTO Red long bar CHANNEL NO OUTPUT 1 SELOUTI Green long bar CHANNEL NO OUTPUT 2 SELOUT2 Yellow long bar CHANNEL NO OUTPUT 3 SELOUT3 Blown long bar CHANNEL NO OUTPUT 4 SELOUT4 Blue long bar CHANNEL NO OUTPUT 5 SELOUTS Gray long bar CHANNEL NO OUTPUT 6 SELOUT6 Connector spec Connector Name Orange long bar Parts Name OUTPUT COMMON 1 Type OUTCOMI Maker CB3i Cable NCI Connector DF1B 20DS 2 5RC HIROSE ELECTRIC CO Pin DF1B 2022SC HIROSE ELECTRIC CO Connector DF1B 15S 2 SRC HIROSE ELECTRIC CO Pin DF1B 2022SC KITAGAWA HIROSE ELECTRIC C6 3 CB3i Cable MAC mini iH Series Connection Manual 6 2 CB3iHB Cable 25 YASS3 5 Connector Signal Cable Display Spec No in panel Wiring color Signal Name Name Pin No Black BLOCK FINISH BLKFIN em o tn 2 Q DI Nn UL2464 n 4 37 core CHSELI 3 CHSEL2 NI E CHSET EXTEM INCOM INCOM 9 EMOUT 20 Gray short bar EMG STOP OUTPUT COMMON EMOUTCOM N 2 C6 KITAGAWA 1 A MAC mini iH Series Connection Manual
140. OS COMPLETE 0 000 deg 0 0000 9 999 Z PULSE MASK AMOUNT 203 Backlash Compensation Amount 0 010 0 0000 1 000 BACKLASH COMP AMOUNT 206 OV RUN Contact Type 0 1 op 1 x OV RUN CONTACT TYPE T 0 000 deg 32 7660 32 766 PITCH ERROR 01 0 000 deg 32 7660 32 766 PITCH ERROR 02 pig BEER Fior CUm Oak 0 000 deg 32 7660 32 766 PITCH ERROR 03 SE Com Oaa 0 000 deg 32 7660 32 766 PITCH ERROR 04 0 000 deg 32 7660 32 766 PITCH ERROR 05 grs en Eor 00997 E 0 000 deg 32 7660 32 766 PITCH ERROR 06 gig 0 000 deg 32 7660 32 766 PITCH ERROR 07 KITAGAWA Parameter mini iH Series Parameter Expansion Manual No Dale Set Unit Set Range idi Displayed Message A axis B axis gt 215 Pitch Error Com 080 105 0 120 0 000 deg 32 7660 32 766 PITCH ERROR 08 216 Pitch Error Com 090 120 9 135 0 000 dea 32 7660 32 766 PITCH ERROR 09 217 Pitch Error Com 100 135 g 150 0 000 deg 32 7660 32 766 PITCH ERROR 10 216 Pitch Error Com 090 120 9 135 0 000 dei 32 7660 32 766 PITCH ERROR 09 E eee 0 000 deg 32 7660 32 766 PITCH ERROR 10 218 Pitch Error Com 110 150 165 0 000 dea 32 766 32 766 PITCH ERROR 11 aioe Com
141. OUTPUT axis spec screen Axis OUTPUT signal condition 1 0 Select signal name 2 axis spec Table OUTPUT condition display EN ZRNH N Machi ne zero return fi ni sh N Vdrk zero posi ti on output onal block fi ni sh BRAKE Brake SERVO CY Li ve servo X OUTPUT signal name for A axis and B axis can be displayed X the OUTPUT signal name the axis selected with the axis change key can be selected with N N 07 8 KITAGAWA MAC mini iH Series Operation Manual Diagnostics 7 9 WCRNT encoder data display W E The coordinate system based on WZRN POS 0 000 displays the angle on the current encoder data This data differs from a command and it is calculated from the motor data of current position 7 9 1 Channel No Motor encoder cal value Work coordinate encoder data screen Block No Work coordinate encoder data display X In case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution block during operation and it becomes a next execution block during stop 7 10 Machine coordinate encoder data display The coordinate system based on MZRN POS 0 000 displays the angle on the current encoder data This data differs from a command and it is calculated from the motor data of current position
142. PUT SPEC 001 Description Selects the output format of 360FIN signal 0000 One Shot OUTPUT Outputs 360FIN signal by a time set to PRM036 when table stops at WZERO position or passes through its position 1 Continuous OUTPUT This mode monitors a current position usually outputs 360FIN signal when the table is in set range PRM026 and turns OFF the OUTPUT when the table is not in the set range For detailed CONT OUTPUT see PRM026 025 0 In passing through WZERO POS PRM025 0 stopping at WZERO POS mom POS ERO POS REV 01 NL REV O 360FIN O 360FIN PRM036 PRM036 Precautions make this parameter valid turn OFF power once C amp Concerned parameters PRMO26 PRM034 PRM026 NAME 360 FIN Output Area MESSAGE 360FIN OUTPUT AREA UNITO 0 deg DATA RANGEJ 0 0000 1 000 25 1 Description Sets the OUTPUT AREA to output 360FIN continuously in PRM025 1 The 26 is set at trange on the basis of WZERO position PRM025 1 Timing chart in operation as shown in left figure C WZERO POS 3 WZERO POS Table motion in right 360FIN OUTPUT AREA chart timing WET NV REV ___ 26 360FIN ___ _ PRM026 OUTPUT AREA mmm d _ 26 360FINO SET VALUE kc PAM256 Chattering prevention timer KITAGAWA P1 23 Parameter mini iH Series
143. Parameter Expansion Manual PRMD27 h NAME 0 G99FIN Output Spec MESSAGE G99FIN OPR SPEC O 00102 Description Sets that G99FIN is outputted at any timing when G98 and G99 commands executed with the program This G99FIN can also be outputted continuously during solenoid excitation 000 Outputs G99FIN when BLK EXE is finished 1 Outputs G99FIN when BLK EXE is started for 99FIN check 2 Outputs G99FIN during solenoid excitation 027 0 When start signal is not OFF within 5 time x START SIG 1 REV BLKFIN SIG PRM035 G99FIN G99FIN 500msec gt PRM027 2 REV N CLAMP OUTPUT EXC UCL 360FIN aie Precautions 1 For G21L99 command this parameter is invalid When G21L99 is commanded G99FIN is outputted when it is started 2 27 1 is set for only MAC mini iH series Concerned parameters PRM028 PRM029 P1 24 KITAGAWA PRMO28 MAC mini iH Series Parameter Expansion Manual Parameter NAME G99FIN Check Timer G99FIN CHECK TIMER DATA sec 0 DATA O 0 000 9 99 Description Sets a time checked ZRN signal input that is the check signal when handshake Checked Precautions by signal delivery is executed with the external equipment When G98 G99 and G21L99 command blocks are executed G99FIN is outpu
144. Parameter data 4 96 Code to denote the data end here KITAGAWA MAINTENANCE MANUAL m Readers for This Manual Readers for this manual are as follows gt Persons who adjust trial run or servo adjustment gt Persons who adjust parameters gt Persons who perform maintenance work E E DL 25 5 x MAC mini iH Series Maintenance Manual Contents Contents 1 Alarms 1 1 KINDS OF ALARMS I1 1 L2 ALARM LIST arena I1 2 12 1 Alarm rank O eie eeeetees ee eese eeeeteeseetebueeeeeebuse 566 6 6 06 1 I1 2 12 2 Alarm rank2 2225 0 06 rese eere 6 eese 11 4 1 2 3 Alarm rank 8 6 eee e eve e eee ee ee pao e rever aeeseo cose e E esos eae Seo aee soper soe 11 5 1 2 4 Alarm rank 11 6 12 5 Servo alari s 1 7 13 ALARM CAUSES AND COUNTERMEASURES 11 10 2 RAM Clear 2265 40 2 1 2 1 ALLDATA CLEAR OF PROGRAMS AND PARAMETER DATA 2 2 2 2 ALLDATA CLEAR OF PROGRAMS csccccscscssccccccsccsccccccsccsccccccsccecs 2 3 2 3 ALLDATA CLEAR OF PARAMETER eccocscssccscssccscssccsessccsessccsesscess 2 4 2 4 INITIALIZATION OF SYSTEM INFORMATION csccccsccccsccccsccccsccccscses 12 5 3 Adjustment sacri ciccia 3 1 3 1 SERVO ADJUSTMENT 555 555 55 85 56 55 55 56 pae EE Un I3 1 3 2 BRIGH
145. RCEO LTT IEEE C8 12 8 2 2 3 360FIN signal TOC OCI TORR reU ov evi Ue ue C8 13 8 2 2 4 ZRNFIN signal AIA AINEA I MAR AE C8 13 8225 ALMOUT Signal 5 SC Sie Sie sieve oe Sie wees C8 14 8 2 2 6 CHOUT Signal So Sina eer vies da eunte eeu C8 14 8 2 2 7 EMOUT signal ROCCO LV UT pU C8 14 8 3 SIGNAL TIMING IN PROGRAM ccscccscssccscssccscssccscssccscscccscssccsess C8 15 8 3 1 General programs ec ee ee va eo re vo ee sa ea eae peu ao aoo ae aero Ue Yo FR Rose Nee ea Ead C8 15 8 3 2 HOLD 5 dea C8 16 8 3 3 G08 G09 Time chart nici e re ers ee ee ear oe diranno zia C8 17 8 3 4 G07 Time chart esce eee esee e esee neo eer ee Uu erroe 6 C8 17 8 3 5 621 Time chart sissi C8 17 8 3 6 Time chart eos C8 18 8 43 EXE SPEC EIST ee sgh ta C8 19 C2 KITAGAWA MAC mini iH Series Connection Manual Contents 9 Signal Format 9 1 9 1 INPUTFORMAT ilaria C9 1 9 1 1 Input fOrMat MT C9 1 9 2 OUTPUT FORMAT 55 E ARES TIR 9 2 9 2 1 Output format
146. Series Operation Manual 2 3 Lamp indication 2 3 1 MODE Displays that the mode selected for each operation is which mode MOLE When the LED of selected mode becomes red the lamp lights I ATO 7 MANUAL AUTO Auto operation mode 2 EDT When override is other than 100 the gt PARAM t SI MANUAL Manual operation mode When override is other than 100 the lamp flashes lamp flashes EDIT Edits inputs and output the programs PARAM Sets inputs and output the parameters SINGLE Makes single operation with the controller When all LEDs of MODE light with power ON since CPU error occurs turn OFF power once and turn ON the power after elapsing 5 seconds 02 10 KITAGAWA MAC mini iH Series Operation Manual Key Switches amp Display Displays the conditions of controller ATUS When the LED of STATUS becomes red each RUN lamp lights STOP RESET RUN Lamp lights during auto operation ALARM STOP Lamp lights during operation stop READY A When machine is held during auto READY B operation the lamp lights simultaneously with RUN RESET Lamp lights just after power ON and after resetting ALARM Lamp lights when alarm occurs The lamp flashes while alarms occur redundantly READY A MZRN position of A axis is established READY MZRN position of B axis is established When all LEDs of STATUS light with power ON because CPU error occurs turn OFF power once and turn ON the powe
147. T EMG STOP INPUT INPUT COMMON INPUT COMMON EMG STOP OUTPUT EMG STOP OUTPUT COMMON EXE RESET EXE ZRN REQUEST EXE ZRN REQUEST 2 EXE MANU MODE SEL EXE AUTO MODE SEL CH NO OUTPUT 0 CH NO OUTPUT 1 CH NO OUTPUT 2 CH NO OUTPUT 3 CH NO OUTPUT 4 CH NO OUTPUT 5 CH NO OUTPUT 6 OUTPUT COMMON G99FIN2 360 OUTPUT2 ZRNFIN2 OUTPUT COMMON 2 MAC mini iH Series Connection Manual I N CONTROLLER PANEL N2 PIN NO BLKFI N 1 2 NI 3 360FI NL 4 gt pp 6 ZRNFI NL T LL 8 LL sp 9 ST 10 CHELO 11 1 12 2 13 4 14 CET Li 15 EXTEM M i 1 16 I NOM 17 E 18 EMOUT 19 EMOUTCOM 20 PIN 2 RST VES 1 ZRNL lt E 2 3 MNALSET 4 Ak 5 6 _ Hun 7 8 9 1 CHOUTS u H CHOUT6 2 H 13 M 15 NC2 II P 360Fl N2 gt di lt 3 a LL KITAGAWA MAC mini iH Series Connection Manual RS232C Connection 11 RS232C Connection 11 1 Detailed RS232C connector The following shows the detailed RS232C connector installed on the controller Pin No Signal D
148. TNESS CONTROL OF PENDANT LCD I3 2 4 The battery for absolute encoders 14 1 SL SPECIFICATION soglia 14 1 3 2 EXCHANGE CHOR 14 2 KITAGAWA 11 Contents MAC mini iH Series Maintenance Manual 12 KITAGAWA MAC mini iH Series Maintenance Manual Alarms 1 Alarms 1 1 Kinds of alarms Alarms are classified in different ranks Each rank has different operation programs and different halt conditions Content Alarm rank 0 is an extremely high emergency alarm When Alarm 0 is indicated the servo stops right away and operation also stops When turning on the power switch internal check is performed If the result is not satisfactory alarm occurs When this alarm is indicated servo is not turned ON Reset or turn on the power switch after an adjustment is made If everything goes normal then alarm will not occur This alarm occurs during the program execution When this alarm is indicated the circular table and the program stop Servo does not stop This alarm occurs when a failure happens during data communications or execution of remote control If this alarm occurs communication is terminated In case of the remote control program will not be executed The alarm occurs when the program content program area or program data is incorrect No Rank When alarm occurs regarding the servo the same error number as the servo pack
149. Thunder If the alarm occurs frequently The internal circuit may be damaged Contact with Kitagawa s Serviceman or your agent Replace the controller with a new one Brake failure The brake is damaged See the detailed alarm clause for Err 016 11 10 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Air pressure is low Raise the air pressure Reduce the amount of cutting Raise the set value of PRMO15 Servo adjustment Lower the feedrate The set value of the parameter is small Overshooting occurs because the Heavy cutting is performed Lower the cutting speed of the machine inertia of jig etc is large 020 The parameter does not become less than set value Brake clamp droop waiting even if 5 seconds elapses after the distribution is finished 1 Overload 1 Reduce the load 2 set value of the parameter is i 2 the set value for PRMOIS higher small ST signal is not turned off when more than 5 seconds passed since the power gets ON Start input is kept ON at external Release the status that keeps the starting input equipment ST and INCOM are short circuited 12 Replace the cable CB3 if the cable is incorrect SP signal is not turned ON when more than 5 SP Signal alarm seconds passed since the power gets ON Stop input is kept ON at external Release the status that keeps the stop input equipment SP cable is broken 2 Repl
150. Time Constant 598 P411 3TH FLT 2000 Hz 500 2000 1 Stage Secondary Torque Command 599 Filter Time Constant 100 0 01msec 65535 P412 1TH 2 TQ FLT 1 Stage Tertiary Torque Command 600 Filter Time Constant 100 0 01msec OL 65535 P413 1TH 3 TQ FLT KITAGAWA P1 11 Parameter MAC mini iH Series Parameter Expansion Manual No M Set Unit Set Range Remarks 1 Stage Quartic Torque Command 601 Filter Time Constant 100 0 01msec 65535 P414 1TH 4 TQ FLT 602 prato Suppression Damping Ratio in Stop 100 D 100 100 603 Suppression Start Ratio in Stop 4000 se 65535 604 Gravity Compensation Torque 0 0 019 200000 20000 P422 GRAVITY COMP TQ IE 0010900 cor Reiter Detecting Lee 005 608 Speed Coe Ponce ne Sioa Detecting Width 10 min 100 Commend sro Command _ 611 Servo OFE Brake Command 50 10msec 100 100 oie Te 200 100 IE d he EE we he 7 D d sese so ptt secon sese no sr Secon D cM E 622 a 9 ORSO Position Deviatio
151. WCRTSYSSET 00 000000000000022 04 37 4 5 1 G97 BLKFIN NON OUTPUTT 04 39 4 5 16 6980 BLKFIN G99FIN 00000000000 00 04 41 4 5 17 0991 G99FIN OUTPUT 6 04 44 4 6 DIVIDING FEED FUNCTION _ cccccccccscccccscccccscccccscccccscces 04 46 4 6 1 Dividing feed 04 46 4 7 SUBPROGRAM FUNCTION 04 47 4 7 1 Subprogram structure 1 04 47 4 7 2 Subprogram example 22 2 2 2 2 1 4 4 04 47 5 Program Operation 5 1 5 1 CHANNEL CALL 5 1 5 1 1 Channel Call 5 1 5 2 BLOCK NUMBER scsiccsccccscisctictsccecssct vecsesiseebsesecsesscsees 05 2 5 2 1 Former block call ccccsccscsccccsccccccccccccsccccsesccsccccsvcceecs 05 2 5 2 2 Next block call ccscsccsvsccccccccccccccccccccccsccccsesccsccccsscceecs 05 2 5 2 3 Block number call 05 2 5 3 PROGRAM INPUT FOR 1 AXIS 05 3 5 3 1 Program examples 05 3 5 3 2 Program input examples 2 05 3 5 4 PROGRAM INPUT FOR2 AXIS 05 6 5 4 1 Program examples sleale 05 6 5 4 2 Program
152. ZRN position setting method After detecting the DEC DOG with a proximity SW decelerating and stopping it with the marker C phase of detector the MZERO position is established For details see MZERO Setting Precautions To make this parameter valid it is necessary to turn OFF the power once NAME MZERO Position Establishing Flag L L ORG POS COMPLETE DATA RANGE 001 Description Determines that MZERO position is established unestablished 0 MZERO position Unestablished MZERO position is unestablished In case of PRM123 0 ZERO POS setting is required 100 MZERO position Established MZERO position is established In case of PRM122 0 the parameter is manually set and PRM122 1 2 parameters are automatically set C amp For details see MZERO Setting Precautions make this parameter valid it is necessary to turn OFF the power once KITAGAWA P1 37 Parameter mini iH Series Parameter Expansion Manual PRM200 NAME Zero Pulse Mask Amount MESSAGET Z PULSE MASK AMOUNT DATA deg DATARANGE 0 000 9 999 Description Sets the angle area that ignores zero pulse Absolute reference of motor encoder to determine the motor in MZRN MZRN motion ee DEC DOG SIG 1 E ENCODER ZERO PULSE Zero pulse mask amount PRM200 Precautions This parameter is not used in PRM122 0 PRM203
153. a HUS NOS B NOU RS So qd CUM Clamp BLKFIN In case of PRM035 0 BLKFIN is turned OFF at START OFF _ BLKFIN Timer PRM035 STD Set value 500msec 360FIN WZRN position conf timer PRM036 STD Set value 500msec In case of PRM025 1 Area OUTPUT 26 0 WZRN position Start Rotation 360FIN BLKFIN Timer PRMO035 STD Set value 500msec KITAGAWA 04 29 Program MAC mini iH Series Operation Manual 4 5 11 0000 Loop When the table stops at WZRN position or passes it during loop jump command G25 block execution the program ignores the jump command inside of G25 command block and shifts to next block When the table does not stop at WZRN position or pass it during G25 block operation the system commands the jump mode in the same block as G25 command and loops the program Program Boldface and italic type characters can be G25 D J abbreviated G25 Loop jump Rotation angle Setting unit deg Setting range 999 999 In incremental O O0 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 O 999 Program jump Setting range 1 999 destination J 1 Subprogram return command Equal dividing number Setting range Description Address A Rotation angle When A is not set because G25 loop jump becomes impossible the alarm 962 EDIT ILLEGAL G Il
154. acethe cable Zero pulse is not checked in MZRN even if the table ZERO pul iti rotates by the constant angular The acceleration constant is small Raise the acceleration constant CB Icable is broken Replace cable Motor encoder is incorrect Replace the motor KITAGAWA 11 11 Alarms MAC mini iH Series Maintenance Manual Over Over travel Over travel is detected Release the over travel with the following procedure The machine is positioned at when an alarm is detected during table rotation After reset set mode to MANUAL In case of Err 031 push DEL key to shift table to the location where over travel is released In case of Err 032 use INS key for the same procedure Though machine is not in OT position when alarm occurs the following problems are considered X In case of Err 031 032 in order to avoid collision single use of DEL or INS key can not rotate table to the direction of the collision 1 2 When shifting table in direction other than escape direction even if alarm is detected release OT according to the following procedure After resetting and set mode to MANUAL In case of Err 031 push OVR DEL keys to rotate the table to the location where over travel is released In case of Err 032 use OVR INS keys for the same procedure
155. am of selected channel The following message is displayed while all programs are being executed Cancels variously established modes When block copy or block DELETE is established by INS and DEL keys the block number flickers on the screen 02 6 2 2 6 Program communication keys gt Channel key gt Communication key gt Communication EDIT key 2 2 7 Parameter operation keys gt Numerical keyboard MAC mini iH Series Operation Manual Key Switches amp Display These keys are used for communicating the program data to external equipment The following procedure is recommended for operating the program under the EDIT mode This key is used for selecting the channel This key is used for inputting the program to the 9 selected channel from the external equipment DEL This key is used for outputting the program of selected channel to the external equipment When the external INPUT or OUTPUT of program is selected the external communication is started and State display the message showing I O and the block No while communicating are displayed on the screen When the communication is finished the message of END 1s displayed Cancels variously established modes and interrupts DE data communication These keys are used for operating various parameters to control the circular table For detailed parameters see Cl
156. ameter Backlash Compensation Amount P214 BACKLASH DATA UNITI Commandunit 32767 32767 Description Sets a backlash compensation amount PRM568 Corresponds the parameter 214 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Backlash Compensation Time Constant 215 BACKLASH TC DATA UNITI 0 01msec DATARANGE O 65535 Description Corresponds to the parameter Pn215 of servo pack SGDS made by YASKAWA ELECTRIC PRM569 CORP NAME Position Command ACC DEC Time Constant 216 POS REF A D DATA UNITO O 0 01msec DATA RANGE 65535 Description Corresponds to the parameter Pn216 of servo pack SGDS made by YASKAWA ELECTRIC PRM571 Description PRM575 Description PRM576 Description PRM577 CORP NAME Speed Command Input Gain MESSAGE P300 SPEED REF GAIN DATA UNITI 0 01V Rated speed DATA RANGE 1500 3000 The feed forward function shortens the positioning time When the feed forward is too applied overshoot and under shoot occur Corresponds to the parameter Pn300 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME 10 304 JOG FEED DATA UNITI J min DATA 0 10000 Sets the motor rotary speed when the motor is rotated under the operation mode by panel operator or digital operato
157. amide and metal blade KITAGAWA C4 1 CB1i Cable MAC mini iH Series Connection Manual 4 1 CB1iHA Cable 56 EEE LEI lt 2 22555 XX REI RRR KIRK RIK KIKI 55 i RL Cable Spec ene Remarks Color Brown Motor U 0 7559 4 Back MotorW Clamp check INPUT common INPUT common Red CAV 0 5SQ Red Unclamp check Overrun A1 check INPUT common Overrun B1 check INPUT common Brake OUTPUT Brake OUTPUT Red Battery power Red bar Battery power Batch shield 0 250 Connector Name Connector Type Maker CB1A M CDDM24 I L M E MOTORI JZSP CSM9 3 JSTO Nippon crimp terminal 52117 241 MOLEX 52117 341 DF3 2EP 2C HRS HIROSE DENKI 54346 0020 MOLEX C4 2 KITAGAWA MAC mini iH Series Connection Manual Cable 4 2 CB1iHF Cable EE lt 2222222 2 RIED eR gt LETT LR Cable Spec Wire No Remarks Color Brown Motor U Clamp check INPUT common INPUT common Red CAV 0 5SQ Red Unclamp check Overrun A1 check INPUT common Overrun B1 check INPUT common Brake OUTPUT Brake OUTPUT Red Battery power Red bar Battery power Batch shield 0 2SQx 0 2SQx 1P Black Battery power black white Battery power Connector T
158. ange 003 9999 Equal dividing number Setting range O Q 999 O PRM jump destination Setting range 1 0 999 J 1 Subprogram return command Description Modal information absolute Address A Rotation angle The address A is set at OL 359 999 within one rotation by regarding WZRN position as 0 When the value of 360 or more is set to the Address A by program communication alarm of Err216 ANGLE ERROR IN ABS Angle error in absolute command occurs When set over set range the alarm of Err944 PROG A ERROR Program A address INPUT error occurs Modal information incremental Address A Rotation angle The relative rotation angle from current position is set at value of 999 999 Unless otherwise Address J is commanded independently the Address A becomes the essential setting address When set over set range the alarm of Err944 PROG A ERROR Program A address INPUT in continuous buffer VALID occurs 04 8 KITAGAWA MAC mini iH Series Operation Manual Program Address Rotation speed When F is not set the feedrate set at a former block is used continuously as the modal information However the program setting the feedrate is not executed once before executing block the alarm of Err210 ERROR Feedrate data error occurs When set to FO the table rotates at set speed of PRM003 Rapid traverse Howeve
159. as MZRN feed Though MZRN direction is set to PRM016 when SHOT CUT ZRN of PRMO17 is set PRM017 takes precedence When G23 is commanded at MZRN position MZRN is performed again and BLKFIN and ZRNFIN are outputted However when UNIDIRECTIONAL is valid the unidirectional motion is performed Program Boldface and italic type characters can be G23 J 7 abbreviated G23 Machine zero return MZRN J Program jump destination Setting range 1 999 J 1 Subprogram return command Description Address J is the same as Non G code Type Standard Concerned parameters PRMOOS3 The MZRN feed is rapid traverse PRMO16 Selects MZRN direction O direction 1 CCW direction PRMO17 Selects ZRN SHORT CUT DIR 0 INVALID 1 VALID 2 ZRNSHORT CUT DIR VALID of OPT POS spec type PRMO18 Sets the angle position M C coordinate system that is the boundary of ZRN SHORT CUT DIR of OPT POS spec type Timing chart Start Rotation Clamped Unclamp In case of PRMO35 0 is tumed X y CAMP BLKFIN at START OFF BLKFIN Timer PRM035 STD Set value 500 7 7 ZRNFIN 0 220000 0 MZRN FIN OUTPUT 500msec fixed KITAGAWA O4 27 Program MAC mini iH Series Operation Manual 4 5 10 U O O Work zero return WZRN G24 code rotates the table to the Work ZERO position This is called WZRN This
160. ate system PITCH ERR COM 03 Compensates for 230 45 of machine coordinate system PITCH ERR COM 04 Compensates for 245 60 of machine coordinate system PITCH ERR COM 05 Compensates for 260 of machine coordinate system PITCH ERR COM 06 Compensates for 75 90 of machine coordinate system PITCH ERR COM 07 Compensates for 275 290 105 of machine coordinate system PITCH ERR COM 08 Compensates for 2105 120 of machine coordinate system PITCH ERR COM 09 Compensates for 2120 135 of machine coordinate system PITCH ERR COM 10 Compensates for 2 135 150 of machine coordinate system PITCH ERR COM 11 Compensates for 2 150 165 of machine coordinate system PITCH ERR COM 12 Compensates for 2 160 180 of machine coordinate system PITCH ERR COM 13 Compensates for 2 180 195 of machine coordinate system PITCH ERR COM 14 Compensates for 195 210 of machine coordinate system PITCH ERR COM 15 Compensates for 0 2210 225 of machine coordinate system PITCH ERR COM 16 Compensates for 225 240 of machine coordinate system PITCH ERR COM 17 Compensates for 2402 255 of machine coordinate system PITCH ERR COM
161. ation error 11 26 ENC COM POS ERROR Encoder communication timer error Released by 11 26 ENC COM TIME ERROR Servo Encoder parameter error Released by ENC PRM ERROR servo Encoder echo back error Released by ENC ECHOBACK ERROR Servo Multi limit mis compare Released by 11 26 MULT LM MISCOMPARE Servo Alarm No Release 11 26 11 26 11 8 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Alarm No Alarm Content Release Page Alarm Message Positioning deviation Over Released by 11 27 POS DEV OVER servo 01 Servo OFF positioning deviation over Released by SV OFF POS DEV OVER servo 002 Servo ON positioning deviation over Released by 11 27 SV ON POS DEV OVER servo F10 Power line open phase Released by 11 27 PSUNACTIVATED servo Motor cable disconnection Released by MOTOR DISCONNECTION servo Main CPU communication error Released by MAIN COMMUNI ERROR servo CS Released by 400 1 27 00 x POS UN SETUP servo X Though there is a case that servo alarm is same as other alarm No this trouble occurs because of the alarm numbers that occur by the controller and the servo amplifier In this case check the alarm conditions by the alarm message contents KITAGAWA 11 9 Alarms MAC mini iH Series Maintenance Manual 1 3 Alarm causes and countermeasures Countermeasures Emergency stop Emergency stop input is checked 1 Emergency stop button on
162. ause 15 Parameters The following procedure is recommended to operate the table under the PARAM mode Och BB The numerical keyboard has ten key and mark keys to input the number and set value of each parameter with these keys KITAGAWA 02 7 Key Switches amp Display gt Block keys gt Parameter EDIT keys 2 2 8 Parameter communication keys gt Communication keys 02 8 MAC mini iH Series Operation Manual B3 G9 B9 Used when the parameter No is specified The specified parameter No is continuously inputted after inputting this key Calls a parameter of next number Calls one former parameter No Establishes the parameter No to be changed and determines an inputted value Cancels the established parameter No to be changed and also cancels the determined input value Clears the set value of parameter and sets value 0 Stores the parameter after changing it These keys are used for communicating the parameter data to external equipment The following procedure is recommended for operating the program under the PARAM mode State display Inputs parameters from external equipment When this key is pushed the following external parameter INPUT screen is displayed Outputs the parameters to external equipment When this key is pushed the following external parameter OUTPUT screen is displayed When the external INPUT or OUTPUT
163. aused After power is turned OFF never touch the terminal for 5 minutes because there is a possibility to get an electric shock through residual voltage 2 Prevent Fire Install the mini iH away from flammables If the machine will be installed on flammables directly or near it fire will JAN CAUTION be caused Ifthe controller fails turn OFF power because fire occurs if over current flows continuously 3 To Prevent Damage Do not touch the movable parts of machine during operation Apply only voltage specified in this manual to each terminal Improper JAN CAUTION voltage will cause the equipment damage Do not connect terminal in mistake because the machine will be broken or damaged Do not touch the fan and other parts of the MAC mini iH because they become high temperature while the equipment is charged and shortly after the power is turned OFF KITAGAWA 4 Other Precautions MAC mini iH Series User s Manual Safety Observe the following precautions at all times Mishandling will cause machine trouble personal injury and electric shock 0 Transportation and Installation Transport the machine and equipment by the ways suited to their weights Do not stack the equipment at multistage Install equipment at the floor where it withstands equipment weight and at wide area where operator can
164. cause of the internal processing is executed RS232C Hardware alarm The top of the host command is not DC2 The end of the host command is not DC4 The message received in the host connection exceeds 256 characters Alarms Check the channel number of the sending program and send normal data Check the block number of the sending program and send normal data 1 2 Transfer the control code of XON XOFF normal state Make a communication data consisting of 256 characters or less Transfer speed of RS232C does not correspond to the controller Make the communication protocol corresponding to it on controller side Parity alarm Parity bit of the transfer data for RS232C does not correspond to the controller Illegal command alarm Received a host command that does not correspond with RC No command alarm Received STT STA and STB command when no program exists in CH99 at RC Illegal G code address alarm Addresses that do not correspond with code exist Received G code that does not exist at RC Received an address J at RC Make the communication protocol corresponding to it on controller side Check the transfer command on the machine and send acorrect command Check the transfer command on the machine and send acorrect command Check the transfer command on the machine and send correct command KITAGAWA 11 17 Alarms Neither AUTO nor SING
165. ccur in rotary table Load inertia of motor shaft conversion Jr Rotor inertia of servo motor 7 Inertia ratio X 100 Corresponds to the parameter Pn103 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 48 KITAGAWA mini iH Series Parameter Expansion Manual Parameter PRM514 NAME 274 Speed Loop Gain P104 2TH S LOOP GAIN DATA 0 1Hz DATARANGE 100 20000 Description Sets the responsibility of servo motor when speed is controlled Corresponds to the parameter Pn104 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Constant in 2 Speed Loop Integration P105 2TH SLG INTE DATA UNITI O 0 01msec 150 51200 Description Sets the responsibility of servo motor when speed is controlled Corresponds to the parameter Pn105 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM516 NAME 274 Position Loop Gain P106 2TH POS L GAIN DATA UNITI 0 1 sec DATARANGE 100 20000 Description Sets the responsibility for position control Corresponds to the parameter Pn106 of servo pack SGDS made by YASKAWA ELECTRIC CORP 517 h NAME Bias P107 BIAS O DATA UNIT DATA 450 Description The time established for positioning can be shortened by giving the bias for the speed command part
166. ces between MANUAL EDIT PARAM are looped In MZRN position setting ESTABLISH mode MANUAL gt EDIT gt PARAM SINGLE 2 AUTO gt MANUAL TII As shown the above spaces between AUTO I MANUAL EDIT PARAM SINGLE and all modes are looped When power is turned ON the system is started att MANUAL mode al mode After setting the machine zero position AUTO and MANUAL modes selection can be selected with the external input signals External mode selection spec The external mode can be selected when the controller is ready When the controller is not ready the external mode cannot be selected even if AUTOSET or MANUALSET is inputted X READY status means that the machine zero position is set External modes can be changed even from any modes However when the following status the mode cannot be changed While the program is editing under EDIT mode While the parameter is setting under PARAM mode Only either mode is to be inputted When both modes are inputted an alarm occurs 219 EXT MODE SEL ERROR External mode selection error The mode after external mode input OFF returns to mode just before input ON amp With external mode input ON the panel mode is not selected KITAGAWA O3 1 Mode MAC mini iH Series Operation Manual 3 2 1 Outline of mode 3 2 Outline of mode Description AUTO Auto
167. ck G99 can be commanded in the same command 99 start function G21 block as G21 number KITAGAWA 04 5 Program MAC mini iH Series Operation Manual 4 5 G code functions The controller provides the preparatory function G code to allow the machine to make the determined operation The preparatory function command is indicated with the value continued to the address G The G code is divided into two types Type Contents One shot G code G code effective only block specified Modal G code G code effective continuously until a reciprocity G code is commanded gt Any G codes marked with are in modal information column of G code list are modal type The G code marked with becomes effective continuously until the G code marked with is commanded Similarly the G code marked with becomes effective continuously until the G code marked with is commanded gt G codes except marks amp are one shot type gt Model information is returned to the initial setting mode which becomes the state marked with of the modal information list when MAC controller is operated by turning power off reset mode change channel change by the panel and external channel change PRM112 1 gt When any G code except the G code in the list is commanded the alarm of Err940 PROG G ERROR Program G code error occurs Precautions if the program is executed at 2 a
168. cted address to be edited and determines the inputted value Cancels the established address and determined input value Erases the set value of EDIT address Stores the program after editing If the power is turned OFF without operating left keys the program in the block finally edited is not stored thus eliminating its edited program When the selected address is established by ENT key the character of selected address flickers on the screen and the data is erased KITAGAWA 02 5 Key Switches amp Display gt Block key gt Block EDIT keys 83 G9 ang 8 25 Pushed for 2 seconds Pushed for 2 seconds BE State display MAC mini iH Series Operation Manual When editing the program by ENT key A which displays the screen axis flickers When storing the edited program with A flickered lights Used for specifying the block number After inputting this key the specified block number is continuously inputted Calls a next block for a current block Calls a former block for a current block Copies the selected block or the selected channel to another channel Deletes the selected block or the program of selected channel completely Determines block copy block deletion channel copy etc Shifts a channel copy screen Copies all program of selected channel to another channel Deletes the progr
169. d AD Rotation angle Setting unit deg Setting range 999 999 In incremental O 359 999 In absolute Rotation speed Setting unit 0 01min Setting range 003 9999 Equal dividing number Setting range 0 999 Program jump Setting range O0 1 999 destination J 1 Subprogram return command Description Addresses F D and J are the same as Non G code Type Standard 04 18 KITAGAWA Timing chart MAC mini iH Series Operation Manual Program Usual operation Program examples 000 G21 90 FO 001 G21 A90 FO Start Rotation Clamped Unclamp Clamp BLKFIN 7 7 In case of PRM035 0 About 200msec BLKFIN is turned OFF at START OFF G10 Command operation Program examples 00 G10 001 G21 A90 FO 002 G21 A90 FO NOO3 G11 000 001 002 003 Start S E Rotation WAND Clamped SS Unclamp due pe NL BLKFIN In case of 5 0 About 50msec About 50msec BLKFIN is turned OFF at START OFF As shown in the above timing chart though time of about 200msec is required usually from START INPUT to operation START the clamped state becomes unclamped state by commanding G10 The time required for clamp release motion clamp release signal check can be reduced from the next block and the motion can be started at about 50msec This mode is used when desiring to reduce a time difference as much as possible in
170. d G98 to another axis m A G97A360F0 B G98A90F0 m A G98A360F0 B G97A90F0 TD Timing chart Start Start input time Rotation UNCLAMP Clamped m bor boe dod qeu dou dec ttt CLAMP BLKFIN O4 40 KITAGAWA MAC mini iH Series Operation Manual Program 4 5 16 O Block finish output BLKFIN optional block finish output G99FIN The BLKFIN and G99FIN command G98 outputs the BLKFIN and G99FIN O Program Format G98 0 7 J 7 Boldface and italic type characters can be abbreviated G98 BLKFIN G99FIN output command Rotation angle Setting unit deg Setting range 999 999 Incremental O 359 999 In absolute Rotation speed Setting unit 0 0 01min Setting range 003 9999 000 999 Equal dividing number Setting range Program jump Setting range 1 Q 999 J 1 O Subprogram return command destination Description Addresses A D and J are the same as Non G code Type Standard Precautions on 2 axis spec When commanding G98 2 axis specifications are limited to the following items gt If G97 is commanded to another axis in the block that commands G98 Err962 EDIT ELLIAGAL occurs gt If G97 is commanded to another axis in the block that commands G99 Err962 EDIT ELLIAGAL occurs Inadequate program example Prg G98 1 G98 is commanded to each axis and G97 to another axis
171. data programs parameters and WZERO position This private communication software enables to communicate data without various operations on the controllers For an exclusive communication software refer to Explanation for Exclusive Communication Software KITAGAWA can offer the exclusive communication software optionally KITAGAWA P7 1 Data Communication MAC mini iH Series Parameter Expansion Manual 7 2 Program data communication using controller functions This section explains the procedures for program input output communications with external equipment using the communication functions in the controller 7 2 1 Program input This is to write a program from external equipment into a selected channel gt Push to select EDIT ENT gt Call out a desired channel to input a program 0 Only a channel number is displayed on the upper left of a screen NS gt A screen to display the program INPUT mode appears Example 05 program input mode ENT Clear the program existing in the specified gt channel by key in CH PRG DEL is displayed Then the screen to display a standby program INPUT mode is displayed Example CHOS standby program input Data transmission from 3 Program input ends when the block numbers external equipment counted up from 000 to the last block number The end is displayed on the screen
172. e motor case The battery is fixed on the inside part of cable Take off the present battery from connector and put the new battery Tighten up the battery on the cable with a band and put the CBli cable connection back to as it is Remarks The original position for Machine should be re set up if changing the battery would be carried out while turning MAC mini i off KITAGAWA 14 1 Battery for Absolute Encoder MAC mini iH Series Maintenance Manual 14 2 KITAGAWA CONNECTION MANUAL m Readers for This Manual Readers for this manual are as follows gt Persons who create detailed design gt Persons who make installation work gt Persons who perform maintenance and inspection E 2 5 Q W MAC mini iH Series Connection Manual Contents Contents 1 i 1 1 1 APPEARANCE 1 12 APPEARANCE MAC MINIIH2 IHT IHP C1 2 L3 APPEARANCEORPENDANT sessssssssessssessessesosoosossosossossososesseses C1 3 2 Power Connection C2 1 2 1 POWER alianti C2 1 2 1 1 INPUT power voltage range C2 1 2 1 2 Momentary power interruption 2 1 2 1 3 Withstand power noise C2 1 2 2 AGROUN
173. e program in command into the buffer mode are moved in next block after both 2 axes are operated the axis that operation time is short stops and waits until other axis operation finishes gt Though G8 may command either or B axis G09 is commanded to the axis that 008 is commanded When 009 is commanded to another axis Err230 ILLEGAL G09 occurs gt For the block that G8 or G9 exists in each axis G code cannot be programmed to another axis When G code is commanded Err962 EDIT ELLIAGAL occurs KITAGAWA 04 15 Program MAC mini iH Series Operation Manual Inadequate program examples Prg G08 09 1 TT When G09 is commanded command it to the axis that G08 has already been commanded NO00 A G08 N001 A G24 B G24 N002 A A10 000F0 B A45 000F0 03 A A5 000 B G09 Because command axis is different Err occurs Prg GO8 09 2 TT Other codes cannot be commanded into block of G08 command 000 A G08 B G24 Concerned parameters PRMO20 The timing of FIN SIGNAL OUTPUT is changed to G08 START or G09 FINISH 0 When 008 BLK operation is started BLKFIN is outputted 1 When G09 BLK operation is finished BLKFIN is outputted Timing chart 20 lt 0 PRM032 0 Start Rotation Clamped Unclamp Clamp BLKFIN BLKFIN Timer PRM035 STD Set value 500msec PRM020 0 PRM032 1 Start Rotation Clamped Unclamp ae
174. e servo pack is momentarily OFF the servo pack detects this blackout and turns OFF the servo At this time a momentary OFF time is set When this time is less than the set time operation is continued as is When it is more than the set time the servo is turned OFF Corresponds to the parameter P509 of servo pack SGDS made by YASKAWA ELECTRIC CORP MESSAGE 51 POS DEV WARNING NAME Warning Level of Excessive Position Deviation DATAUNIT 96 DATA 100 100 Description This is the factor of calculation when an excessive position deviation alarm occurs Corresponds to the parameter Pn51E of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Alarm Level of Excessive Position Deviation MESSAGE P520 POS DEV ALARM DATA UNIT 0 Command RANGE 107341823 2 1 Description This is the factor for calculation when the excessive position deviation alam occurs Corresponds to the parameter P520 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Near Signal Width 0 MESSAGE P524 NEAR SIG WIDTH DATA UNIT Command DATA RANGE 10 107341824 2 Description Sets the width for near output to show where the servo motor is in near SHIFT CCOMPIATION point Corresponds to the parameter P524 of servo pack SGDS made by YASKAWA ELECTRIC CORP KITAGAWA P1 59 Parameter PRM626 MAC mini iH Series Parameter
175. ecomes the low speed JOG feed gt The machine can be manually operated only when the ENABLE switch is pushed KITAGAWA 06 5 Operation MAC mini iH Series Operation Manual 6 4 Override The following explains the steps to apply the override for the speed of the auto run or manual feed 6 4 1 Override display 6 4 2 Override change Precautions 06 6 gt The override is reduced as often as DEL 15 SAI ue Display any override state for a command federate gt The percent 90 for the command speed is displayed on the right side of screen The override display becomes effective whe AUTO MANUAL mode is selected Increase or reduce the override gt The override is added as often as INS 15 A JH ION pushed When INCREASE is repeated MAX is displayed and the mode becomes the rapid traverse pushed The minimum set value of override is 20 When the override is except 100 with AUTO MANUAL mode selected LED of each mode flickers The INCREASE or DECREASE every button pushing is set to PRM014 and the initial set value is 596 Even if the override is changed since set value of PRM003 Rapid traverse is determined as upper limit the set value more than its value is restrained by set value of PRM003 KITAGAWA MAC mini iH Series Operation Manual Operation 6 5 Manual pulse generator Option The ma
176. ed thus shortening the positioning setting time Corresponds to the parameter Pn111 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM528 UNITO NAME MESSAGE Command Filter Gain P119 CMD FILTER GAIN 0 1 sec DATA RANGE O 10 20000 Description Corresponds to the parameter Pn119 of servo pack SGDS made by YASKAWA ELECTRIC CORP DATA UNITO NAME 55 Command Filter Gain Compensation P11A F GAIN COMP 0 1 sec DATA RANGE 5000 2000 Description Corresponds to the parameter Pn11A of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME MESSAGE UNITO 0 1 Command Filter Bias CW F BIAS CW DATA RANGE O 10000 Description Corresponds to the parameter Pn11E of servo pack SGDS made by YASKAWA ELECTRIC CORP 0 NAME 55 DATA UNITO O 0 1 Position Integration Time Constant P11F POS INTEGRATION DATA RANGE 00 50000 Description Corresponds to the parameter Pn11F of servo pack SGDS made by YASKAWA ELECTRIC CORP DATA UNITO NAME 3 Speed Loop Gain P12B 3TH S LOOP GAIN 0 1 sec DATA RANGE 100 20000 Description Corresponds to the parameter Pn12B of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME MESSAGE DATA UNITO 0 1Hz 34 Loop Integration Time Constant
177. ed Forward MESSAGET P109 FEED FORWARD DATA UNITI DATA RANGE 100 Description The positioning time is shortened by compensating the FEED FORWARD for the position control Corresponds to the parameter Pn109 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Constant in Feed Forward Filter P10A FILTER DATA UNITI 0 01msec DATA RANGE 6400 Description The positioning time is shortened by compensating the FEED FORWARD for the position control Corresponds to the parameter Pn10A of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME J Mode Switch Torque Command MESSAGE 10 MODE SW TRQUE UNITI O RANGE 00 800 Description When the torque is commanded over 522 the speed loop becomes Proportional Control This mode controls to overshoot or undershoot the motor speed because the torque in ACC DEL is saturated Corresponds to the parameter Pn10C of servo pack SGDS made by YASKAWA ELECTRIC CORP Concerned parameters PRM521 Valid in Pn10B 0 0 P1 50 KITAGAWA PRM527 MAC mini iH Series Parameter Expansion Manual NAME MESSAGE DATA UNIT Parameter Speed Feedback Compensation P111 SPEED FEEDBACK DATARANGE O 10 500 Description When using the speed feedback compensation function the speed loop gain or position loop gain is increas
178. ed at the Jump destination and the block is copied at front of its block the alarm of TErr961 BLOCK INS ERROR occurs Thus the block is not copied KITAGAWA MAC mini iH Series Operation Manual Operation 6 Operation 6 1 Emergency stop 6 1 1 To perform EMERGENCY STOP 6 1 2 To release EMERGENCY STOP Push the EMERGENCY STOP button on the pendant During the emergency stop Err001 EMERGENCY STOP is displayed on the screen and the table becomes the emergency stop state In the emergency stop state an alarm is outputted When the emergency stop button is pushed the emergency stop mode is outputted to the external equipment During the emergency stop the main power source of the servo amplifier is turned OFF and the circular table cannot be operated Remove the cause of fault before releasing the emergency stop When the EMERGENCY STOP button is turned to right the button comes out When pushing RESET on the panel the emergency stop is released It can also be released with the external RESET RST button except the panel The alarm OUTPUT and emergency stop OUTPUT outputted during the emergency stop are turned OFF When the emergency stop is released the main power is supplied to the servo amplifier and the circular table can be operated KITAGAWA 06 1 Operation MAC mini iH Series Operation Manual 6 2 Auto run The following explains the steps
179. ed is when the following operations are performed e When block change is operated N N e When block No is called by N ENT e When forcedly written by INPUT e When the mode is changed by MODE Therefore the data is stored into memory every block shift during program EDIT However the power is turned OFF while flickering of A is pushed the program returns to the state before changing KITAGAWA RESET MAC mini iH Series Operation Manual Program Operation 5 5 Program DELETE The programs such as all programs every channel blocks etc can be deleted 5 5 1 ALL PRG DEL 5 5 2 PRG DEL channel Deletes all programs in the controller 1 When power is tuned ON the ALL PRG DEL lgp mode CL 1 is applied POWER ON CL 1 Screen 2 When ALL PRG DEL is started ALL PRG DELI flickers When ALL PRG ENDY is displayed the ALL PRG DEL is finished X When the ALL PRG DEL is finished the controller START mode is applied continuously The program is deleted at the channel unit _ gt Selects EDIT of program EDIT Oo gt Calls the channel to delete the program When the left keys are pushed for 2 seconds or CH PRG occurs When the Pushed for 2 sec or more program is completely deleted the pro
180. edrate is the angle set to ENABLE switch 1 shot pushed PRM006 ZA Pushing this key l shot feeds at a step in CCW Counterclockwise direction feedrate is the ENABLE switch 1 shot pushed gt JOG feed Operates the table at rapid traverse in CW Clockwise i UGNI high speed angle set to PRMOOG direction ENABLE switch The table rotates at speed set to 04 DEL Operates the table at rapid traverse in CCW Yel Counterclockwise direction The table rotates at speed set to 004 KITAGAWA 02 3 Key Switches amp Display gt zero position return gt Machining zero return gt Machining zero position setting gt Override 2 2 4 Automatic operation keys gt Operation control key 02 4 mini Series Operation Manual S ENABLE switch VzERO e ENABLE switch gt 19 Kh State display Returns the table to M C zero position When the STATUS READY READY lamp lights the table rotates to the M C zero position at high speed of When STATUS READY A or READY lamp goes out PRM123 0 the M C zero position is set at value set to PRM122 Returns the table to the machining zero position at the speed set to PRM003 Sets the current position as the machining zero position However since the priority for keys is established it is necessary to push the
181. en the dividing command D is 0 or 1 the block shifts as non dividing command When the dividing shift Example 001 80 000 D6 command is not divided out 01 18 N001 2 wo 13 333 13 333 within 3 digits of decimal 7 2 01 39 point or less the block shifts Start ff QUU B 33 Point B __ 01 4 so that its error will be 13 333 _ 01 5 minimum value 13 333 See a right figure 4 Se 90 04 46 KITAGAWA MAC mini iH Series Operation Manual Program 4 7 Subprogram Function When there is a repeating index mode into the program this program can be simply used as the subprogram which can be called out of the main program structure N OOO 0 N AAA 4 1 Commands J 1 Return command as sub program completion 4 7 2 Subprogram example FO Start point POS 002 90 000 b N003 J10 Exe 30 004 G24 JO e i 010 10 000 FO 011 20 000 12 A30 000 J 1 The program jumps by execution of 001 and after executing N010 N012 the program proceeds to 002 In case of it also is the same as the above Timing chart Start signal Rotary motion BLKFIN signal 0 PRM020 1 fa NOOO 01 11 12 02 03 11 12 04 84010 84010 Precautions X additional subprogram cannot be called subroutine call
182. ency when the main circuit power source is ON OFF The number of times for the main circuit power source to switch ON OFF must be 5 times per min or less M The temperature of the heat sink in the servo pack Heat sink overheat exceeds 100 C Servo pack substrate is broken 3 Replace the servo pack Servo pack substrate and thermo switch are not connected properly Servo pack fan stops The load exceeds the rated load 4 Review the conditions for loading and operation 5 The ambient temperature of the Lower the ambient temperature around the controller servo pack exceeds 55 C KITAGAWA 11 23 Alarms MAC mini iH Series Maintenance Manual Servo pack substrate is broken Replace the servo pack Power is supplied to the absolute 2 3 Set location data based on machine zero return method encoder for the first time Encoder cable is detached from the motor Both PC power source 5V from 4 Check the PG wiring Correct 5V supply servo pack and battery power source are down Absolute encoder is broken Replace the servo motor Encoder same check alarm Encoder crosscheck is incorrect Servo pack is broken Replace the servo pack Absolute encoder is broken Replace the servo motor The battery voltage does not reach the rated value within 2 4 seconds after the control source is supplied Servo pack is broken Replace the servo pack Battery voltage is lo
183. er s Manual JAN CAUTION Install the circuit breaker that is an optimum for the insulation of 1 60947 2 Each rated current for circuit breaker as follows Controller Type Capacity of Circuit Breaker MAC mini iHF SA MAC mini iH 10A MAC mini 1H2 iHT 15A Route cables correctly and securely Securely connect cables so as not to be loosened into a chain reaction When connecting the cables CBli cable to the rotary table don t bend them forcedly Also don t apply stress to cables Route cables so that they do not interfere with the machine while the machine is operating In case a ground fault circuit breaker is used please use that to which 100mA or more of sensed current and time of operation are 0 1 seconds or more or performed the measure against high frequency for a preventing incorrect operation by high frequency of motor sake When you cannot perform change of the ground fault circuit breaker of the present attachment please supply a power supply by the following method A power supply is supplied from a secondary the transformer of a machine side When cannot be carried out please connect a noise filter to a power supply line 0 Adjustment by Trial Run JAN CAUTION Check and adjust parameters before operation The equipment may move unexpectedly if any parameter is incorrect Never adjust the parameter ex
184. eration Program communication Parameter operation Parameter communication SE NOY Self diagnosis operation 10 Operation in alarm Lamp indication 1 MODE 2 STATUS 3 CPU status Data display KITAGAWA 02 1 Key Switches amp Display MAC mini iH Series Operation Manual 2 1 Operation switches 2 1 1 Power switch 2 1 2 Emergency stop switch 2 1 3 ENABLE switch 02 2 Turns the power of controller When pushing the locker switch t side the power is turned ON and t side the power is turned OFF This button is pushed when stopping the rotary table urgently When the emergency stop button is pushed the power to the servo is turned OFF and the rotary table stops urgently When the emergency stop button is pushed the table is self held and it does not return automatically to the zero position To release the emergency stop switch manually turn the operation part to right To release the emergency stop state push RESET button manually after releasing the above operation to recover the circuit The pendant is equipped with enable switch for 3 positions When the manual operation and automatic operation from the pendant are performed place the enable switch to intermediate position When the signal of enable switch is not detected switch release or more pushed while the machine is running the machine stops immediately Operation of 3 position enable sw
185. escription IO Name OUTPUT 2 RD Receivingdata m 3 Transmitting data OUTPUT SD SG Grounding 6 DR Datasettingready ant Transmitting request Signal showing OUTPUT communicability to external equipment external equipment 11 2 Detailed RS232C cable wiring Two types of 25 pin type and 9 pin type are described on the external equipment side for cables Pin No Pin 25 pin 9 pin Nb type type a este 2 RD RD 3 2 O Q eE 8 CS 765 5 8 9 D Oo m 6 DR 166 5 2 pe 4 4 ER ER 20 4 5 50 m 56 1 7 5 If communication fails because of noise etc disconnect either SG cable KITAGAWA C11 1 RS232C Connection MAC mini iH Series Connection Manual C11 2 KITAGAWA MAC mini iH Series Connection Manual Connection to Machine 12 Connection to Machine 12 1 Machine connection wiring The system receives and transmits the start signal M signal and 1 block finish signal from to the external equipment In addition to the above since the following signals can be communicated be sure to route the cables for their signals START STU The program is executed by this signal during AUTO SINGLE mode STOP SPU Though this signal is used as a temporary stop signal of program since SP signal is B contact specification even
186. etting after detecting the alarm the alarm is released once and the alarm occurs again in next operation 6 2 1 Parameter setting When the OVER TRAVEL is detected parameters are set as follows PRM121 1 Serial detecting method PRM206 1 Contact spec of OVRUN is to be B contact 6 2 2 OT Detecting During OVER TRAVEL 1 detecting when the table rotates in direction or has already been rotated the alarm of Err 031 OVER occurs and the table is stopped immediately by the dynamic brake During OVER TRAVEL 1 detecting when the table rotates in direction or has already been rotated the alarm of Err 031 OVER TRAVEL occurs Similarly the table is stopped immediately by the dynamic brake If power is turned OFF during OT detecting Err 031 or Err 032 is determined by a first actuation T When pushing during OT detecting at side Err 032 OVER TRAVEL occurs in reverse as usual travel When pushing INS during OT detecting at side Err031 OVER TRAVEL occurs in reverse as usual travel Therefore release the over travel carefully Rotation lt J Rotation In motion figure Err031 OVER TRAVEL e SX In motion in figure 270 0 032 OVER TRAVEL q gt Danger DIR 7 occurs OVRUN1 2 Connect OVRN1 1 1 2 to SRL A and input them in OVRUNI 4
187. f PRM035 0 BLKFIN is turned OFF at start OFF In case of 2 axis Precautions 1 Example A A360F500 B G04A10 Start IN A axis rotation B axis Dwell time BLKFIN Address set value In case of PRM035 0 A BLKFIN is turned OFF at start OFF In case of 2 axis Precautions 2 Example A G04A 1 B A360F500 Start 1 A axis Dwell time Address A MESSE I B axis rotation B axis L w _m m 6 6 6 gt gt UNCLAMP CLAMP _ In case of PRM035 0 BLKFIN is 1 BLKFIN turned OFF at start OFF COMPLETED TIMER P PRM035 STD set value 500msec KITAGAWA 04 11 Program MAC mini iH Series Operation Manual 453 LEAD CUT When performing the multiple rotating index at 999 999deg or more that cannot be indexed on usual index max 1000 rotation 999 rotation 360deg can be indexed by commanding G07 Program 107 0 7 J 7 Boldface and italic type characters can be abbreviated G07 Lead cutting command Rotary direction amp Setting mark Rotary direction rotary angle deg deg Setting range 360 000 deg 1 rotation 360 000deg Setting range 0 999 Rotation speed deg 0 01min Setting range 003 O0 9999 JO Program jump Setting range 1 999 destination 4 1 0 Subprogram return command Description Address A Rotary direction Ang
188. g pitch error Pitch Error Compensation from meas example data Colored data PRM No 216 217 218 219 220 221 222 223 0 004 40 002 Offset 0 010 0 007 0 004 0 002 0 001 0 001 0 003 0 007 Pitch error No 17 18 19 20 21 22 23 24 PRM No 224 225 226 227 228 229 230 231 Offset 0 012 0 013 0 015 0 012 0 010 0 006 0 004 40 001 0 002 0 004 0 006 When setting average value every 15 from meas example data Example PRM209 Set value Error of shift angle 15 Error of shift angle 20 Error of shift angle degree 25 3 After 40 004 40 002 0 001 0 002 0 004 3 0 0023 0 002 Pitch error No 10 11 12 13 14 15 16 compensating pitch error PRM No 216 217 218 219 220 221 222 223 Offset 0 009 0 006 0 002 0 001 0 000 0 001 0 005 0 010 Pitch error No 17 18 19 20 21 22 23 24 PRM No 224 225 226 227 228 229 230 231 Offset 0 013 0 014 0 014 0 011 0 008 0 006 0 002 0 000 0 002 0 004 KITAGAWA P3 3 Pitch Error Compensation MAC mini iH Series Parameter Expansion Manual P3 4 KITAGAWA mini iH Series Parameter Expansion Manual Expansion Channel 4 Expansion Channel 4
189. gnal name is displayed on the right side of INPUT signal X 0 of INPUT signal name shows B contact 07 6 KITAGAWA MAC mini iH Series Operation Manual Diagnostics External connection OUTPUT condition display The OUTPUT signal condition of external connection CB3i cable is displayed with 1 0 OFF 7 7 1 OUTPUT condition External connection D 1 ON 0 OFF Current selected channel OUTPUT screen Selected signal External connection OUTPUT Detailed OUTPUT signal name CH 07 u 01111 11111 i DQ db ea e 40x2 40x25 40x25 External channel selection Bi nar y CHOUTO Select channel 6bit CHOUTD Select channel 5bit CHOUIA Select channel 4bit CHOUT3 Select channel 3bit CHOUT2 Select channel 2bit 1 Select channel 1bit CHOUTO Select channel Obit Energency stop A arm N 1 BLKFI N N N select OUTPUT signal name X 0 of OUTPUT signal name shows B contact X Since OUTPUT signal of A axis is used together with B axis its signal is not displayed every axis KITAGAWA O7 7 Diagnostics MAC mini iH Series Operation Manual 7 8 Table OUTPUT condition display EA The OUTPUT signal condition of table is displayed with 1 OND 0 OFF 7 8 1 Table
190. gram n UJ returns to the initial screen X When all programs in the channel are deleted 000 of select channel is displayed X When the program capacity of CH PRG displayed during program deletion is small it may not be read because it is only displayed in the blink of an eye KITAGAWA 05 9 Program Operation 5 5 3 1 BLOCK DEL 5 5 4 1 BLOCK DATA DEL 05 10 MAC mini iH Series Operation Manual Deletes a selected block gt Selects the EDIT of program EDIT gt Calls the EDIT channel enm gt Calls the block to be deleted 4 gt Block No flickers by pushing DEL When pushing ENT CH PRG is displayed and the block is deleted N UJ X block after deleted block is moved to left At this time the block No of program that the block No is specified is generated automatically Before BLK DEL After BLK DEL NOOO C90 9 000 FO C90 9 000 01 180 QD OOO 0 DEL 01 7 J ee TAX ump destination No 02 7 P10 ED 02 24 JO automatically generated 03 9410 1009 GO A15 000 F1000 10 C90 15 000 F1000 NO10 A30 000 F2000 11 A30 000 F2000 11 A45 000 FO 12 A45 000 FO BLK No after DEL X During block deletion CH PRG DEL is displayed Deletes each data of select block 1 gt Selects of
191. great care 4 Check and correct the program Replace the controller main board 215 Zero return alarm 1 Cable is broken or short circuited 2 Wrong wiring Over travel signal and ZRN deceleration signal are inputted simultaneously in ZRN 1 Replace the cable Correct the wiring Angle error in ABS Angular command is issued for more than 360 when an absolute command is in effect KITAGAWA Check and correct program 1 15 Alarms MAC mini iH Series Maintenance Manual Countermeasures G99 check signal for handshake does not turn ON within the designated duration G99 check signal is not detected See if G99FIN circuit functions properly within the set time for PRM028 when PRM027 1 Either PRMO28 is zero or PRM029 is other than 2 when PRM027 1 determined during automatic operation Check and correct the parameter When channel select is executed at binary mode after Channel set alarm CHSET input wrong channel is selected T d R l Channel setting becomes inadequate 1 Replace the controller main board when external channel is changed Channel number is not displayed 2 Check the transfer content and send normal data when program is transferred Input of the both external signals AUTOSET and External mode selection error MANUALSET are detected Wiring of AUTOSET or s Check and co
192. he table may rotate in an improper motion there is no problem KITAGAWA 06 7 Operation MAC mini iH Series Operation Manual 06 8 7 MAC mini iH Series Operation Manual Diagnostics Diagnostics Volla Diagnostic screen structure Operation The diagnostic screen can check the situations such as the coordinate system I O servo etc Thirteen screens are prepared as shown bellow Commanded Work Coordinate Display WP R Commanded Machine Coordinate Display MP R Work Coordinate Encoder Data Value Display WP EL Machine Coordinate Encoder Data Value Display MP E Remained Shift Display RD R Externally Connected INPUT State Display AC I Table INPUT State Display EA I Externally Connected OUTPUT State Display AC O Table OUTPUT State Display EA O POS DEV Display P DEV Rotor Angle Display ROTOR MZRN Data Display DA ZP Current Display CUR LF 7 1 1 Diagnostic screen structure Coordinate system system Servo system 7 1 2 Diagnostic screen display The diagnostic screen is displayed in order gt As often as DGN is pushed the diagnostic screen is changed every page KITAGAWA O7 1 Diagnostics MAC mini iH Series Operation Manual l axis spec Channel No Command angle Block No Command work coordinate display 2 axis spec Channel No Command angle Block No Command work coordinate display As shown the abo
193. hine zero position unset 1 Machine zero position is not established yet KITAGAWA ee pi ci pn ii Si 2 3 a Review the motor wiring Communication between the controller main board and servo pack is incorrect Check the connection of communication cable Replace the cable Replace the controller Replace the servo pack Machine zero position is not set yet Set machine zero position See the section machine zero positioning 11 27 Alarms MAC mini iH Series Maintenance Manual Detailed explanation on the alarm for Err 016 Pattern The following shows a flowchart of troubleshooting for Err 016 that occurs when the power is ON or during clamp after table rotation Error 016 occurred Is the MELOS source ua w Check the pressure source Yes m Did the air pressure reduce when _Yes PRM038 1 error 016 i i lt No wee p Did not the brake No p No output DC24v gt PRMO039 1 when clamping mats 7 bro A Ser e See the checking method 1 es Ls clamp checi No Error 016 occurs either when clamp pressure goes below the detective pressure for 5 seconds or more or when unclamp signal is kept ON exceeding the set time for PRMO23 Take measures to prevent the clamp pressure from going down Error 016 occurs when pressure goes down exceeding the set
194. i iH Series Connection Manual I O Signals 8 1 2 INPUT signals INPUT signals of controller vary every type for external terminals nu The following list shows INPUT signals for the controller These signals are transmitted through CB3i cable Executes program in i weit lee AUTO ar or START SINGLE mode Decelerates and stops rotary table HOLD 29 AUTO or SINGLE mode EMG STOP signal inputted from EXT EM external terminal can stop rotary EXE EMG STOP i table immediately CHSELO CHANNEL CHSELI i SELECT CHSEL2 external terminal by binary mode CHSEL3 and M signal mode CHANNEL CHSET When EXE CHANNEL is finally Selects program channel from selected this code is inputted 5 SET Can be reset from external terminal AUTO MODE AUTOSET Can be changed to AUTO mode CHANGE MANUAL MODE MANUALSET CHANGE Can be changed to MANUAL mode MZRN or WZRN of 1 EXE ZRN REQUEST Performs MZRN or WZRN of 274 axis INPUT COM Common line of No 1 10 INPUT INCOM The above common type means MAC mini iH iHF iHP 182 KITAGAWA C8 3 I O Signals MAC mini iH Series Connection Manual 8 1 2 1 ST Signal gt Contents The start ST signal is inputted by short circuiting ST and IN COM program of selected channel is executed under AUTO or SINGLE mode When the ST sig
195. if this function is not used it is necessary to be short circuited with INCOM line EXTERNAL EMERGENCY STOP This signal is used for inputting the emergency stop from the external equipment INPUT COMMON INCOM This the common line for an input signal 1 BLOCK FINISH BLKFIN This signal is outputted when 1 block motion is finished during AUTO mode 1 BLOCK FINISH COMMON BLKFINCOM This is the common for 1 block finish output signal ALARM OUTPUT B ALMOUTB This is for issuing the alarm signal on the circular table side OUTPUT COMMON OUTCOMI This is the common for output signal EMERGENCY STOP OUTPUT EMOUT This is for outputting the emergency stop button state of controller EMERGENCY STOP OUTPUT EMOUTCOMI This is the common for emergency stop output signal KITAGAWA C12 1 Connection to Machine MAC mini iH Series Connection Manual 12 2 Machine connecting example BLKFI START STOP EXTERNAL EMG STCP NPUT BLOCK FI N SH ALARM B GONICT CUTPUT EMS STCP OUTPUT gt Input B contact for SP signal When the SP signal is not used short circuit the connection between SP and INCOM gt When the external emergency stop mode is inputted input EXTEM signal at B contact When these two input signals are not turned ON the
196. iming chart In case of G22 command PRM040 1 PRM041 16 66 NOOO G22A0F0 PRM040 PRM041 INVALID Start Rotation Clamped Clamp E ____ case of PRM035 0 is BLKFIN vefte turned OFF at START OFF 3006 BLKFIN Timer 4 5 STD Set value 500msec In case of G22 command 040 1 PRM041 16 66 NOOO G22 PRM040 41 INVALIDO PRMO040 Rotary direction Start Rotation NCT Nate ttt 41 NO 16 66min FOGSSSmm ____ Clamped Unclamp 7 Clamp ___ case of 5 0 BLKFIN is 1 BLKFIN i turned OFF at START OFF TE BLKFIN Timer PRM035 STD Set value 500msec Precautions 1 When the start signal is except one shot type do not use G22 at the space between G08 and 009 Though G22 command controls the table start and stop because BLKFIN is outputted only first or last one time when G22 is used inside of G08 and G09 the start signal does not turn OFF on the start signal OFF type a general M signal type by BLKFIN OUTPUT confirmation 04 26 KITAGAWA MAC mini iH Series Operation Manual Program 4 5 9 OOO Machine zero return MZRN This code rotates the table to the mechanical zero position This is called MZRN When MZRN is finished ZRNFIN and BLKFIN signals are outputted The G23 code rotates the table at the rapid traverse set to PRM003
197. ing output is displayed as CH out 000 The completion of program output is displayed on the screen Example CHOS program output ended 7 2 4 Interruption during This is to stop program output in process program output 7 gt By pushing this key program output is interrupted and the display is put back to EDIT screen X The programs forwarded to external equipment before the interruption are outputted KITAGAWA P7 3 Data Communication MAC mini iH Series Parameter Expansion Manual 7 5 Communicating parameter data using controller This section explains the procedures for parameter input output communications with external equipment using the communication function equipped on the controller 7 3 1 Parameter input This is to write parameters from an external equipment Emergency stop state gt Push emergency stop button or input external emergency stop command to bring emergency stop state gt MODE to select PARAM Set 999 to PRM110 to bring all parameter rewritable state gt The status is displayed being parameter input 94 09 88 5 ES t2 S mode Parameter input mode gt The display shows the state being in the parameter download standby state Parameter input standby Data transmission from When the parameter numbers are counted up external equipment from 000 to the last number the parameter input ends and the di
198. ing automatic external RESET signal operation to reset the machine X After resetting STATUS RESET LED lights X block of program returns to a top line 000 KITAGAWA O6 3 Operation MAC mini iH Series Operation Manual 6 3 Manual run The following explains the steps to operate the table manually by a MANUAL mode 6 3 1 Mode selection Select the MANUAL mode to operate the table manually gt When pushing MODE the mode 15 changed in order Push this button several times until MANUAL is selected LED lighting 6 3 2 Axis selection In case of MAC mini iH2 AHT the axis to be manually operated is selected gt When pushing A axis and B axis are changed The LED selecting the axis lights 6 3 3 Low speed JOG feed low speed JOG feed is actuated by a manual run 15 The table rotates in CW direction Clockwise ENABLE switch with the button pushed gt gt The table rotates in CCW direction ENABLE switch Counterclockwise with the button pushed STATUS RUN LED lights during feed Precautions gt A low speed JOG federate is the set speed of PRMOOS However since set value of Rapid traverse is determined as upper limit the set value more than its value is restrained by the set value of PRM003 gt machine can be manually operated only when the ENABLE switch is pushed 06 4 KITAGAWA 6 3
199. input examples 2 2 05 6 5 5 PROGRAM DELETE sessssssssssssososossososoooessoeseseseseososos 05 9 5 5 1 ALT PRG DEL 05 9 5 5 2 PRG DEL in channel 05 9 5 5 3 IBLOCK DEL 05 10 5 5 4 1 DATA DEL 05 10 5 6 PROGRAM COPY ssessesessesesesesossosososssssoosssscsesososocoososoeo 05 11 5 6 1 Program copy between channels 05 11 5 6 2 TBLOCK CORY 5050522 eet oe deve eec ceo saos od 05 12 02 KITAGAWA MAC mini iH Series Operation Manual Contents 6 Operation co 6 1 EMERGENCY STOP ire O6 1 6 1 1 perform EMERGENCY STOP 06 1 6 1 2 To release EMERGENCY STOP O6 1 6 22 AUTORUN RE 06 2 6 2 1 Program selection 06 2 6 2 2 Mode selection 06 2 6 2 3 Program START sicecsdecciescsensiccsscecsnccccbedecsseusconscevscecsceccoestees 06 2 6 2 4 To stop program temporarily during execution 06 3 6 2 5 To restart program during TEMP STOP 06 3 6 2 6 Program interruption 1 1 1 06 3 MANUALE RUN 06 4 6 3 1 Mode
200. interlocking motion with the machine However the above time differs by the circular table type KITAGAWA O4 19 Program MAC mini iH Series Operation Manual G15 command can emphasize the pastern between blocks by checking the position deviation every block during continuous execution of continuous buffer When POS DEV CHECK INVALID the table operates under non deceleration fairly because of continuous operation between blocks through the look ahead function of program Since G15 and G16 modal commands unless opposite G15 G16 is commanded they are continued continuously G15 command becomes valid only inside of continuous buffer of 008 Program G15 itali Boldface and italic type characters can be G1 6 Df J 7 abbreviated G15 POS DEV check VALID G16 POS DEV check INVALID A Rotation angle Setting unit deg Setting range 999 999 In incremental O 359 999 In absolute Rotation speed Setting unit 001 Setting range 003 9999 O 999 Program jump Setting range O 1 999 J 1 Subprogram return command Equal dividing number Setting range destination Description Addresses A D and J are the same as Non G code Standard 04 20 KITAGAWA Timing chart MAC mini iH Series Operation Manual Program In G15 unused Program examples Start 000 001 N003 000 G08 CI p NOO1 A360 D3 FO
201. is divided into two kinds gt Output signal from rotary table gt Output signal from external terminal 8 2 1 OUTPUT signals for rotary table 8 2 1 1 BK Signal MAC mini iH iHF iHP Description Brake OUTPUT Power DC24V for brake operation is Brake OUTPUT supplied MAC mini iH2 iHT 2 axis controller 1 OUTPUT BK 1 Power DC24V for brake of 2 Brake OUTPU A axis is supplied m 1 Brake OUTPUT BK 2 power DC24V for brake of axis a 2 OUTPUT BK 2 B axis is supplied For these INPUT signals an exclusive cable is routed to connect the controller and the rotary table gt Contents In UNCLAMP power DC24V is outputted between BK and BK BK is pole and BK is pole When setting PRM032 1 power DC24V is usually outputted to this cable line and BK 1 are for A axis single and BK 2 and BK 2 are B axis KITAGAWA C8 9 I O Signals MAC mini iH Series Connection Manual 8 2 2 Output signals The following list shows OUTPUT signals for the controller for EXE These OUTPUT signals are transmitted through CB3i cable When 1 block motion of program RUN is finished during AUTO mode BLKFIN is BLOCK FIN BLKFIN outputted Also when external channel is changed it is outputted for checking BLOCK FIN This is private output common mode of COMMON BLKFINCOM BLKFIN When the program of G98
202. is is output common for EMOUT Common types are MAC mini iH iHP iH2 iHT C8 10 KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 2 2 1 BLKFIN signal gt Contents The contact between BLKFIN and BLKFINCOM is closed in BLKFIN of program run AUTO mode The exception shown below is outputted when the program is executed e OUTPUT timing in 001 outputted when program is started e OUTPUT timing in 008 09 outputted when 008 is executed started The output time is from BLKFIN to ST signal OFF check PRM035 0 or the time set to PRM035 When the external channel is selected during the binary mode this signal is outputted for checking the channel change When the external channel is selected during M signal mode this signal is outputted for checking the following signals e ZERO signal CHSELO INCOM e PLUSI signal CHSELI INCOM e PLUSIO signal CHSEL2 INCOM e MINUSIO signal CHSEL3 INCOM Inthe MAC mini 182 series 2 axis spec when there are execution commands for both axes into one block the BLKFIN is outputted after executing both axes X the timing chart of BLKFIN see various timing charts as shown in the latter section KITAGAWA C8 11 I O Signals MAC mini iH Series Connection Manual 8 2 2 2 G99FIN signal Contents C8 12 When program G99 is executed the contact between G99FIN and OUTCOM is closed When program G98 is exec
203. itch Switch is not pushed Position 1 Switch OFF Pushed to intermediate position si Position 2 Switch ON Pushed over intermediate position 4 4 Position 3 Switch OFF ENABLE switch Position 1 Position 2 Position 3 Even if the switch is returned to position 2 from position 3 the switch does not turn ON KITAGAWA MAC mini iH Series Operation Manual Key Switches amp Display 2 2 Key operation 2 2 1 Mode operation key To perform each operation it is necessary to select each operation mode gt Mode change key Changes the mode in order 2 2 2 Since MAC mini 2 have two control axes it is necessary to change Axis change key axis when each mode is set Changes the display of A axis B axis as often as the switch is pushed 2 2 3 Manual operation keys This key operates and sets the circular table connected to the controller under the manual operation mode gt JOG feed ESI Operates the table in CW Clockwise direction The low speed 9 table rotates continuously at speed set to PRM005 ENABLE switch on with the key still pushed CEL Operates the table in CCW Counterclockwise direction The table rotates continuously at speed set ENABLE switch 1 to PRMOOS with the key still pushed gt Step feed ES Pushing this key 1 feeds at a step in CW Clockwise direction The fe
204. ited channel No 00 is selected as ZERO signal When CHSELI and INCOM are short circuited channel is added one by as PLUSI signal When CHSEL2 and INCOM are short circuited channel Nos are added ten by ten as PLUS 10 signal When CHSEL3 and INCOM are short circuited channel Nos are reduced ten by ten as PLUS10 signal Channels can be increased to max channels without exceeding its set value Max value is determined to PRM390 PRM400 PRM489 gt Conditions 1 This mode is valid for only when PRM033 1 and also PRM112 1 2 When STATUS is STOP or RESET state under AUTO mode M signal can be changed While any signal is being inputted other signals cannot be inputted 4 ZERO PLUSI PLUSIO MINUSIO signals to be inputted continuously at 100msec or more 5 ZERO signal and PLUS signal are continuously inputted the intervals of 100msec or more are to be provided 6 The selection of channel inputted during BLKFIN or G99FIN output is to be invalid 8 1 2 7 CHSET signal gt Contents When CHSET and INCOM are short circuited during the binary mode the channel can be changed gt Conditions 1 This mode is valid for only when PRM033 0 and also PRM112 1 2 When the channel setting mode is set to AUTO STATUS is to be STOP or RESET state CHSET is to be continuously inputted for 500msec or more 4 The selection of channel inputted during BLKFIN or G99FIN output is to be invalid C8 6 KITAG
205. l 4 2 1 Channel block structure spec Precautions 4 2 1 1 PRM390 1 4 2 1 2 PRM390 2 P4 2 The channel block structure specifications are set with PRM390 PRM390 is selected from the following specifications 0 O CHOO 500 blocks CH15 100 block structure 1 When channel block are optionally set program check is performed 2 When channel block are optionally set program check is not performed 1 When the expansion channel is set take care because old programs etc overflowed out of the channel are deleted It is recommended to back up the programs before using the expansion channel When this setting is performed and the following case occurs Err 951 CH BLOCK SET ERROR occurs gt When blocks are reduced on newly setting and existed blocks are more than a newly set value gt When the newly set blocks exceed a total 2000 block When parameters on these conditions are stored Err 951 CH BLOCK SET ERROR occurs any block is not changed When this setting is performed and the following case occurs the alarm is not displayed and the program is deleted gt When the newly set program is less than the final program block all blocks in the channel are deleted gt When the newly set block is 0 its block is deleted together with the channel KITAGAWA MAC mini iH Series Parameter Expansion Manual Expansion Channel 4 2 2 Block setting The channe
206. le of Address A show the rotary directions When the modal information is an absolute command after rotating by rpm of Address D in the specified rotary direction of Address A the table rotates for the absolute positioning in the same direction above See Fig 4 5 3 1 Address D Rotation speed When D is not set the rotation speed is 0 and the same positioning as usual index is performed Address and J are the same as Non G code Type Standard Concerned parameters PRMO21 The timing of BLKFIN OUTPUT in 007 command is changed to START or FINISH O Outputs BLKFIN when G07 block execution is finished 1 Outputs BLKFIN when G07 block execution is started OUTPUT starts after about 10msec from ST INPUT O4 12 KITAGAWA MAC mini iH Series Operation Manual Program Timing chart PRM021 0 PRM032 0 Start Rotation Clamped 14 Unclamp In case of PRM035 0 BLKFIN is turned 1 Clamp BLKFIN OFF at START OFF BLKFIN Timer os PRM035 STD Set value 500msec PRM021 0 PRM032 1 Start Rotation Clamped e Valar In case of PRM035 0 BLKFIN is Clamp BLKFIN turned OFF at START OFF BLKFIN Timer NN PRM035 STD Set value 500msec PRM021 1 PRM032 0 Start Rotation Clamped Unclamp _ Incase of PRM035 0 Clamp BLKFIN BLKFIN is turned OFF at START OFF
207. le to be returned to ZRN position in the short cut direction MZRN direction in case of PRM017 1 MCRDT SYS 179 999 or less MCRDT SYS 180 000 or more P1 18 KITAGAWA MAC mini iH Series Parameter Expansion Manual MZRN direction in case of PRM017 2 Set V 018 45 000 Start MCRDT SYS pos 45 000 or more MCRDT SYS 45 000 or more 4 REV DIR 2 Boundary 18 45 000 DIR H m DIR Boundary 8 018 45 000 9 e lt lt _ Parameter WZRN direction PRMO16 set value is no concerned Set V PRM017 0 017 1 PRM017 2 PRM018 90 000 Start Regardless of WCRDT SYS WCRDT SYS WCRDT SYS WCRDT SYS pos position 179 999 less 180 000 or more 89 999 or less 90 000 or more WZERO WZERO WZERO wzERO i Nu obe p mel RTY gt DIR oct ee REV DIR Boundary PRMO18 90 000 Precautions 1 Incase of PRM17 1 2 MZRN direction of PRM016 becomes invalid For this reason since a positioning error occurs by ZRN direction it is recommended to use an unidirectional positioning mode Concerned parameters PRMOI6 PRMO18 PRM018 NAME MESSAGE 0 UNITO 0 deg Optional Angle Assignment in Short Cut Return Direction ZRN DIR OPT POS 0 000
208. legal code occurs Other contents are the same as Non G code type Address J Jump When J is not set G25 command becomes invalid and the program shifts to next block after BLKFIN When block No is set to J the program jumps to specified block No after BLKFIN Addresses and D are the same as Non G code Type Standard Precautions on 2 axis spec When commanding G25 2 axis specifications are limited to the following items gt When commanding G25 both axes perform the loop motion of G25 However in case G25 command is only either axis G25 command axis becomes loop OUT When G25 is commanded to both axes object axes are both axes The loop OUT occurs at side where the work zero position is detected at G25 command block in advance 04 30 KITAGAWA MAC mini iH Series Operation Manual Program Program examples Prg G25 1 When A axis stops at work zero position or passes it the program advances to 002 and B axis clears the same term 000 A A45 000F0 B A90 000F0 N001 A G25A90 000J0 B A90 000J0 N002 A G24J0 B G24 Prg G25 2 When B axis stops at work zero position or passes it the program advances to 002 and A axis clears the same term 000 90 000 0 B A45 000F0 001 A A90 000J3 B G25A90 000J0 N002 A G24J0 B G24 525 31 625 command is for both A and B axes When either axis stops at work zero position or passes it the program advances to 00
209. lid NAME J Valid In the start INPUT ST of external INPUT are valid Invalid In the start INPUT in AUTO mode only ST of external INPUT ST KEY IN AUTO ST ST key input on the panel or pendant under AUTO key input on the panel or pendant and WZERO Position Setting every Channel MESSAGE RANGED 001 SETUP WZERO POS Description Sets the specification of WZERO position when the manual WZERO position is set or G92 is executed 000 1 i Common WZERO position for all channels Can set WZERO position every channel The following shows each operation content on PRM47 Precautions P1 32 PRM047 0 PRM047 1 Setting of manual WZERO position ORG INPUT Coordinate position stopped currently is updated to WZERO position However parameter does not change Current coordinate position is updated to WZERO position and parameter for channel during selection is also updated Program G92 command WZERO position of OPT POS by Address A of G92 is updated However parameter does not change WZERO position is updated parameter for channel for selection is updated Change of CH No change Parameter for WZERO is read Change of No change PRM047 No change 1 When changing PRM047 to 1 0 the position of channel during selection in change becomes a common WZERO position
210. limit a plus side when the software limit is valid PRM100 1 or 2 Concerned parameters PRMIOO PRM101 KITAGAWA P1 33 Parameter MAC mini iH Series Parameter Expansion Manual About software limit Description PRM101 0 000 PRM103 180 000 PRM101 180 000 PRM103 0 000 VZERO POS MIN SIDE MIN SIDE OPERABLE _ PRM101 PRM101 AREA AREA MAX SIDE MAX SIDE PRM103 PRM103 PRM101 270 000 PRM103 90 000 PRM101 90 000 PRM103 270 000 gx MZERO POS lt MZERO POS ME e OPERABLE AREA MAX SIDE 103 MIN SIDE 101 MIN SIDE IDE MAX SIDE PRM101 PRM103 OPERABLE Precautions software limit mode becomes valid for only after MZRN is finished When operating in the plus direction or checking before operation Err 213 SOFTWARE LIMIT SOFTWARE LIMIT Side occurs When operating in the plus direction or checking before operation 214 SOFTWARE LIMIT SOFTWARE LIMIT Side occurs Though the above parameters PRM101 90 000 PRM103 270 000 can be set the alarm occurs even if operated in any direction after MZRN is finished P1 34 KITAGAWA MAC mini iH Series Parameter Expansion Manual Parameter PRM105 NAME Unidirectional Positioning Spec MESSAGE UNIDIRECTIONAL SPEC RANGED O 00102 Description Sets that the table in program
211. ls in case the expansion channel is used and the blocks used with the channel are set with parameters Parameters are a total of 90 parameters of PRM400 PRM489 Each parameter corresponds to one by one of channels and the blocks used with its channel are set to the parameter To set parameters the following conditions are required gt channel is to be used by a continuous number gt The number of blocks is 1000 gt total number of blocks is to 2000 blocks When these conditions are unsatisfied a correct expansion channel is not set or any alarm occurs The comparison list for parameters and channels is as follows PRM Nb CH PRM CH PRM Nb CH C100 PRMI30 060 PRMIO1 ODI PRMI31 PRMI61 961 PRMIO2 CH2 2 COH2 PRMI62 0862 PRMIO3 PRMI33 PRMI63 PRMIOA PRMI34 084 64 064 PRMIO5 4805 PRMI35 485 PRMH65 5 PRMHO6 C106 PRMI36 086 PRMI66 066 PRMIO7 9907 PRMI37 CH PRMI67 067 PRMHO8 108 PRMI38 088 68 068 PRMIO9 PRMI39 9 PRMI69 69 PRMHO CHIO 080 PRME O CH O PRMH1 CHI PRMAl 71 gt CH 1 PRMH2 PRMI42 C2 2 QH72 PRMII3 lt C13 PRMI 3 1 CH 3
212. ly When OT is detected sideor side is checked by an input signal content As a result during OT detection error occurs even if a RESET button is pushed unless OT is released 6 1 1 Parameter setting When the OVER TRAVEL is detected parameters are set as follows PRM121 0 Serial detecting method PRM206 1 Contact spec of OVRUN is to be B contact 6 1 2 OT Detection When OVER TRAVEL 1 is detected during operation Err 031 OVER TRAVEL occurs and the machine stops in emergency by the dynamic brake When OVER TRAVEL 2 is detected Err 032 OVER TRAVEL occurs and the machine stops in emergency by the dynamic brake similarly In case of parallel detecting method the alarm is determined by detected INPUT signals OVRUNI OVRUN regardless of operational direction in over travel detection MZRN f Operable range p N S Rotation LO aS i OX NE Rotation Safety DIR_ VY KITAGAWA P6 1 Over Travel MAC mini iH Series Parameter Expansion Manual 6 1 3 To release OVER The safety direction when Err 031 OVER TRAVEL occurs is usual TRAVEL side and the releasing method to the safety direction is as follows However the table does not shiftin direction even if INS is pushed Set the mode to MANUAL Q Shift the table in direction with of JOG key When JOG operation is performed pushing the table rotates at rapid
213. m RESET FLAMING ALARM 2 KITAGAWA 11 5 Alarms MAC mini iH Series Maintenance Manual 1 2 4 Alarm rank B RESET 11 18 RESET 11 18 RESET 11 18 RESET 11 19 RESET 11 19 RESET 11 19 RESET 11 19 CH BLOCK SET ERROR Block set error RESET 11 19 RESET 11 19 RESET 11 20 11 6 KITAGAWA 1 2 5 Servo alarm Alarm No MAC mini iH Series Maintenance Manual Alarm Content Alarm Message Parameter destruction PRM DESTRUCT Main circuit detection error MC PDE ERROR Parameter setup error PRM SETUP ERROR Dividing pulse output set error PG PLS SET ERROR Combination error COMBINATION ERROR Over current or overheat of heat sink OVER CURRENT Regenerative error REGENERATIVE ERROR Regenerative overload REGENERATIVE OL Main circuit power source wiring error MAIN CIRCUIT ERR Over voltage OVER VOLTAGE Under voltage UNDER VOLTAGE Over speed OVER SPEED Dividing pulse output speed PLS OUT SPEED Vibration alarm VIBRATION ALARM Over load Momentary maximum load OL FLASHMAX Alarms Released by Released by servo Released by Released by Released by servo Released by servo 11 Released by servo Released by servo 11 Released by servo L Released by servo L Released by servo L Released by Servo L Released by servo L Released by servo L Released by Servo 1
214. me as Non G code Type Standard Precautions on 2 axis spec When commanding G99 2 axis specifications are limited to the following items gt If G99 is commanded to another axis in the block that commands G99 Err962 EDIT ELLIAGAL occurs Program example Prg G99 1 G99 is commanded to each axis and G98 to another axis m A G99A360F0 B G98A90F0 m A G98A360F0 B G99A90F0 Concerned parameters PRMO27 Selects the timing of G99FIN output 0 Outputs G99FIN in block execution finish 1 Outputs G99FIN in block execution start PRMO28 In case of PRM029 2 though G99FIN OUTPUT and INPUT signals are used as handshake signals the time to cause an alarm is set when ZRN signal is not received in time after outputting G99FIN During this set time G99FIN is outputted continuously O4 44 KITAGAWA MAC mini iH Series Operation Manual Program PRMO29 Specifications of ZRN INPUT are set 0 Outer MZERO Machine zero return spec 1 Outer WZERO Work zero return spec 2 Handshake check spec Timing chart In case of G99 command _PRM027 0 PRM029 2 Start Start input time Rotation BLKFIN G99FIN Timer 500msec Fixed In case of G99 command 27 lt 1 PRM029 2 Start mum Start input time Rotation BLKFIN G99FIN Timer 500msec Fixed G99FIN OD 027 1 28 5 0
215. meter All clear Initialization 2 Program data All clear 3 Parameter data All clear Initialization 4 Initialization of system information System information Initialization KITAGAWA 12 1 RAM Clear MAC mini iH Series Maintenance Manual 2 1 All data clear of programs and parameter data When this operation is performed all data programs parameters and work zero position stored into the memory in the controller are erased to return the memory to an initial setting state The all clear modes of program data and parameter data can be used continuously For details refer to each item 1 Oo The all clear mode CL 1 of program is entered in power ON Program Clear Screen 2 gt When the all clear of program is started ALL PRG flickers and ALL PRG is displayed the all clear mode is finished the mode is shifted to the parameter clear mode Parameter Clear Screen Even if CAN is pushed during program clear the program clear mode cannot be interrupted 3 gt Number 1 Standard is displayed on the right side of CL 2 display by inputting ENT 4 DI Selects that parameter clear is performed at which content 1 General parameter of MAC mini I series 2 General parameter of MAC mini iH series 3 Servo parameter The parameter clear is started and the value during clear is counted on right side When CL 2
216. mit value of 03 PRM005 NAME JOG LO Speed 5 LO JOG FEED O DATA UNIT DATA RANGE 0 000 99 99 Description Sets the feedrate when LO JOG FEED INS or DEL is manually commanded The LO JOG FEED is actuated when its key is continuously pushed for 1 second or more Precautions Even if the feed is set over PRM003 it is clamped at the upper limit value of PRM003 When the feed direction key is pushed for 1 second or less the table is fed at the step feed PRMOO6 NAME Step Feed Amount MESSAGE STEP FEED AMOUNT DATA UNITI deg DATARANGE 0 0000 10 000 Description Sets the step feed amount of manual operation When INS DEL 15 pushed for 1 second or less the table is fed at step feed The step feedrate is PRMOO4 JOG HI FEED Precautions Even if the feed is set over PRM003 it is clamped at the upper limit value of PRM003 When the feed direction key is pushed for 1 second or more the table is fed at the LO JOG feed PRM007 NAME MZRN Shift Amount MESSAGET MZRN SHIFT AMOUNT DATAUNIT deg DATA 360 000 360 000 Description MZRN POS can be optionally shifted in DATA RANGE MZRN SHIFT is positioned at the feed of PRM003 as a serial operation MZERO POS MZRN O PRMOO7 PRM003 MZRN PRM007 PRM007 si KIT
217. monitor content with PRM506 Corresponds to the parameter P550 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Analog Monitor 2 Offset Voltage MESSAGET P551 ANALOG MONITOR2 DATA UNITO O 0 1V DATARANGE J 10000 10000 Description Offsets the analog monitor content with PRM507 Corresponds to the parameter P551 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 60 KITAGAWA MAC mini iH Series Parameter Expansion Manual ORG MODE Selection 2 ORG MODE Selection 2 1 Toset ORG MODE How to set MZERO that is the machine reference of circular table is divided into the following three methods gt gt gt Direct setting method MZRN position 122 0 After rotating the table to the position to MZERO MZRN position is established Detector marker detecting method Non dog type PRM122 1 After shifting the machine to the place just before shifting by one revolution of motor from the place to be MZERO the MZRN position is established at the place where the machine is stopped with the detector marker C phase on MZRN motion Dog type ZERO POS setting method PRM122 2 The proximity SW detects a deceleration dog and the MZRN position is established at the place where the machine is stopped with the detector marker C phase on MZRN motion after decelerating These MZRN position setting methods are changed with parameters When MZRN is required the controller display
218. n 450 Bias Adding Width POS 1 7 P108 BIAS ADD WIDTH COM 250 Feed Forward gt s P109 FEED FORWARD 3 100 520 Constant in Feed Forward Filter 0 00 6400 P10A F F FILTER Gain Application Switch 921 P10B GAIN APP SW 2209 hiex Mode Switch Torque Command 22 2 3 P10C MODE SW TORQUE 99 BE Mode Switch Speed Command 523 Sp 0 min 00 10000 P10D MODE SW SPEED P1 8 KITAGAWA mini iH Series Parameter Expansion Manual Name STD Displayed Message Set value Set Unit Set Range Parameter Remarks Mode Switch Acceleration 0 P10E MODE SW ACC 10min 3000 Mode Switch Deviation Pulse P10F MODE SW DEV POS COM 10000 Auto Tuning Switch P110 AUTO TUNING SW hex Speed Feedback Compensation P111 SPEED FEEDBACK 500 Command Filter Gain P119 CMD FILTER GAIN 0 1 sec 100 20000 Command Filter Gain Compensation P11A F GAIN COMP 0 1 5000 2000 Command Filter Bias CW P11E CMD F BIAS CW 0 10 10000 Position Integration Time Constant P11F POS INTEGRATION 0 1 50000 39 Speed Loop Gain P12B 3TH S LOOP GAIN 0 1 sec 20000 534 gu Loop Integration Time Constant P12C 3TH SLG INTE 3 Position Loop Gain 400 P12D 3TH POS L GAIN 0 1Hz 0 1msec 51200 10 20000
219. n 100 D 10 100 623 eee 40000 10 107341823 2 1 625 rea Midh 40000 10 107341824 2 626 Sewo ON 40000 1 10 107341823 2 1 1 12 mini iH Series Parameter Expansion Manual Parameter Name STD No Set Unit Set Range Remarks Displayed Message Set value 627 Warning Level of Excessive POS DEV in Servo ON 100 10 100 P528 SVON P D WARNING Feed Limit Level in Servo ON 24 628 5528 SVON FEED LEVEL 10903 Monitor Display in Power P52F MONITOR DISPLAY dis ean Emit 2000 0 1Hz 100 20000 P540 GEIN LIMIT Analog Monitor 1 Offset Voltage P550 ANALOG 1 Analog Monitor 2 Offset Voltage P551 ANALOG MONITOR2 Regeneration Resistance Capacity P600 REG RES CAPA 10000 10000 10000 10000 Notel Thi s i temnay change i na setti ng val uewthattachnent rotary tabl es thoughthe setti ng val ue 15 i ndi cated f or every nodel bel ow detai ed data shoul d al so conti ne the att ached sheet paraneter change li st of rotary tabl equi pnents and pl ease confirmit nark in a table shows an initial value Moreover A axis of aninitial setting value is rotary table form It is type paraneter val ue and axis is set as the paraneter val ue of TIM81 tilting axis
220. n Time Constant MESSAGE P101 SLG INTEGRATION DATA UNITI 0 01msec DATA RANGE 150 51200 Description This is the user constant to determine the responsibility of speed loop Corresponds to the parameter Pn101 of servo pack SGDS made by YASKAWA ELECTRIC CORP Precautions When the responsibility of speed loop is low since the position loop on outside becomes a delay factor overshoot occurs or vibration speed command occurs Therefore it is recommended to set the value as higher as possible at area that the machine system does not vibrate As a result the servo system is stable and the responsibility is increased NAME Position Loop Gain MESSAGET P102 POS LOOP GAIN DATA 0 1 sec DATA 100 20000 Description The responsibility of position loop is determined by the position loop gain Corresponds to the parameter Pn102 of servo pack SGDS made by YASKAWA ELECTRIC CORP Precautions 1 When the position loop gain can be set to high value the responsibility becomes high and the positioning time becomes short However it is impossible to increase the position loop gain over a natural frequency MESSAGE DATA UNITO 0 96 Moment Ratio of Inertia P103 INERTIA RATIO DATA RANGE 1 20000 Description When fixture carried in rotary table the case where work is large and the center of gravity have shifted vibration and roar sound may o
221. n inputting A the under bar is displayed under the character A After inputting ENT Address A flickers and the value can be set 270 is inputted in Address A and it lights When inputting F the under bar is displayed under the character FL After inputting ENT Address F flickers and the value can be set is inputted in Address and it lights Calls N001 block adding 1 to N000 Push A B to display B axis to screen When B axis is specified the LED on upper left on A B lights 05 7 Program Operation 17 18 1 2 e 21 22 23 2 2 Ul 26 05 8 MAC mini iH Series Operation Manual gt to display A axis DJ gt Calls 002 block that adds 1 to 001 7 2 88 9 gt When inputting J the under bar is displayed under the character J After inputting ENT Address J flickers and the value can be set 05 gt 00 is inputted in Address J and it lights The program block is stored gt Push to display B axis 8 Stores the block of program When A flickers during program EDIT it shows that the program is changed While flickering of A the changed program is not stored into the memory The timing that the program is stor
222. nal Parallel detecting method OT is detected individually OVRUNI is used for the over travel signal of side and OVRUN2 for the over travel signal of side When is detected it is recognized that the received signal is in side or side For this reason an error occurs always during OT detecting Unless the OT detecting mode is released the error occurs immediately even if it is reset 1 0 Serial detecting method Inputs the OT detected value into only OVRUNI at serial connection The serial detecting function recognizes side or side by the shifting direction commanded when OT is detected The direction of OT detected once is stored until OT is undetected and the table cannot be shifted in additional direction gt For details see Over Travel P1 36 KITAGAWA mini iH Series Parameter Expansion Manual Parameter PRM122 MZERO Position Setting Method MESSAGE ORG MODE SELECT RANGED O 00102 Description Selects the setting method of MZERO position 000 Direct setting method After rotating the table to the position to MZERO the MZERO position is established by the parameter 1 Detector marker detecting method Non dog type After shifting the machine to just before shift by 1 rev of motor from the position to be MZERO and stopping it with the marker C phase of detector on MZRN motion the MZERO position is established 2 Dog type
223. nal is inputted with the controller stopped temporarily the program is restarted gt Conditions 1 The ST signal is to be INVALID unless an input time is continuous 100msec or more INVALID START SIG ST gt 100 _ 100msec or less The AUTO or SINGLE mode is to be possible to start the program The program is not to be executed STATUS is not to be RUN bai However it is except in case of RUN STOP Any alarm is not to be occurred STATUS is not to be ALARM Other START signals Panel are not to be INPUT state Temporary stop SP is to be ON BLKFIN is not to be outputted and after BLKFIN is OFF 100msec or wo Pi more is to be passed DURING PRG EXE ST INPUT INVALID 77777 START SIG ST START SIG ST ONE SHOT TYPE gt NNO ST INPUT VALID 7 gt 100 BLKFIN SIG BLKFIN 100msec 8 1 2 2 SP signal Content STOP signal is inputted by opening SP and IN COM Q The program operation is stopped temporarily Conditions 1 To be during AUTO RUN STATUS is to be RUN 2 When SP signal is turned OFF during ST signal ON the program operation is stopped immediately 3 Even if ST signal is turned ON during SP signal OFF AUTO RUN is not to be started C8 4 KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 1 2 3 EXTEM signal gt Contents The EMERGENCY STOP from the exte
224. nance Manual 3 2 Brightness control of pendant LCD Hole plug Rear View of Pendant Brightness control steps 1 Remove the hole plug located on the rear face of pendant See left figure Inside volume switch can be checked from hole The volume switch can be turned with the minus screw driver to right or left in order to adjust LCD brightness Adjust LCD to optimum brightness watching the LCD screen After adjusting return the hole plug to the original position 13 2 KITAGAWA MAC mini iH Series Maintenance Manual Battery for Absolute Encoder 4 Battery for Absolute Encoder 4 1 Specifications The motor for MAC mini i is the absolute encoder and takes the back up data with lithium battery In case something happens on the lithium battery for data back up the encoder data disappears When the voltage of the lithium battery becomes lower than the specified value Error 830 Encoder Battery Alarm appears and therefore the lithium battery should be changed along with the instruction below Lithium Battery Specifications Model JZSP BAOI YASKAWA ELECTRIC Corp Battery ER3V Toshiba Battery Corp Specifications 3 6V 1000mAh Outside View amp 29BLACK m E LC NN k 1 RED Soe BATTERY ER3V 4 2 How to change Turn MAC mini i on Q Take off the CBli cable from the motor case and pull off the inside part of CBli cable from inside th
225. nel in binary input Select signal name External connection INPUT condition display Detailed INPUT signal names 04100012100 407 11 channel sel ecti on Bi nary type QHBET set CHBEL3 Channel selecti on t CHBEL2 channel sel ecti on 2bi t 1 channel sel ection 1bi t CHBELO channel sel ecti on Obi t MANUAL MANUAL node node RST RESET EXT EM External energency stop SP STOP N and N ST START can select the INPUT signal and selected signal name is displayed on the lower left Mark Since the INPUT signal is used together for and axes it is not of INPUT signal name shows B contact displayed every axis KITAGAWA 07 5 Diagnostics MAC mini iH Series Operation Manual 7 6 Table INPUT condition display EAI The INPUT signal condition of table is displayed with 1 OND 0 OFF 7 6 1 Table INPUT screen 1 1 spec INPUT signal condition 0 1 0 0 CFF Selected signal name Axis name 2 axis spec Table INPUT state display ZRN External ZPN INPUT OT2 Overtravel 2 Overtravel 1 DEC MAN si gnal UNCLAM ucl anp X An INPUT signal name can be displayed individually for A axis and B axis N J N can select the INPUT signal name and the selected si
226. ning with the circular table Therefore this mode is used for setting the data corresponding to the circular table and for using the various control functions in several ways 1 1 1 Setting preparation Each parameter can be set only by PARAM parameter mode regardless of STATUS such as alarms etc To prevent the mis input of parameter the parameter cannot be inputted unless a SET PERMISSION code is inputted When inputting the parameter input the SET PERMISSION code into PRM110 The content of PRM110 becomes the write inhibit state PRM110 0 of an initial value when the mode is changed or power is turned OFF SET PERMISSION code 0 STD Value parameters cannot be set 1 Parameters of 499 can be changed 999 All parameters of 633 can be changed KITAGAWA P1 1 Parameter MAC mini iH Series Parameter Expansion Manual ening steps MODE Push until PARAM is selected ENT Make PRM110 in setting state 11 or 99 9 Input a settable code ENT Set a SET PERMISSION code PRM INPUT permission Above is the steps for PRM INPUT PERMISSION and the PARAM LED of MODE flickers In case of 2 axis spec push A B and select the axis that sets the parameter before inputting the following data ENT Specify the parameter set
227. nitialization Even if CAN is pushed during initialization of system information the initialization mode cannot be interrupted 3 Starting screen gt The same screen as a starting state in usual power ON is displayed to start the screen KITAGAWA 12 5 RAM Clear MAC mini iH Series Maintenance Manual 12 6 KITAGAWA MAC mini iH Series Maintenance Manual Adjustment 3 Adjustment 3 1 Servo Adjustment When the unbalanced workpiece or jig is mounted to the rotary table vibration abnormal noise etc may occur At this time the set values for servo parameters for adjusting servo are shown in the following list If their parameters are inadequate for the machine the vibration and abnormal noise may be increased Therefore check the machine operation so that the machine can be stopped immediately when operating the machine after changing the parameter M C rigid Speed loop set No gain 510 Speed loop integral gain 511 Pos loop gain 512 Torque command filter time constant 584 Inertia 150 6000 150 250 Large 200 4500 200 200 300 3000 300 130 1 400 2000 400 100 600 1500 600 70 X If the vibration and abnormal noise occur at standard value change the parameter to the lower number of machine rigid KITAGAWA 13 1 Adjustment MAC mini iH Series Mainte
228. nual pulse generator can be used by the MANUAL mode The following explains the operating steps of manual pulse generator 6 5 1 Conf display of Display to check that the manual pulse generator selects the axis as is manual pulse generator Selected to A axis gt LEDonA axisof flickers Selected to B axis LED on B axis of flickers Axis set to OFF gt LED on A axis or B axis selected side of lights 6 5 2 Shifted by manual Shift the axis with the manual pulse generator pulse generator gt Push MODE and selects MANUAL Axis selection gt Select the axis to be shifted with the manual pulse generator In case of 1 axis spec A axis is selected In case of 2 axis spec A axis or B axis is selected Shift factor selection gt Select the scale factor of feed with the manual pulse generator as follows When shifting at 0 001 unit X I is selected at 0 01 unit 10 is selected andatt0 1 unit 100 is selected Dial turned in CW gt Selected axis is shifted in direction according to the scale factor Dial turned in CCW Selected axis is shifted in direction according to the scale factor Precautions gt axes of 2 axis spec are set by PRM117 The axis set as PRM117 1 is A axis and the axis set as PRM117 2 is B axis gt When operating the rotary table with the manual pulse generator though t
229. o G91 Incr 690 A90 WZRN POS Rotation angle 270 Start point W coordinate 270 pos pos A W coordinate m 4 902 pos P Rotation angle G91 90 a WZRN POS e ES N Start point 0590 90 WZRN POS N X W coordinate 90 pos Start point 7 fil angle Start point A 91 90 WZRN POS ede X W coordinate 12 angle G90 0 P WZRN POS TTT W coordinate Rotation angle 180 KITAGAWA W coordinate 180 pos G91 A0 7 WZRN POS a Rotation angle 0 MAC mini iH Series Operation Manual Program 4 5 14 SYS SETO The work coordinate system setting command G92 can set that the current position is changed to which position Precautions 1 The WZRN position set by G92 command can be changed by G92 command after that or a manual WZRN position The WZRN position data is not remained before change Program Boldface and italic type characters can be G92 J 7 abbreviated G92 Work coordinate system setting command A Setting angle Setting unit deg Setting range 0 359 999 Program jump Setting range 1 999 J 1 Subprogram return command destination Description Address A Setting Angle Theset value of WZRN position can be changed by setting that
230. o pack and motor are not conformed Parameter written in encoder is wrong Servo pack substrate is broken Over current or overheat of heat sink Servo pack substrate and thermo 1 Replace the servo pack switch are not connected properly U V W and the grounding cables Check and correct the wiring are not connected properly The phases among the motors U V and W are short circuited The load exceeds the regenerative 4 Review the loading and operation conditions processing capacity Servo pack fan stops Replace the servo pack Servo pack is broken Regenerative error Servo pack substrate is broken A Replace the servo pack Regenerative resistance wiring is 2 Check and correct the wiring wrong Servo pack is broken A Replace the servo pack KITAGAWA 11 21 Alarms Servo pack substrate is broken Regenerative energy exceeds the limit Power source voltage exceeds 270V Servo pack is broken Servo pack is broken AD power source is supplied with DC power source input Or DC power source is supplied with AC power source input PRM633 is not 0 when regenerative resistance is not connected Over voltage AD power source voltage exceeds 290V Working frequency is high and loading moment of inertia is high Servo pack is broken AC power source voltage is below 120V Servo pack fuse is meltdown Inrush current limit resistance is broken Momentary blackout occurs Motor
231. o the parameter Pn131 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME J DATA UNITO O 1msec Gain Change Time P132 GAIN CHANGE T2 DATA 00 65535 Description Corresponds to the parameter Pn132 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM540 NAME J DATA UNIT 1msec Gain Change Wait Time 1 P135 GAIN WAIT T1 00 65535 Description Corresponds to the parameter Pn135 of servo pack SGDS made by YASKAWA ELECTRIC CORP P1 52 KITAGAWA mini iH Series Parameter Expansion Manual Parameter PRM541 NAME Gain Change Wait Time 2 P136 GAIN WAIT 2 DATA UNITI Imsec 00 65535 Description Corresponds to the parameter Pn136 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Command Filter Bias CCW MESSAGE P144 CMD F BIAS CCW DATA UNITU O 0 1 DATA RANGE 00 10000 LI Description Corresponds to the parameter Pn144 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM545 NAME J Prediction Control ACC DECEL Gain 151 PREDICTION GAIN DATA UNITI DATA RANGE 00 300 Descriptio Performs the prediction control using an inputted position command Corresponds to the parameter Pn151 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM546
232. ock during stop O7 10 KITAGAWA MAC mini iH Series Operation Manual Diagnostics 7 13 MZRN data display This mode displays the angle from the deceleration dog detection in MZRN to basic pulse of motor encoder This displayed value is updated as often as MZRN is repeated 7 13 1 Channel MZRN data MZRN data screen Block No MZRN data display X n case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X The block No displayed becomes an execution block during operation and it becomes a next execution block during stop 7 14 Current display QUR LF This mode displays the current load condition at for motor rated current value 7 14 1 Channel No 96 for rated current Current 96 screen Block No Current 96 display X In case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage KITAGAWA O7 11 Diagnostics MAC mini iH Series Operation Manual 07 12 KITAGAWA MAC mini iH Series Operation Manual Program Examples 8 Program Examples 8 1 Unequal partition Incremental 000 G91 45 000 FO Incremental command 45 at rapid traverse 001 85 000 85 rev at rapid traverse 002 A92 000 92 rev at rapid traverse 003 A58 000 58 rev at rapid traverse 004 80 000 JO 80 at rapid traverse To top program of NOOO Absolute 000 290 45 000 FO Ab
233. of channels and the number of blocks can be changed optionally However maximum set values are as follows Number of channels 90 Number of blocks 1000 Extension Volume 50 blocks are summed up to one lot Example CH13 CH21 CH14 CH18 CH15 CH19 CH25 To simplify the above though 50 blocks are summed up to one lot the number of channels can be set at 1 block unit KITAGAWA MAC mini iH Series Operation Manual Program 4 3 Program display method The program is displayed on the LCD by editing the mode Though Channel Block are usually displayed the display contents of Address and Data are changed by the program contents Since this is divided into two addresses NEEDED UNNEEDED by G code inside of program unneeded address is not displayed Channel Block Axis name G address A address F address D address Axis G address Channel A address Block F address J address D address EDIT Screen Display on 2nd Axis Displays the number of program channel currently selected Displays the number of program block currently selected Displays the axis No currently selected In case of exclusive control for 1 axis A is displayed usually In case of the exclusive controller for 1 axis the change key can change the key to A J For address G prepared G code command is displayed When
234. ogram Setting range 1 Q 999 Start block No Repeating program Setting range 1 Q 999 End block No Repeating frequency Setting range 0 0 999 Program jump Setting range O 1 999 destination J 1 Subprogram return command Description Address P START Block Address P is an essential setting address When there is no P setting the alarm Err962 EDIT ILLEGAL G code occurs When the set value of Address is more than that of Address P the alarm Err962 EDIT ILLEGAL occurs Address E End Block No Address E is an essential set address When there is E setting the alarm off Err962 EDIT ILLEGAL Illegal G code occurs When the set value of Address E is less than that of Address P also the alarm Err962 EDIT ILLEGAL occurs Address L Repeating Frequency Address L is an essential set address When there is L setting the alarm Err962 EDIT ILLEGAL Illegal G code occurs In case of LO it is processed as 11 Addresses J is the same as Non G code Type Standard 04 32 KITAGAWA MAC mini iH Series Operation Manual Program Precautions on 2 axis spec When commanding G27 2 axis specifications are limited to the following items gt When commanding G27 it is inputted to only either axis When any program is inputted to the axis that is different as G27 command axis E
235. on 6 2 5 To restart program during TEMP STOP 6 2 6 Program interruption MAC mini iH Series Operation Manual Operation Stop the auto run temporarily during execution When the program is stooped temporarily from the pendant Stop the program temporarily during 9 operation When the program is stopped temporarily by external signal Turn OFF SP of The operation content is the same as above external STOP signal During TEMP STOP both LEDs of STATUS RUN J and STOP light Restart the program stopped temporarily by STOP inputting mode When the program is restarted from the pendant panel gt Remained program that the program is stopped because of TEMP STOP is operated ENABLE switch automatically When the program is restarted by the external signal Turn ON SP of gt Release the STOP signal from the external external STOP signal equipment Turn ON ST of gt The operation content is the same as above external START signal X During auto run STATUS RUN LED lights X When the auto run by 1 block is completed STATUS RUN LED goes out and STOP lights Interrupt the program during execution to stop the operation When the program is interrupted from the panel a gt Stop the operation during auto run to reset it When the program is interrupted by the external signal Turn ON RST of The operation is stopped dur
236. only address G is displayed the data shows nil Address A that shows the angle and time is displayed on the upper right stage When only address A is displayed the data shows nil Address F that shows rotation speed is displayed on the right side of lower stage block No When only address F is displayed the data shows nil Address D that shows the dividing is displayed on the right side of lower stage address F When only address D is displayed the data shows nil KITAGAWA 04 3 Program J address 9 Other axis mark 40 P address M E address 2 L address O4 4 MAC mini iH Series Operation Manual Address J that shows jump is displayed on the lower right stage When only address J is displayed the data shows nil In 2 axis spec when the program exists to the axis that is different as the screen display axis this mark is displayed n 1 spec this mark is not displayed P address E address L address G27 Screen Display Address P that shows the start block No of repeating function is displayed to the right side of G27 on the right stage only when G27 is commanded When only address P is displayed the data shows nil At this time when the program is stored the alarm Err962 EDIT ILLEGAL occurs Address E that shows the end block No of repeating function is displayed to the upper right side only when G27 is commanded When only address E is displayed the data sho
237. operation is positioned from any direction O 000 Invalid A axis standard 100 Direction positioning B axis standard The table is usually positioned from the plus direction When positioning from the minus direction the table passes through a commanded position Passing angle PRM105 once it reverses in the plus direction and approaches the commanded position 2 Direction positioning The table is usually positioned from the minus direction When positioning from the plus direction the table passes through a commanded position Passing angle PRM105 once it reverses in the minus direction and approaches the commanded position PRM105 1 PRM105 2 SIDE CMD POS SIDE SIDE CMD POS SIDE A C B m Approach amount PRM106 Approach amount 106 0 gt Concerned parameter PRM106 PRM106 NAME Unidirectional Positioning Approach Amount 8 App MESSAGEJ UNIDIRECTIONAL ANGLE DATA UNITO deg DATA 0 000 359 999 Description Sets the over travel Approach amount when returning after passing through a target value once with the unidirectional positioning VALID PRM105 1 or 2 gt Concerned parameter PRM105 NAME Parameter INPUT Permission Flag L MESSAGE PRM INPUT PERMISSION DATA RANGE 00 10 999 Description Sets the WRITE PERMISSION SPEC when the parameter is set 0 Impossible parameter setting 1 Pa
238. pec 0 MESSAGE EXT CH SPEC DATARANGE 001 Description Selects the method to select the program channel No from external channels O Rotary SW mode 1 M signal mode Concerned parameters PRMII2 See the item of EXT CH SPEC KITAGAWA P1 27 Parameter MAC mini iH Series Parameter Expansion Manual PRM034 360FIN Output Contact Flag MESSAGE 360FIN CONTACT FLAG 001 Description Selects the contact spec of 360FIN OUTPUT SIGNAL 0 B contact 100 A contact PRM034 0 B contact spec passing WZERO 4 A contact spec In passing WZERO gt WZERO POS POS REV REV 1 NL WZERO POS E WZERO POS CHECK 360FIND 360 PRM036 7 PRM036 NAME D BLKEINTiner BLKFIN TIMER DATA UNIT sec DATA 0 000 1 00 r3 Description Sets the output time of BLKFIN OUTPUT signal outputted in BLKFIN by the program operation under AUTO mode Start signal one shot PRM035z 0 START SIG REV N BLKFIN SIG BLKFIN PRM035 Start signal type turned OFF by BLKFIN _PRM035 0 When start signal is not OFF within 5 time START SIG REV BLKFIN SIG BLKFIN PRM035 Start signal type turned OFF by BLKFIN PRM035 0 START SIG REV NS
239. put signal name iH iHF iHP iH2 iHT O O IO JO IO 0 JO START INPUT ST STOP INPUT SP OUTER EMG STOP INPUT EXTEM CHANNEL SET INPUT CHSET CHANNEL SELECT INPUT 00 3 3 OUTER ZEN ZRNI OUTER RESET RST OUTER MODE CHANGE AUTOSET MANUALSET OUTER ZRN INPUT 2 ZRN2 O JO KITAGAWA 5 Configuration 6 Outer output signals Dry contact Power INPUT Vol Voltage fluctuation Frequency INPUT capacity Momentary power interruption Grounding condition Environment Service temp Storage temp Transp Temp Humidity Vibration proof Shock resistant Atmosphere Sizes WxDxH MAC mini iH Series User s Manual The power specifications of output circuit are to be within range specified to PELV Protection ultra low voltage and to be the following specifications 25V ACrms 30V DC Input signal name Cui iHF iHP 182 iHT Optionally completed OUTPUT 1 G99FINI 360 completed OUTPUT 1 360FIN 1 ZRN completed OUTPUT 1 ZRNFIN 1 Alarm OUTPUT A B ALMOUTA B EMG STOP OUTPUT EMOUT Channel No OUTPUT 6 CHOUTO 6 Optionally completed OUTPUT 2 G99FIN2 O 360 Completed OUTPUT 2 360FIN2 ZRN COMP OUTPUT 2 ZRNFI
240. r Corresponds to the parameter Pn304 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME Soft Start Acceleration Time MESSAGET P305 SOFT ACC TIME DATA UNITU msec DATA RANGE 00 10000 The step type Speed Command INPUT mode rotates the servo motor smoothly at a constant acceleration speed inside of servo pack At this time the time from motor stopped state to max motor rotary speed is set Corresponds to the parameter Pn305 of servo pack SGDS made by YASKAWA ELECTRIC CORP Soft Start Deceleration Time NAME KITAGAWA P1 55 Parameter MAC mini iH Series Parameter Expansion Manual MESSAGE P306 SOFT DEC TIME DATA msec 10000 Description The step type Speed Command INPUT mode rotates the servo motor smoothly at a constant deceleration speed inside of servo pack At this time the time from max motor rotary speed to motor stop state is set Corresponds to the parameter Pn306 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM578 NAME MESSAGE DATA UNITO O 0 01msec Speed Command Filter Time Constant P307 SPEED REF FLT DATA 00 65535 Description Primary delay filter is applied to the analog speed command to make the speed command smooth If a large value is set responsibility becomes wrong Corresponds to the parameter Pn307 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM579
241. r again after elapsing for 5 seconds 2 3 3 CPU status It is displayed that CPU is correctly started SALE When CPU NORMALCY does not light with power ON CPU error occurs Turn OFF power once and turn ON the power again after elapsing for 5 seconds KITAGAWA 02 11 Key Switches amp Display MAC mini iH Series Operation Manual 2 4 Data display 2 4 1 Data display part Displays LCD Liquid Crystal Display to display various data The following shows the basic display screen of each mode gt AUTO Axis name Angle gt MANUAL gt SINGLE Block Displayed content gt EDIT Axis nam G address Channel Block F address J address D address EDIT Screen for 1 axis Axis name G address Channel A address Block Other axis mark F address J address D address EDIT Screen for 2 axis A axis Parameter set value gt PARAM Parameter No Parameter Message O2 12 KITAGAWA MAC mini iH Series Operation Manual Mode 3 Mode 3 1 Mode selection 3 1 1 Mode selection To perform each operation it is necessary to select each mode The mode is changed in order as often as MODE key is pushed However the selected mode differs by the UNESTABLISH ESTABLISH modes for setting the MZRN position In MZRN position setting UNESTABLISH mode MANUAL gt EDIT PARAM gt MANUAL gt 0 As shown the above spa
242. r override becomes effective during automatic operation When the override is set other than 100 the LED of AUTO mode flickers When the override more than the set speed of MAX or is set speed is clamped at the upper limit of speed Address D Equal dividing number If there is no D setting or O or 1 is set an usual positioning is performed as non divide When the relationship between A command and D command is A D lt Min shift unit 0 001 deg the alarm of Err207 DIVIDE CMD ERROR Divide command occurs When the modal information is absolute and Address D is set at the same position as the current position the alarm of 207 DIVIDE CMD ERROR occurs when the program is executed Address J Jump When J is not set the program advances to next block after finishing the block When the block No is set to J the program jumps to the specified block No after finishing the block When J 1 is set inside of program at the subprogram the program returns to the main program Input regulation of 2 axis spec gt When address J is commanded to each axis the same address J is automatically set to another axis KITAGAWA 04 9 Program MAC mini iH Series Operation Manual 4 5 2 0000 DWELLD The program waits by the specified time to delay the movement to next block operation Program 604 Jg G04 Dwell time
243. r Clear Screen 2 gt Number 1 Standard is displayed on the right side of CL 2 display by inputting ENT 3 DI Selects that parameter clear is performed at which content 1 General parameter of MAC mini I series 2 General parameter of MAC mini iH series 3 Servo parameter The parameter clear is started and the value during clear is counted on right side When CL 2 is displayed the clear mode is finished Even if CAN is pushed during parameter clear the parameter clear mode cannot be interrupted 4 Starting screen The same screen as a starting state in usual power ON is displayed to start the screen Because parameter clear is performed Err 400 MZERO POS UN SETUP and Err 930 ENC BATTERY ALARM occur certainly 12 4 MAC mini iH Series Maintenance Manual RAM Clear 2 4 Initialization of system information When this operation is performed the controller information into the memory in the controller is rewritten to the information of a new system 1 Bub gt The initialization mode of system information mode CL 3 of program is entered in power ON POWER Initialization Screen of system information 2 gt The initialization of system information is started by inputting ENT EEPROM INIT is displayed and the character of EEPROM INIT flickers during i
244. rameter setting of PRM499 is permitted Parameters relative to servo after PRM500 cannot be set 999 Permits all parameter settings Precautions 1 Do not change the servo parameter usually KITAGAWA P1 35 Parameter mini iH Series Parameter Expansion Manual PRM112 Channel Select Flag MESSAGE CH SELECT FLAG 001 Description Sets the method to select the channel U 00 O Selects the channel by the panel keys of controller 1 Selects the channel by the external INPUT signal The channel select INPUT signals CHSELO 1 20 30 CHSET ofa general purpose INPUT select each channel Precautions 1 When the channel selection is set by the external INPUT signal it is necessary to select the mode of PRM033 together Concerned parameter 3 For detailed contents see the External Channel Selection PRM117 NAME Axis Type MESSAGE AXIS TYPE 001 Description specification of a controller is set up O 000 Inl axisspec MAC mini iH iHF nitial setting value 1 In2 axis spec MAC mini iH2 iHT Initial setting value gt Concerned parameters PRM240 PRM242 PRM243 PRM244 NAME Over Travel Detecting Type OT ADMIN DATA RANGED 001 Description Selects the specification of over travel detecting sig
245. rcuit protector CP22RM 15 B1 FUJI DENKI CPI cover 136029 1020 KITAGAWA Servo amplifier SGDS 04A01A YASKAWA SGDS 08A01A YASKAWA MAC mini iHT MAC mini iH2 Servo amplifier SGDS 08A01A YASKAWA Nozzle filter MBS 1220 22 DENSEI LAMBDA Nozzle filter MBW 1203 22 DENSEI LAMBDA Ferrite core ZCAT3035 1330 TDK Magnet conductor 51 06 DC24V 1 FUJI DENKI DC power AC200V DC5V LDAIOF 5 COSEL DC power AC200V DC24V LDA75F 10 COSEL Fan PUDC24D4 NIPPON SERVO Fan cover F 80 NIPPON SERVO N e Renewal parts Surge killer ENE471D 14A FUJI DENKI Spark killer RE1201 OKAYA Condenser lu f TAKIGEN Condenser 0 22u F IZUMI Mounting legs CP 30 FF 4A TAKIGEN Mounting hole plug OB 13 IZUMI RS232C D Sub25 connector HDEB 9P HIROSE A IN D Sub25 connector cover DE 60 J2 JAPAN Aviation Electronics Industry housing CZIO6L ILME JAPAN connector CDDF24 ILME JAPAN N1 pin CDMPO 3 ILME JAPAN NI pin CDFMI 0 ILME JAPAN CZIO6L ILME JAPAN N2 connector CDDF24 ILME JAPAN N2 pin CDMFO0 3 ILME JAPAN C C C CN2 housing C C N2 pin CDFMI 0 ILME JAPAN Hole plug CP 30 HP 10 TAKIGEN
246. rcuiting ZRNI INCOM WZRN of B axis is performed by short circuiting ZRN2 and INCOM gt Conditions 1 2 3 4 29 is 1 PRM029 1 Only MANUAL mode is to be valid ZRN signal INPUT time is continuous 100msec or more MZRN is to be finished gt Contents G99FINI OUTPUT of A axis is turned OFF by short circuiting ZRNI and INCOM G99FIN2 OUTPUT of B axis is turned OFF by short circuiting ZRN2 and INCOM Conditions 1 2 3 029 is 2 29 2 AUTO and SINGLE modes become valid ZRN signal INPUT time is continuous 100msec or more gt Contents AUTO mode is selected from outside by short circuiting AUTOSET and INCOM MANUAL mode is selected from outside short circuiting MANUALSET and INCOM gt Conditions 1 2 EXE mode SELECT becomes valid at READY status EXE mode SELECT is to be changed from any mode However in the following case it is not to be changed e While editing the program under EDIT mode While setting the parameter under PARAM mode EXE mode is to be selected only by inputting any mode When both modes are inputted Err 219 EXT MODE SEL ERR occurs The mode just after INPUT OFF of EXE mode SELECT is returned to the mode just before INPUT ON In EXE mode SELECT INPUT ON panel mode is not selected KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 2 Output signals Output signal from external terminal
247. rcular table and the motor Concerned parameters PRM564 PRM565 AUTO P1 16 KITAGAWA mini iH Series Parameter Expansion Manual Parameter PRM013 NAME Motor Rev direction Flag MESSAGE MOTOR DIRECTION DATARANGE 001 Description Changes the rev direction of motor table CW Clockwise when viewed from motor 1 CCW Counterclockwise when viewed motor PRM014 NAME I Override Step Amount 5 OVERRIDE STEP AMOUNT UNITI 100 Description When pushing OVR DEL or INS simultaneously the value of override can be increased or decreased At this time one increase or decrease amount is set NAME Deviation Check Amount in Clamp MESSAGE POS DEV CHECK CLAMP DATA UNITI deg DATA 0 0000 16 000 Description The system checks the position PRMO015 SET VL Err0190CCR_ deviation in table clamp and it allows POS DEV AMT Err 019 POS DEV OVER CL STOP POS to issue when the table is shifted over SERVO 5 AREA the set value by an external force _ SERVO OFF CLAMP OUTPUT The parameter is set at value on the EXIT UCL basis of a stop command position KITAGAWA P1 17 Parameter MAC mini iH Series Parameter Expansion Manual PRM016 MZRN Direction
248. ria arr P6 3 6 2 3 To release OVER TRAVEL P6 4 6 2 4 shifting method ccce eee eee eee eene 6 4 7 Data COMMUNICATION 7 1 JL DATA COMMUNICATION P7 1 7 2 PROGRAM DATA COMMUNICATION USING CONTROLLER FUNCTIONS P7 2 7 2 1 Invece P7 2 7 2 2 Interruption during program input eee ee eee eee ee ee eene nennen enun P7 3 7 2 3 Program eee o eee ee en no ro isinisi P7 3 7 2 4 Interruption during program output ccccccscscscscscscscsccscscscscscsecs P7 3 7 3 COMMUNICATING PARAMETER DATA USING CONTROLLER 2 P7 4 7 3 1 Prosram inpit Gila aaa P7 4 7 3 2 Interruption during program input 2 P7 5 7 3 3 Program output P7 5 7 3 4 Interruption during program output 7 5 7 4 COMMUNICATION DATA FORMAT lt esee eese P7 6 7 4 1 Program dat a 6 P7 6 7 4 2 Parameter P7 6 P2 KITAGAWA mini iH Series Parameter Expansion Manual Parameter 1 Parameter 11 Parameter setting The parameter setting mode differs by the methods combi
249. rminals C8 3 3 1 2 1 ST Signal FARA RR RA A e s C8 4 8 1 2 2 SP signal COC ORCL C8 4 8 1 2 3 EXTEM signal C8 5 8 1 2 4 External channel select signal C8 5 8 1 2 5 CHSEL0 1 2 3 signals Binary type E A C8 5 8 1 2 6 CHSELO0 1 2 3 signals M signal type eus ses ecessesesvesceseseserees C8 6 8 1 2 7 CHSET signal ds eov SWISS Lv ele Se IE VV VOR C8 6 8 1 2 8 RST signals ROR CECE ert esci arsi vi nee een C8 7 8 1 2 9 ZRN signal eio Us a eee ps s ip UR uis et PE Pise UE Sis C8 7 8 1 2 10 MANSIT C8 7 8 1 2 11 VANILLE C8 8 8 12 12 FIN signal for G99 CLR IRI LIT EI IQ LE NIIS QI I II C8 8 8 1 2 13 AUTOSET MANUALSET signals see Use en ses C8 8 8 2 OUTPUT SIGNALS GSeceessasesacesiteesuetasseui SAU orev M va Erb RE EE C8 9 8 2 1 OUTPUT signals for rotary table eee eene C8 9 8 2 1 1 BK Signal pe Sip bis es i pe iesus pus es ib bine NE C8 9 8 2 2 Output signals for EXE cccscccsssscssscscscscscsccssssscscscscscssseceees C8 10 8 2 2 1 BLKFIN signal SEE A BEE B E D AE E SARI EE O ANA C8 11 8 2 2 2 G99FIN signal CI
250. rnal equipment can be inputted by opening EXTEM and INCOM When the external EMERGENCY STOP is turned OFF Err 002 EXT EMERGENCY SP occurs When the power supply to the motor is turned OFF and short circuit is braked ON simultaneously the motor is stopped immediately gt Conditions 1 Usually monitored 2 When EXTEM is OFF it has priority over other functions except EMG SP 3 The motor must not be reset until EXTEM and INCOM are opened 8 1 2 4 External channel select The external channel has two kinds of binary mode and M signal mode which signal are selected by parameters Each signal differs by a used mode 8 1 2 5 When INCOM is short circuited in order of CHSELO CHSELI CHSEL2 CHSEL3 the channel No can be inputted at binary signal When the binary signal is inputted during AUTO mode the channel No can be selected However this signal only selects the channel No and it cannot perform a setting change When the setting change is performed it is necessary to input CHSET gt Conditions 1 This mode is valid for only when PRM033 0 and also PRM112 1 2 When STATUS is STOP or RESET state under AUTO mode the binary signal can be changed 3 The selection of channel inputted during BLKFIN or G99FIN output is to be invalid KITAGAWA C8 5 I O Signals MAC mini iH Series Connection Manual 8 1 2 6 M signal type g ype When CHSELO and INCOM are short circu
251. rr962 EDIT ELLIAGAL occurs Program examples Prg G27 1 JT hough G27 is commanded to the program of A axis it is for both A and B axes 000 A G27P10E12L3 001 A G24J0 10 10 000 0 N011 5 000 B A15 000F0 012 000 527 2 G27 is commanded to the program of B axis it is for both A and B axes N000 B G27P10E12L3 01 B G24J0 010 A A10 000F0 011 5 000 15 000 0 012 0 000 Inadequate program example G27 command block is inadequate m 000 A G27P10E12L3 B G27P20E25L5 m N000 A G27P10E12L3 B A5FO m N000 A ASFO0 B G27P10E12L3 KITAGAWA O4 33 Program Program examples 04 34 MAC mini iH Series Operation Manual Program Contents NOOO G24 WZRN 01 G27 P50 E51 L3 After repeating 050 051 blocks 3 times by G27 command the program shifts to N002 002 G24 WZRN 050 A20 000 FO 051 40 000 Indexes 20 at the rapid traverse of rotation speed Indexes 40 at the rapid traverse of rotation speed In the above programs loops for G27 NOSO 051 POS e 50 01 1 repeatin N14 Pee 19 N50 2 Start point repeating 51 50 Sa repeating Program Program flow Val udT Start input Operating block NOOO G4 1 Passi ng bl ock 01 G7 P10 E11 12 2 02 O
252. rrect the circuit of AUTOSET and ANUALSET is short circuited MANUALSET Replace the cable when CB3 cable is incorrect G09 execution axis error Program error In the case of 2 axis controller the 1 Check the program and correct them so that the same axes that were not used for G08 axes as used for 008 command are used for G09 command are used for G09 command command Address error The transfer program is inadequate The display shows other than A nor B 1 2 Check the transfer content and send normal data when program is transferred An address that does not exist is transferred NC program is not enclosed with or Check the content of the remote program command and when remote controlled send normal data NC axis command error The transfer program is inadequate A or b is displayed on the NC program transferred through remote control single axis specification The letter behind isnot A B or 12 Check the transfer content and send normal data The transfer program is inadequate The set value of the NC program address is wrong when automatic operation is performed Check the address of the sending program and send normal data ii 11 16 KITAGAWA MAC mini iH Series Maintenance Manual NC program channel number is wrong when automatic operation is performed NC program block number is wrong when automatic operation is performed G code that became failure be
253. rse side Corresponds to the parameter Pn403 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM587 NAME External Torque Limit on CW Side P404 CW EXT T LMT DATA UNITI DATARANGE O 00 800 Description Limits the max value of OUTPUT torque on CW side preset at the external contact INPUT Corresponds to the parameter Pn404 of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM588 NAME I External Torque Limit on CCW Side MESSAGE P405 CCW EXT T LMT DATA UNITO 0 9 DATA RANGE 800 Description Limits the max value of OUTPUT torque on CCW side preset at the external contact INPUT Corresponds to the parameter Pn405 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME 1 Stage Notch Filter Frequency P409 1TH NOTCH FLT 0 DATA UNITI Hz DATARANGH 500 2000 Description Sets a machine frequency Corresponds to the parameter Pn409 of servo pack SGDS made by YASKAWA ELECTRIC CORP NAME 1 Stage Notch Filter Q value P40A 1TH NOTCH FLT DATA 0 01 O 500 1000 Description Because the machine vibration is restricted if overshoot occurs adjust it with Q value Corresponds to the parameter Pn40A of servo pack SGDS made by YASKAWA ELECTRIC CORP PRM594 NAME 274 Stage Notch Filter Frequency MESSAGE P40C 2TH NOTCH FLT DATA UNITI Hz DATA
254. s Err 400 MZERO POS UN SETUP The case required for MZRN is as follows gt gt gt gt The encoder cable is removed from the motor With the back up battery gone out the power of controller is turned OFF The set value of PRM123 is set to 0 The set value of gear ratio of PRMOII is changed KITAGAWA P2 1 ORG MODE Selection MAC mini iH Series Parameter Expansion Manual 2 2 Directly setting method The following explains the steps to set ORG POS directly 2 2 1 Directly setting of gt Push MODE select MANUAL ORG MODE gt Shift the table manually to the angle to be ON MZRN position ENABLE switch or manual pulse generator gt Push MODE select PARAM ENT ENT Set 1 to PRM110 so that any parameter can Li e written gt Call the ORG POS COMPLET parameter E L ENT gt Set the set value of parameter to 1 to gt gt EU establish the ORG POS NPUT gt INPUT is pushed and a power suppl y is gt turned off X When setting the MZERO position directly set the ORG POS COMPLETE parameter to 0 X With ORG POS COMPLETE parameter set to 1 when MZERO position is established STATUS READY LED lights X When setting PRM123 1 of ORG POS COMPLETE Err 091 POWER OFF ALARM 15 displayed and power is turned OFF X A setup of PRM123 cannot perform A axis and B axis simultaneously After axis se
255. s BK OUTPUT BK B axis CLAMP 3 BK C B axis MZRN FIN ZRNFIN2 500msec BLOCK FINISH BLKFIN PRM035 gt Contents When the STATUS of controller is in alarm state this signal is outputted from the connection between ALMOUTA and OUTCOM and connection between ALMOUTB and OUTCOM When any alarm occurs the connection between ALMOUTA and OUTCOM is closed and the connection between ALMOUTB and OUTCOM is opened The alarmis continuously outputted while the STATUS is in alarm Contents The channel number during selection is outputted between CHOUTO 1 2 3 4 5 6 and OUTCOM by binary Channel number OUTPUT is changed simultaneously with BLKFIN OUTPUT for checking channel change Contents The contact of emergency stop button of controller is outputted from the connection between EMOUT and EMOUTCOM Since EMOUT is B contact spec the contact is closed in normal and it is opened when the emergency stop button is pushed KITAGAWA MAC mini iH Series Connection Manual I O Signals 8 3 Signal timing in program 8 3 1 General programs The basic time chart from the program start to operation finish is shown in the following figure 220 gt 1 gt 0 START SIGNAL ST BRAKE OUTPUT BK 1 BK 1 CLAMP CHECK SIG BK C1 UNCLAMP CHECK SIG BK UC1 TABLE SHIFT POSITIONING FIN IN POSITIO
256. s not change The timing to change the channel is after 500msec from CHSEL INPUT start KITAGAWA MAC mini iH Series Parameter Expansion Manual External Channel Selection 5 2 M signal mode Each INPUT signal adds the value one by one adds subtracts the value 10 by 10 and clears the value to 00 The program channel can be selected by their combination When the external channel is selected by the M signal mode CHOO max CH89 for the extension channel setting can be selected setting When the external channel is selected by M signal mode set the parameter as shown below PRM033 1 External channel is selected by M signal mode PRM112 1 External channel is selected 5 2 2 External I O signals signals relative to the external channel selection of M signal mode are as follows Input signals to show the channel No gt CHSELO ZERO Signal Channel No cleared to 0 gt CHSELI PLUSI Signal Channel No added one by one gt CHSEL2 PLUS10 Channel No added ten by ten gt CHSEL3 MINUS10 Channel No subtracted ten by ten OUTPUT signal to show channel No change finish gt BLKFIN Block finish signal KITAGAWA P5 3 External Channel Selection MAC mini iH Series Parameter Expansion Manual 5 2 3 Timing 100msec 100msec or more ZERO CHSELO PLUS1 CHSEL1 PLUS10 CHSEL2 MINUS10 CHSEL3 Channel Y change finish BLKFIN
257. selection 06 4 6 3 2 AXIS Selection icaro aiar 06 4 6 3 3 Low speed JOG feed 2 202 2 2 1 06 4 6 3 4 High speed J OG feed 2222 06 5 6 3 5 STEP feed 06 5 024 OVERRIDE sia aaa O6 6 6 4 1 Override display 6 6 6 4 2 gt 2 6 6 6 5 MANUAL PULSE GENERATOR OPTION O6 7 6 5 1 Conf display of manual pulse generator O6 7 6 5 2 Shifted by manual pulse generator O6 7 7 Diagnostics 4 4 7 1 7 1 DIAGNOSTIC SCREEN STRUCTURE OPERATION O7 1 7 1 1 Diagnostic screen structure 07 1 7 1 2 Diagnostic screen display O7 1 7 1 3 I O diagnostic display content confirmation 07 2 7 2 COMMAND WORK COORDINATE DISPLAY WP R 07 3 7 3 COMMAND MACHINE COORDINATE DISPLAY 07 3 7 4 REMAINED SHIFT DISPLAY RD R O7 4 7 5 EXTERNAL CONNECTION INPUT CONDITION DISPLAY AC I Miei 07 5 7 6 TABLE INPUT CONDITION DISPLAY EA I 07 6 7 7 EXTERNAL CONNE
258. side of over travel ET mati Common line of No 1 4 CLAMP BK C2 Checks CLAMP of brake Li BK UC2 Checks UNCLAMP of brake OVRUNA2 Checks side of over travel OVRUNB 2 Checks side of over travel nee 10 COMMON Common line of No 6 9 For these INPUT signals an exclusive cable CB1i is routed to connect the controller and the rotary table KITAGAWA C8 1 1 0 Signals 8 1 1 1 BK C signal 8 1 1 2 BK UC Signal 8 1 1 3 OVRUN Signal C8 2 MAC mini iH Series Connection Manual gt Contents CLAMP be checked by short circuiting BK and INCOM BK Cl is for A axis single axis and BK C2 is for B axis gt Conditions 1 BK C signal is for monitoring usually in case of PRM038 1 and it is unused in case of PRM038 0 2 BK C signal INPUT time is to be continuous 100msec or more gt Contents UNCLAMP can be checked by short circuiting BK C INCOM BK UCI is for A axis single axis and UC2 is for B axis Conditions 1 BK UC signal is for monitoring usually 2 BK UC signal INPUT time is to be continuous 100msec or more gt Contents OVER TRAVEL is checked by the signal between OVRUN and INCOM OVRUNAI and OVRUNBI are for A axis single and OVRUNA2 and OVRUNB2 are for B axis Conditions 1 OVRUN signal is for monitoring usually 2 OVRUN signal INPUT time is to be continuous 100msec or more KITAGAWA MAC min
259. solute command Rev to 45 pos at R trvs 001 130 000 Rev to 130 at R trvs 002 222 000 Rev to 222 at R trvs 003 280 000 Rev to 280 at R trvs 04 A0 000 JO Rev to 0 at R trvs To top program of NOOO 8 2 Equipartition Block repeating 000 G91 A45 000 FO JO Incremental command 45 rev at rapid traverse To top program of NOOO 315 45 270 This program is repeated 8 times gt Partition command 000 G91 A360 000 FO D8 JO Rev to 360 8 at R trvs To top program of NOOO For revolution of 360 8 45 the ST signal is required every 225 cycle After operating 8 times the program is finished KITAGAWA 08 1 Program Examples MAC mini iH Series Operation Manual 000 G91 A 120 000 FO 001 002 003 10 000 20 000 G25 A30 000 J1 stopped 001 004 990 120 000 8 3 Loop jumping functions Incremental command 120 rev at R trvs 10 rev at R trvs 20 rev at R trvs Escaped from loop after revolving 30 at rapid traverse when passed through WZERO position or stopped at its place When not passed or the block jumps to and loop is repeated Absolute command Revolved to 120 at rapid traverse To program top of 000 position 8 4 Repeating functions 110 9 1 20 S 10 00 G27 10 E012 L6 JO 10 G91 A10 000 FO
260. splay prompts to turn the power off Parameter input ended X Input the program to transmit according to the data format explained in the later section of this instruction manual X Key in INPUT after parameter input is not necessary 1 Previous parameters are overwritten at the beginning of parameter forwarding Save parameter data backup before input operation 2 After rewriting the parameters turn off the power and reboot P7 4 KITAGAWA MAC mini iH Series Manual Data Communication 7 3 2 Interruption during This is to stop parameter input in process parameter input 2 Parameter input is interrupted and stops with al contents and number at the time of interruption displayed Example Interrupted at PRM123 being input The parameters forwarded before the interruption are replaced X Even in case of Interruption Err 091 POWER OFF PRM is displayed therefore proceed with power off operation Inputting INPUT after parameter input is unnecessary X The display indicating the interruption of input remains until any key other than CAN is pushed 7 3 3 Parameter output This is to write parameter from external equipment External equipment gt Prepare the external equipment standby for standby for data communication data download download Push MODE to select PARAM D
261. ss Channel To classify the multiple programs stored into memory each block is called the channel Though 16 channels are prepared usually maximum 90 channels can be increased optionally by parameter change Block The programs in the channel are numbered with block No in order from the program top Address Address shows factors required for the programs such as angle speed etc with alphabetic characters Data Data means the value set to each address KITAGAWA O4 1 Program MAC mini iH Series Operation Manual 4 2 Program area structure The program in the controller manages the information of channels and blocks into the memory EEPROM Area structure 04 2 The operation program is stored in the area called the program area The size of this storage area program area is fixed and the area has the capacity of 2000 block For this reason the program can be created into the max total capacity of 2000 block However one channel program block cannot occupy all blocks This program area is divided into min 2 channels max 90 channels In the standard this program area is divided into 16 channels Dividing of program area Standard Volume 50 blocks are summed up to one lot In case of standard the number of channels and the number of blocks are determined 500 block Block Nos NOOO N499 CHOI CH15 100 block Block Nos N000 N099 In case of extension the number
262. t channel is displayed When the program capacity of CH PRG displayed during program deletion is small it may not be read because it is only displayed in the blink of an eye KITAGAWA 05 11 Program Operation 5 6 2 1 BLOCK COPY 05 12 MAC mini iH Series Operation Manual Copies and inserts the contents of selected block into the next block i gt Select the EDIT of program EDIT 2 m Call the channel to be edited 3 Call the block to be copied When INS the block No flickers ON ENT When pushing the block of the same contents is copied into the next block X Shifts the block after the block that is not copied to the back one by one At this time the block No of program contents that the block No is specified is automatically generated Before block copy After block copy 00 000 FO 00 000 FO 01 180 00000 Addition N01 180 000 02 G7 P10 E12 02 180 000 0000 Added block 003 4 03 7 E13 04 624 x _ Automatically generated 10 90 A15 000 F1000 jump destination No 11 A30 000 F2000 11 90 A15 000 F1000 12 A45 000 FO 12 A30 000 2000 13 45 000 No after addition X final block of channel is forcedly deleted X When there is the program that the final block of channel is specifi
263. the currently stopped position is determined to which position When setting over the set range the alarm Err944 PROG A ERROR Program A address input error occurs Address J is the same as Non G code Type Standard KITAGAWA O4 37 Program Program examples 04 38 MAC mini iH Series Operation Manual Program Conents NOOO G24 WZRN 001 G90 A90 000 FO Indexes 90 pos at rapid traverse the basis 002 G92 0 Exe block Coordinate value WCoordinate Start pos 0 000 90 000 0 000 of WZRN Sets current pos to 0 from WZRN pos Current pos is regarded as WZRN WZRN POS before _ execution 000 Start paint P POS changed by 002 Program Conents NOOO G24 WZRN 001 G90 90 000 FO Indexes 90 pos at rapid traverse the basis of WZRN 002 G92 A180 Sets current pos to 180 from WZRN pos 003 270 JO Indexes 270 pos at rapid traverse in CCW on Exe block Coordinate value WCoordinate Start pos 0 000 90 000 180 000 270 000 WZRN POS changed by 002 KITAGAWA the basis of WZRN WZRN POS before execution NO03 MAC mini iH Series Operation Manual Program BLKFIN NON OUTPUT command G97 does not output BLKFIN on the usual program execution When operating the circular table by interlocking
264. to operate the table by the program into the memory automatically 6 2 1 Program selection Select to the program to be operated automatically gt When pushing MODE the mode is changed in order Push this button several times until EDIT is selected LED lighting m EJ gt Select an auto run execution program When the channel is changed the block of 000 is selected When executed except block No NOOO EJ gt Select the auto run execution block 6 2 2 Mode selection Select the AUTO mode to perform the auto run gt When pushing MODE the mode is changed in order Push this button several times until AUTO is selected LED lighting 6 2 3 Program START Perform the auto run of program When the program is executed from the pendant gt Automatically operate the program by 1 block currently displayed ENABLE gwileh The ENABLE switch is required only start Even if operation is released during automatic operation it does not stop When the program is executed from the external signal Turn ON ST of gt The operation content is the same as above external START signal X During auto run STATUS RUN LED goes out STOP lights X When the auto run by 1 is completed STATUS RUN LED goes out and STOP lights 06 2 KITAGAWA 6 2 4 To stop program temporarily during executi
265. traverse The safety direction when Err 032 OVER TRAVEL occurs is usual side and the releasing method to the safety direction is as follows However the table does not shift direction even if is pushed mode to MANUAL amp Shift the table in direction with INS of JOG key When JOG operation is performed pushing the table rotates at rapid traverse 6 1 4 Forcedly shifting When Err 031 OVER TRAVELI occurs the forced shift in direction is method as follows Set the mode to MANUAL When pushing INS with pushed the table shifts in direction of danger direction The forced shift of Err 032 OVER TRAVEL is as follows 0 Set the mode to MANUAL When pushing with pushed the table shifts in direction of danger direction The feedrate when the forced shift is performed is fixed at 0 5min Precautions Do not use this forced shift mode usually Because this forced shift is performed in a danger direction when performing the operation unavoidably check that the table does not interfere or collide with any obstruction P6 2 KITAGAWA mini iH Series Parameter Expansion Manual Over Travel 6 2 Serial detecting method The plus side and minus side of OVER TRAVEL are determined by an operational direction in OT detecting with OVRUNI of over travel signal For this reason when res
266. tremely because the equipment becomes unstable Precautions JAN CAUTION Route an external emergency stop circuit so that the equipment can be stopped immediately Do not disassemble and repair the equipment Do not modify or remodel the equipment Minimize the effect of electromagnetic interference with a noise filter etc O Countermeasures JAN CAUTION If an alarm occurs eliminate the cause and check safety before resetting the alarm and then restart the equipment KITAGAWA MAC mini iH Series User s Manual Configuration Configuration temo Specifications Controlled axes mini iH iHF 0 laxis Servo motors 750W 400W mini iH2 iHT 2 Servomotors 750W 750W 750W 400W MAC mini iHP 1 axis Servomotors Backup by Writing frequency 100000 times Motor capacity 400W 750W 4 Table INPUT DC24V SmA Input signal name m iH iHF iHP iH2 iHT CLAMP INPUT 1 UNCLAMP INPUT 1 BK UC1 OVERRUN INPUT A1 OVRUNAI OVERRUN INPUT OVRUNB1 CLAMP INPUT 2 BK C2 UNCLAMP INPUT 2 BK UC2 OVERRUN INPUT A2 OVRUNA2 OVERRUN INPUT B2 OVRUNB2 OUTPUT DC24V 0 5A Input signal name iH iHF iHP iH2 iHT BRAKE OUTPUT 1 1 1 BRAKE OUTPUT 2 BK 2 BK 2 OUTER INPUT INPUT DC24V 5mA Signals mini In
267. tted and its G99FIN OUTPUT is turned OFF when the INPUT of ZRN signal PRMO29 2 is checked When the ZRN signal that is the G99 check signal is not inputted within this set time Err217 G99FIN TIME OUT occurs PRM027 1 PRM028 PRM029 2 When start signal is not OFF within 5 time START SIG G99FIN umm G99FIN ZRN INPUT signal LA for checking G99 E Y BLKFIN SIG 5 1 BLKFIN PRM027 1 PRM028 PRMO29 2 case of table rotation When start signal is not OFF within PRMO35 time START SIG REV G99FIN G99FIN ZRN INPUT signal for checking G99 BLKFIN SIG PRM035 BLKFIN For G21L99 command this parameter is invalid When G21L99 is commanded G99FIN is outputted when it is started When 028 0 PRM029 2 is established when PRMO27 1 is Err 217 G99FIN TIME OUT occurs 6 Concerned parameters PRMO27 PRM029 PRM029 NAME External ZRN Input Spec MESSAGE EXT ZRN SPEC O 00102 Description Selects the specification of ZRN INPUT SIGNAL 1 External MZRN Performs MZRN by inputting ZRN in MANUAL mode KITAGAWA P1 25 Parameter MAC mini iH Series Parameter Expansion Manual 1 External WZRN Performs WZRN by inputting ZRN in MANUAL mode 2 G99 CHECK SIGNAL Only PRM027 1 VALID This parameter is used for receiving the CHECK SIGNAL to G99FI
268. tup please carry out power supply OFF ON and also set up another axis P2 2 KITAGAWA MAC mini iH Series Parameter Expansion Manual ORG MODE Selection 2 3 Detector marker detecting method Non dog The following explains the steps to set the ORG MODE SELECT with the marker of motor encoder 2 3 1 Detector marker detecting set 65 6 ENABLE switch or manual pulse generator ENABLE switch gt Push MODE to select MANUAL gt Shift the table by one revolution of motor to the place just before the position to be MZRN position Detect MZERO with the marker deceleration speed PRMOO2 When the marker detecting is performed on shift motion the table stops immediately and ORG POS COMPLETE parameter set value is automatically set to thus establishing MZERO position X When setting ORG MODE SELECT directly set the ORG POS COMPLETE parameter to 0 X When the ORG POS COMPLETE parameter is automatically set to 1 STATUS READY LED lights X When MZERO is established by MZRN Err 091 POWER OFF ALARM and POWER OFF are required and displayed X Angle by one revolution of motor differs by gear ratio Gear ratio 1 36 1 60 1 72 1 90 1 120 1 180 1 360 Angle by one revo of motor 10 6 5 4 3 2 1 KITAGAWA P2 3 ORG MODE Selection MAC mini iH Series Parameter Expansion Manual 2 4
269. uted this signal is outputted together with BLKFIN signal When program G21 1 99 is executed G99FIN is outputted The output times of the above are fixed to 500msec START SIG ST TABLE REV TTT BRAKE OUTPUT BK 2 2 CLAMP CHECK BK C OPTION FIN SIG G99FIN ___ D 20msec gt eUMSEC G99FIN IN G21 199 500msec EXECUTED d G99FIN 500msec The output time in PRM029 2 G99 check signal is PRMO28 START SIG ST Ge9CHECKSIG OPTION FIN SIG G99FIN 71 14 gt 5 PRM028 Err 217 occur When set to PRM018 2 G99FIN is continuously outputted while BK is being outputted because it is different from the usual G99FIN output TABLE REVO ___ BRAKE OUTPUT OPTION FIN SIG iD CC G99FINI is for A axis single axis G99FIN2 is B axis G99FIN2 is for exclusive MAC mini 1 2 KITAGAWA MAC mini iH Series Connection Manual 1 0 Signals 8 2 2 3 360FIN signal gt Contents In case of PRM025 0 when the table passes through WZERO position or stops at its place this signal is outputted from the connection between 360FIN and OUTCOM The output contact can be changed at PRM034 The output time of one shot type is set to PRM036 TABLE REV NN 4 BRAKE OUTPUT e NN PRM036 In case of 25 1 the output area based WZERO is set to
270. ve only A axis is displayed at 1 axis spec MAC mini iH iHF Both axes are displayed on a screen A axis on upper stage B axis on lower stage at 2 axis spec MAC mini iH2 iHT series This display method is common to a general diagnosis screen 7 1 3 I O diagnostic display the diagnostic screen of I O system the I O condition is displayed with content confirmation OND 0 OFF The under bar located under 1 0 shows the signal content gt Feeds the signal content to right At this time under the signal condition display Q 1 0 is shifted in order When keying in at the right edge the signal is shifted to left gt Feeds the signal content to left At this time under the signal condition display 1 O is shifted in order When keying in at the left edge the signal is shifted to right left top signal is selected 07 2 MAC mini iH Series Operation Manual Diagnostics ded Command work coordinate display The angle commanded by the program is displayed on the coordinate system on the basis of WZRN position 0 0000 7 2 1 Command work Channel No Command angle coordinate screen Block No Command work coordinate X case of 2 axis spec the content of A axis is displayed on upper stage and that of B axis on lower stage X block No displayed becomes an execution
271. wer than the rated value 2 7V Batteries are not connected properly or Replace the battery Connect the batteries properly not connected at all Encoder data alarm Abnormality occurs in the encoder data Servo pack substrate is broken Replace the servo pack Encoder s improper operation Take proper measures on wiring and peripherals of the encoder Divide the interconnections between encoder and power source 3 Encoder is broken Replace the motor Motor rotates at the fixed speed or higher when Encoder over speed encoder power source is supplied Motor rotates at 200min or higher Turn on the encoder power source when the motor rotation speed is 200min or lower when encoder power source 15 supplied Servo pack substrate is broken Replace the servo pack Encoder is broken Replace the motor ee ee Oe eee eee 11 24 KITAGAWA MAC mini iH Series Maintenance Manual Alarms Description of alarm i Details Par soe nata s kh 860 the load il Set the motor load within the rated values is operated at exceeding the rated load Motor is in continuous operation Reduce the motor rotation speed Servo pack substrate is broken Replace the servo pack Encoder is broken Replace the motor B10 Speed command A D error Replace the servo pack 2 Motor cable is broken Review the motor wiring Servo pack substrate is broken Replace the servo pack
272. when the operation is started However when L99 is specified BLKFIN does not output Addresses and J are the same as Non G code Type Standard Precautions on 2 axis spec When commanding G21 2 axis specifications are limited to the following items gt n the block commanding G21 only G21 can be commanded to another axis If commands except G21 G21L99 are issued Err962 EDIT ELLIAGAL occurs Inadequate program example Prg G21 1 T If command except G21 G21L99 is issued to the axis that is different as the axis commanding G21 m A G21A360F0 B A90F0 A A360F0 B G21A90F0 04 22 KITAGAWA Concerned parameters Timing chart MAC mini iH Series Operation Manual Program PRM042 Selects VALID INVALID of delay timer of BLKFIN G99FIN in G21 command 0 Delay timer PRMO43 INVALID 1 Delaytimer PRM043 VALID PRM043 Sets the delay time of output signal of BLKFIN or G99FIN in G21 execution Precautions 1 Though 43 be set from 0 00sec it takes about 10 20msec of time for internal processing Therefore even if PRM043 lt 0 02 is set the system cannot output BLKFIN according to the set time In case of PRMO42 0 42 1 PRM043 lt 0 02 Dela time 20msec 00 G21 A360 Start GG sa Rotation _ In case of PRM035 0 BLKFIN is turned OFF at BLKFIN START OFF
273. witch HE3B M2P IZUMI DENKI LCE PVC200203P PICVUE Hole plug HP 8 MISMI A3 2 Ferrite core ESD SR 16 KITAGAWA NEC TOKIN
274. ws nil At this time when the program is stored the alarm Err962 EDIT ILLEGAL occurs Address L that is optionally outputted in the repeating frequency of its function or interlocking function G21 is displayed on the center of lower stage The address L is displayed only when G21 and G27 are commanded When only address L is displayed the data shows nil When the program is stored with G27 commanded the alarm of Err962 EDIT ILLEGAL G occurs KITAGAWA 4 4 Address functions MAC mini iH Series Operation Manual Program The detailed explanation of addresses for program structure is as follows Address Content Set unit Set range Remarks See Clause of G code function Rotation angle command degree 999 999 Dwell time command sec 0 011 999 99 It becomes the setup of 0 025min Rotation speed command 0 01min 9999 when the setup of 1 or 2 is done When jumped to block before Jump command Block No 998 command block When jumped to block after command Subroutine command Block No 10 999 block Return command Return No 1 Single subroutine end Dividing Dividing command OL 999 number Start block command of Block 10 999 repeating function G27 End block command of Block No 10 999 repeating function G27 Repeating frequency Repeating command of repeating 10 999 number function G27 G99 G99 command of interlo
275. xis spec modes do not synchronize The program is executed the program content set every axis When the block having programs for two axes is executed BLKFIN is outputted after 04 6 programs of both axes are completed KITAGAWA MAC mini iH Series Operation Manual Program o Function Name Description Modal code inf ROTATION None SPEED Only index command is possible COMMAND G04 DWELL Waits for some times without shifting G07 LEAD CUT Rotates the table repeatedly Executes the program block continuously G08 CONT BUFFER CONT EXECUTE becomes effective until next G09 is commanded G09 CONT BUFFER Cancels the continuous buffer of 008 to return it to usual SINGLE e CAN BLOCK EXECUT Makes CLAMP MEC in table stop in an unused state G10 CLAMP UNUSED CLAMP MEC UNUSED becomes effective until next G11 is o commanded CLAMP USED Cancels CLAMP MEC UNUSED state of G10 and clamps the e table in table stop POS DEV Emphasizes joint by checking POS DEV Between program blocks G15 CHECK VALID when CONT BUFFER becomes effective G08 POS DEV CHECK becomes valid until next G16 is commanded G16 POS DEV Cancels POS DEV CHECK MEC VALID state of G15 and e CHECK INVALID POS DEV is not checked between program blocks G21 INTERLOCK Outputs BLKFIN SIGNAL in program execution before operation START and it is used for interlocking operation with the machine When
276. y direction Setting range 0 0 Rotation speed Setting unit 0 01min Setting range 003 9999 J Program jump Setting range 1 999 J 1 Subprogram return command destination Description Address A Rotary Direction The rotary direction is set with 0 or 0 O Thetable rotates in CW direction 0 The table rotates in CCW rotation Though Address A can be abbreviated if it is abbreviated the table rotates in the direction set to PRM040 Address F Rotation speed Though Address F can be abbreviated if it is abbreviated the table rotates in the rotation speed set to PRM041 Address J is the same as Non G code Type Standard Precautions on 2 axis spec When commanding G22 2 axis specifications are limited to the following items gt the block commanding G22 only G22 be commanded to another axis or any code cannot also be set When the command except G22 is issued Err962 EDIT ELLIAGAL occurs Inadequate program example Prg G22 1 TT G22 command block if other axis issues the command G22 or non setting A G22 B A180 000 A A180 000 B G22 KITAGAWA 04 25 Program MAC mini iH Series Operation Manual Concerned parameters 4 Selects the table rotary direction in G22 command O CW direction 1 CCW direction PRMO41 Sets the table rotation speed in G22 command T
277. ype List Connector Name Connector Type Maker CB1A M CDDM24 I L M E MOTORI JZSP CSM9 2 JST Nippon crimp terminal BK C1 BK UC1 OT A1 52117 241 52117 341 ca BATI DF3 2EP 2C HRS HIROSE DENKI 54346 0020 MOLEX KITAGAWA C4 3 CB1i Cable MAC mini iH Series Connection Manual 4 3 CB1iHB Cable Cable Spec Remarks mi Brown Motor U 2 07550 4 core Back MotorW Clamp check INPUT common CAVO 5SO Red INPUT common CAV 0 5SQ Red Unclamp check 0 550 Overrun A2 check CAV 0 5SQ INPUT common Overrun B2 check INPUT common Brake OUTPUT Brake OUTPUT Red Battery power Red bar Battery power Batch shield 0 250 19 2 Bak Battery power black white Battery power 40 1 L Connector Type List Connector Name Connector Type Maker CDDM24 I L M E MOTOR2 JZSP CSM9 3 JST Nippon crimp terminal BK C2 BK UC2 OT A2 OT B2 52117 241 52117 341 2 DF3 2EP 2C HRS HIROSE DENKI 54346 0020 MOLEX C4 4 KITAGAWA 5 MAC mini iH Series Connection Manual CB2i Cable CB2i Cable External SOL Cable Since the NC circular table of hydraulic clamp spec is equipped with the solenoid valve for clamp to the external equipment it is necessary to output the power for clamping from

User`s Manual - Kitagawa Europe

Contents

Download Pdf Manuals

Related Search

Related Contents