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FBs-30GM FBs-30GM Motion Controller User Manual

1. 176 Pr3241 Decimal point type 177 Pr3805 Static dual feedback error timeout 178 Pr3807 Destination not on arc check window BLU 179 Pr3811 Start address of persist working global variable 180 Pr3817 Fatal dual feedback error 181 Pr3818 Dual feedback self detect error pulse 182 Pr3821 Coupling master axis number 183 Pr3822 Coupling slave axis number 184 Pr3823 Coupling master axis ratio factor 185 Pr3824 Coupling slave axis ratio factor 186 Pr3825 Coupling type 187 Pr3826 Coupling couple time ms 188 Pr3827 Coupling decouple time ms 189 Pr3837 Initial Command Mode 190 Pr8001 X axis positive direction pitch error compensate 8100 compensation table 1 100 ii Pr8101 X axis negative direction pitch error compensate 8200 compensation table 1 100 169 Pr8201 Y axis positive direction pitch error compensate 8300 compensation table 1 100 488 Pr8301 Y axis negative direction pitch error compensate 8400 compensation table 1 100 10 Pr8401 Z axis positive direction pitch error compensate 8500 compensation table 1 100 fee Pr8501 Z axis negative direction pitch error compensate 8600 compensation table 1 100 FATEK Automation Corporation 129 FBs 30GM User Manual ll Descriptions of motion parameters E O board digital filter type the larger value is better to filter the noise but also reduce the sensitivity of the 1 0 Signal E O The system
2. Figure 3 FBs 30GM terminals Table 2 Upper terminal signals Terminal Description D Connect to PE Protective Earth MPGND The ground of MPG5V MPG5V 5V DC output 24V OUT 24V DC output MPGA Input of MPG hand wheel A phase pulse MPGB Input of MPG hand wheel B phase pulse S ON System is all set and these two terminals become short circuited refer to FBs PLC s relay M1467 DOGO 2 Near point signal input LSPO 2 Limit Stroke of positive limit LSNO 2 Limit Stroke of negative limit Emergency stop system will cease process and get into E STOP not ready state when this signal is ON Relay S ON will be open M1467 OFF at the same time COMO Common of DOG LSP LSN E STOP and X8 signals X0 X8 Digital input signals refer to FBs PLC s relay M1480 M1488 COM1 Common of XO X7 signals YO Y5 Digital output signals refer to FBs PLC s relay M1425 M1430 COM2 Common of YO Y1 signals COM3 Common of Y2 Y5 signals FATEK Automation Corporation 12 FBs 30GM User Manual Table 3 Lower terminal signals Terminal Description L N Main power input 100 240 VAC 50 60 Hz VO Analog voltage output controlled by D3435 range from 10V to 10V AO A2 A phase feedback signals from encoder BO B2 B phase feedback signals from encoder PGO
3. 45 V X diagram of using motor feedback Pr961 0 and Pr881 0 51 V X diagram of using motor feedback Pr961 0 or 1 and Pr881 L 52 V X diagram of using motor feedback Pr961 2 and Pr881 L 52 V X diagram of dual feedback Pr961 0 and Pr881 0 54 FATEK Automation Corporation Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Figure 61 Figure 62 Figure 63 Figure 64 Figure 65 Figure 66 Figure 67 Figure 68 Figure 69 FBs 30GM User Manual V X diagram of dual feedback Pr961 0 or 1 and Pr881 L 55 V X diagram of dual feedback Pr961 2 and Pr881 L 55 GOO positioning example initial liada 59 G01 linear interpolation example 1 60 G01 linear interpolation example 2 61 G02 G03 direction ini a aa a aaa ea 63 G02 G03 vector of IJ and K endian m a a a a iana 64 Circular interpolation of different 8 64 Circular interpolation example 1 65 Circular interpolation example 2 66 Helical interpolation cccoconcoconcncnnnnnnonononnnnnnnnnnnnananrncnnnnonnnnnononnnnnnnnnnnnnnnnos 68 Exact stop example kariaan a a a a T oaa aa Spa 70 G17 G18 G19 se
4. X7 TS API PP DICOM H X6 API PG DOCOM X5 BP1 NP SON X4 BP1 NG LSP X3 LN J FN EN EN EN EN EN EN EN Mitsubishi servo amplifier ii LLALA CU 290 00 en A AP2 MPGA TS AP2 MPGB K BP2 MPGB T BP Figure 11 Wiring example with Mitsubishi servo amplifier FATEK Automation Corporation 21 A0 Pie A0 BO PE BO 5V a PE A pire Pina ra JON FBs 30GM User Manual Mitsubishi servo amplifier 200 0 dies LAR LBR PGO HH LG Mitsubishi servo amplifier Mitsubishi servo amplifier PGO OP Al i 0 a LA Al LAR Bl 1899 LB Bl LBR PGl LG PG OP UD A2 0700 B2 PG2 PG2 Figure 12 Connecting feedback signals from Mitsubishi servo amplifier FATEK Automation Corporation 22 FBs 30GM User Manual 4 GMMon monitor software GMMon is the computer monitoring software for FBs 30GM You can monitor the operating status of FBs 30GM by using GMMon Installation is described in section 4 1 Section 4 2 is about setting up a connection Section 4 3 is the introduction of GMMon 4 1 GMMon Installation Please follow the steps below to install GMMon Installation of GMMon Step1 Run Fatek GMMon Setup exe and then click Next 5 FA
5. OFF LINE L OOO O E d Figure 28 Use GMMon to set up operating parameters Switch GMMon to System function page Adjust parameters in the table to fulfill user s requirements Users can depend on their requirements to adjust the parameters About parameter definitions and usage please see Appendix ll A Limitations of FBs PLC Since FBs 30GM needs to use RS485 port 2 of FBs PLC as a communication port any other PLC s communication module or application need to use RS485 port 2 or it will be impossible to use When using FBs 30GM FBs PLC specific registers D3401 D3467 and relays M1400 M1499 will be occupied for control purposes users should avoid using this block registers and relays for other purposes in order to avoid unexpected results FATEK Automation Corporation 40 FBs 30GM User Manual 5 2 3 Use the JOG mode to test and adjust machine Before using PLC to control FBs 30GM s JOG mode you must first complete the connection between FBs PLC and FBs 30GM FBs 30GM can execute Jog mode according to the following settings 1 Goto http www fatek com to download FBs 30GM PROGRAM BLOCK which establishes the communication with FBs 30GM FATEK Support Software Download Before using FBs 30GM PROGRAM BLOCK please update your PLC s OS to version V4 72 2 Import FBs 30GM PROGRAM B
6. Command form G164 Cancel linear and circular compensation Description Compensations about G01 G02 and G03 will be cleared G165 ELECTRICAL ZERO POINT SETTING G165 Command form G165 Record current X Y Z position as the electrical zero point Description Users can use G166 command to rapidly return to this point FATEK Automation Corporation 83 FBs 30GM User Manual G166 RETURN TO ELECTRICAL ZERO POINT G166 Command form G166 Rapidly return to the electrical zero point Description Move in the way of command G53 Using this command requires setting the electrical zero point with command G165 FATEK Automation Corporation 84 FBs 30GM User Manual 7 2 M code instructions M code ancillary function is used to control machine function ON or OFF The description is as below Table 17 M function table moa nm MOT Selectivity program dwell M02 End program M30 Program end return to starting point M98 Call the sub program M99 From sub program return to main program 1 M01 Selective program dwell MO1 is controlled by optional stop when M1421 is ON MO1 is effective program dwell when the switch is OFF then MOT is not effective 2 M02 End program When there is M02 command in the end of main program When FBs 30GM executes this command machine will stop if we need to execute the program again we must p
7. The purpose of EXIT command is to jump out loop If EXIT command Description cannot go to next loop system will send alarm Possible Programming error Cause Solution Check whether EXIT command in program is used correctly Alarm ID COM 007 Alarm Title Repeat loop too deep IF Loop command in MACRO such as REPEAT loop REPEAT loop WHILE Description loop FOR loop repeats more than 10 times system will send this alarm Possible Programming error Cause Solution Change MACRO program to avoid too many loop commands Alarm ID COM 008 Alarm Title absent end of statement character Program doesn t have terminal symbol when MACRO command Description finishes Possible Programming error Cause Solution Check MACRO program to confirm whether it has the terminal symbol Alarm ID COM 009 Alarm Title wrong assignment character In program if Assigning value to symbolic variable does not use the Description correct notation system will send alarm Possible Programming error Cause Check MACRO program to see whether assigning value to symbolic Solution variable is correct FATEK Automation Corporation 171 FBs 30GM User Manual Alarm ID COM 010 Alarm Title absent right In program notation and must be used in pairs if
8. PARAMETER To read specified system parameter number Ex 1 PARAM 3203 To access interpolation time interval POP Pop value from Macro stack Ex PUSH 5 push 5 into stack 1 POP popup a value to 1 1 5 PUSH Push value into Macro stack Ex PUSH 1 push 1 variable into stack PUSH 3 push 3 variable into stack RANDOM Generates a pseudorandom number Ex 1 RANDOM ROUND Return the value of the argument rounded to the nearest long value Ex 10 1 4 1 ROUND 10 1 1 2 ROUND 1 5 2 2 SCANTEXT To scan text string from global variable Notes Because string is local so only can stores in local variable and cannot save to global variable That is following will get wrong result FATEK Automation Corporation 98 FBs 30GM User Manual Ex MACRO 1 12 1 SCANTEXT 1 OPEN NC PRINT 1 PRINT 1 CLOSE M30 The results 1 12849 1 12 SIGN Return sign of a number 1 for negative number 1 for positive number O for zero number Ex 10 4 1 SIGN 10 1 1 2 SIGN 4 2 1 3 SIGN 0 3 0 SIN Calculate the sine of a number Ex 10 90 1 SIN 10 1 1 2 SIN 90 2 1 SLEEP Temporarily give up this cycle execution Ex SLEEP SQRT Calculates the square root
9. PG2 Index signals from encoder APO AP2 A phase pulse signal outputs BPO BP2 B phase pulse signal outputs ALMO ALM2 Axial alarm signals FATEK Automation Corporation 13 2 Specification FBs 30GM User Manual Table 4 Power input output specification Power supply voltage Main power voltage input 100 240 VAC 50 60 Hz Fuse capacity 2A 250 VAC 24VDC output current 24VDC output current up to 500mA MPG5V output current 5VDC output current up to 250mA Grounding The diameter of grounding wire connected to PE shall not be less than that of L N terminal of the power supply Table 5 Input signals Max input Terminal Description Current Voltage Input of MPG hand wheel 15mA 5V MPGA MPGA ak A phase pulse differential inputs Input of MPG hand wheel 15mA 5V MPGB MPGB B phase pulse differential inputs DOG Near point signal input 10mA 24V LSP LSN Limit Stroke of positive and 10mA 24V negative limit E STOP Emergency stop signal 10mA 24V Digital input signals single end XO X8 j f P i j 10mA 24V sourcing input Common of DOG LSP LSN COMO 110mA OV E STOP and X8 signals COM1 Common of X0 X7 signals 80mA OV FATEK Automation Corporation 14 FBs 30GM User Manual Table 6 Feedback signals Item Max input Description
10. Pr881 Pr883 Pr961 Pr963 is 2 Pr961 Pr963 is O or 1 machine coordinate is machine coordinate is 0 values of offset Figure 65 Home Offset Action Motor speed positive Home speed distance Speed of second home Motor speed negative Pr881 Pr883 Pr961 Pr963 is 3 machine coordinate is 0 Figure 66 Home Offset Action cont Dot ona PME 2610 speed cheek 3 10000 Pulse 3 reset window count FATEK Automation Corporation 145 FBs 30GM User Manual E When FBs 30GM doing home search touch the HomeDog the second moving and Servo On motor will check the zero speed stop of state The parameter is the value of range If encoder feedback is in the range FBs 30GM deems the motor is stop or alarm and stop 921 940 Se dog polarity 0 1 reset O positive 1 negative M Set HOME DOG polarity the normal write is NORMAL CLOSE but in the advance switch case is NORMAL OPEN Enable axis home grid 941 943 0 1 reset function M Enable axis home grid function 0 disable 1 enable E Enable axis home grid function If the grid value is smaller than 50 motor half revolve FBs 30GM will ignore this index signal and find the next index to be original signal E Home grid When motor leave home dog and move to the first index of motor motor rotate the revolution It show on the system variable 56 59 The unit is percent 25 is mean 1 4 rev 50 is mean 1 2 rev E When HOME search me
11. Figure 21 Monitor function page 1 Monitoring screen According to the motion program file the locus will be drawn on this screen and user also can foresee the future locus Machine current coordinate values of machine Program current coordinate values of program Program Name motion program name Line the motion program line number which is in process DUI BD UN Program content display the content of the motion program and the line in blue meansit is in progress FATEK Automation Corporation 30 FBs 30GM User Manual 7 ViewPoint select one of the seven coordinate systems such as XYZ space XY plane XZ plane YZ plane YX plane ZX plane and ZY plane FATEK Automation Corporation 31 FBs 30GM User Manual 4 3 3 Simulate function page E SMMon Le aa rs i File Coordinate Position X 0 ro Z 0 Program Name name Line nooo Q O1 BIO ViewPoint XYZ XY XZ YZ OFF LINE O Figure 22 Simulate function page 1 Simulation Result For user to check if the program is correct it draws the trace according to the selected motion program NC Files select the program which is going to be simulated Coordinate Position display the current simulation coordinates Program Name the program name of the selected program Line the motion program line number which is in simulation D PM Program Content display the content of the simulated motion prog
12. a Yaskawa servo amplifier a Fe APl 10004 PULS 24VIN H API PULS S O BPl 10004 SIGN P OT BPI1 SIGN N OT Ml Yaskawa servo amplifier a AP2 DOCK PULS 24VIN H Y AP2 PULS IS O BP2 NOOO SIGN P OT BP2 SIGN N OT Figure 9 Wiring example with Yaskawa servo amplifier FATEK Automation Corporation 19 Pie PE a ph ae pina PENE pipa ee P RE A0 A0 BO BO PGO Al Al Bl Bl PGl PG1 A2 A2 B2 B2 PG2 PG2 FBs 30GM User Manual Yaskawa servo amplifier Yaskawa servo amplifier Yaskawa servo amplifier Figure 10 Connecting feedback signals from Yaskawa servo amplifier FATEK Automation Corporation 20 FBs 30GM User Manual 3 2 Wiring example with Mitsubishi servo amplifier x ESTOP Ls im DOG3 sm im DOG P LSNI poc H como E Mitsubishi servo amplifier a 24V APO 10094 PP DICOM H AP0 PG DOCOM DS BPO Dooel NP SON BPO NG LSP LS F Mitsubishi servo amplifier FN EN EN EN EN BN EN EN EX EX EN y
13. 15 1 5 16 1 0 G01 G90 X 12 Y 13 F1000 FOR 6 0 TO 3 BY 1 0 DO IF 14 4 amp 16 1 THEN EXIT END_IF GOO X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 G01 X 12 14 Y 13 15 G01 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 14 14 2 0 15 15 1 5 END_FOR M30 8 5 9 Comment Syntax lt Statement list gt lt Statement list gt Description Remark or explanation Examplel Single line comment MACRO G00 G90 X0 YO Return to the origin M30 FATEK Automation Corporation FBs 30GM User Manual 95 FBs 30GM User Manual Example2 Block comment MACRO This block is a comment The contents do not affect following program execution G00 G90 X0 YO G00 G90 X10 YO G00 G90 X10 Y10 G00 G90 X0 Y10 G00 G90 X0 YO M30 8 6 Functions listing Table 20 Functions listing table Function Description ABS Calculates the absolute value of a number Ex 10 1 1 1 ABS 10 1 1 1 2 ABS 1 2 2 1 2 ACOS Calculates the arc cosine of a number Ex H10 1 1 ACOS 10 1 0 2 ACOS 1 2 180 ASIN Calculates the arc sine of a number Ex H10 1 1 ASIN 10 1 90 2 ASIN 1 2 90 ATAN Calculates the arc tangent of a number Ex H10 1 1 ATAN 10 1 45 2 ATAN 1 2 45 FAT
14. 8 4 Operators Table 19 Operator list Operator Symbol Precedence Parenthesis 1 Function Evaluation Identifier 2 argument list Negative 3 Complement NOT 3 Multiply 4 Divide 4 Modulus MOD 4 Add 5 Subtract 5 Comparison lt gt lt gt 6 Equality 7 FATEK Automation Corporation 88 FBs 30GM User Manual Inequality lt gt Boolean Bitwise AND amp AND Boolean Bitwise XOR 10 Exclusive OR Boolean Bitwise OR OR 11 Note For operator if the dividend and divisor are both integers the result will be an integer EX 1 0 2 0 5 1 2 0 0 5 1 2 0 1 2 1 0 0 8 5 Statements 8 5 1 Assignment Syntax lt Variable gt lt expression gt Description Assign a value to variable Example 1 123 1 3 8 5 2 GOTO Syntax GOTO n Description Jump to line numbers N Example MACRO 1 1 2 10 G01 G90 XO YO F1000 IF 1 1 THEN GOTO 2 END_IF IF 1 2 THEN GOTO 100 FATEK Automation Corporation 89 FBs 30GM User Manual END IF N10 G01 G90 X50 YO F1000 M30 N100 G01 G90 XO Y50 F1000 M30 8 5 3 CASE Syntax CASE lt INT expression gt OF lt INT gt lt Statement list gt lt INT gt lt INT gt lt INT gt lt Statement list gt lt INT gt lt INT gt lt Statement list gt ELSE lt Statement list gt END_CASE Description Conditional execution by
15. 8 8 4 System variables Table 26 System variables No Description Rule 1000 Interpolation mode 00 01 02 03 R W 1002 Contouring plane selection mode 17 18 19 R 1004 Absolute Incremental command mode 90 91 R 1010 Inch Metric mode 70 71 R 1046 Feedrate command F Code R 1048 Caller s current line number R 1050 Program start sequence number R 1301 1303 Block end position in program coordinate R 1321 1323 Current position of X Y or Z axis in machine R coordinate this value can t be read during movement 1341 1343 Current position of X Y or Z axis in program R coordinate 1600 Distance least input increment refer to Pr17 1602 Time Rotation angle least input increment refer to Pr17 FATEK Automation Corporation 106 FBs 30GM User Manual 8 8 5 MACRO example N1 Do linear interpolation with absolute command G90 and move to X20 0 N2 Call MACRO program O0201 and read caller argument X1 in subroutine After entering 00201 X1 is stored in the local variable 1 Use 10 to backup absolute command mode G90 Do positioning GOO with incremental command G91 and move 10 0 along Y axis Restore to absolute command mode G90 Return to main program N3 Due to absolute command mode G90 and the last interpolation mode before leaving 00201 is GOO 1000 0 this block shows the machine will move to X 20 0 with GOO a gt gt gt gt gt a a gt gt gt gt
16. Generally before executing a motion program commands within the program will be pre decoded in advance Locus and endpoint of each single block are decided at this moment By FATEK Automation Corporation 100 FBs 30GM User Manual using WAIT function to stop pre decoding after the start of the motion program you can change the value of 0101462 before execution G01 X80 0101462 block The machine move to X 80 0 0101462 in the end FATEK Automation Corporation 101 8 7 Sub program control 8 7 1 Call methods FBs 30GM User Manual Table 21 Call methods listing table Syntax Description Examples M98 P_H_L_ Subprogram call M98 P10 L2 P_ subroutine name H_ start N number L_ repeat times G65 P_L_ Macro call G65 P10 X10 0 Y10 0 P_ subroutine name L_ repeat times G66 P_L_ Modal macro call for Example every move block G66 P10 X10 0 Y10 0 P_ subroutine name X20 L_ repeat times Y20 Description X20 and Y20 move command block will call 00010 G66 1 P_L_ Modal macro call for Example every block G66 1 P10 X10 0 P_ subroutine name X20 L_ repeat times G04 X2 M31 Description X20 G04 X2 and M31 every block will call 00010 FATEK Automation Corporation 102 FBs 30GM User Manual 8 7 2 Return methods Table 22 Return methods listing table Syntax Description Examples M99 Return M99 M99 P_ Return and go to specified M
17. Superimposition coupling is the slave axis superimpose on the master axis When FBs 30GM receives commands from the master axis both of the axes will move When FBs 30GM receives commands from the slave axis the slave axis will move relatively to the position of the master axis 4 MasterSlaveSynchronization coupling Coupling starts from power on and M1422 on When M1422 is off coupling is canceled MasterSlaveSynchronization coupling is FBs 30GM gets commands from the master axis and then sends to two axes to execute 5 One to many coupling Coupling starts from power on and M1422 on When M1422 is off coupling is canceled Similar to PeerSynchronization coupling FBs 30GM receives commands from the master axis or the slave axes and sends to these axes to execute When Bit on the axis is coupling Bit 1 X axis to carry 2 Bit 2 Y axis to carry 4 Bit 3 Z axis to carry 8 When Pr3822 is 12 12 4 8 the slave axes are Y axis and Z axis Note When use one to many coupling master axis ratio and slave axis ratio become 1 1 Settings of Pr3823 and Pr3824 are not useful 9 4 Trigger input terminals to execute motion program Prepare motion programs for external trigger function The program files can be named from 01001 to 01009 01001 01009 correspond to the input terminal of FBs 30GM XO X8 3 Upload the motion program to FBs 30GM 4 Set M1424 ON Trigger input terminals XO X8 to begin the corresponding motion progra
18. case G Code Result 1 G90 G161 X 30 0 Y 20 0 Move to end point 1 G01 X130 0 Y40 0 2 G90 G161 X 30 0 Y 20 0 Move to end point 1 G01 X130 0 Only X position compensation is effective 3 G90 G161 X 30 0 Y 20 0 Move to end point 2 G01 X100 0 Y20 0 FATEK Automation Corporation 81 FBs 30GM User Manual VECTOR COMPENSATION SETTING OF CIRCULAR G162 G162 INTERPOLATION Command form G161 _J_K_ J K The vector compensation value that starting point of arc to the center of a circle center of a circle starting point Description After setting this vector compensation when FBs 30GM performs G code command G02 G03 the compensation value will be added to the vector value Compensation will be effective when the corresponding component is specified Example ar AO Start point Y 30 0 50 0 ES Figure 58 G162 vector compensation example Uncompensated G17 G02 130 0 Set compensation G162 120 0 G17 G02 130 0 FATEK Automation Corporation 82 FBs 30GM User Manual G163 INTERPOLATION RADIUS COMPENSATION SETTING OF CIRCULAR G163 Command form G163 R R Radius compensation value of arc Description After setting this radius compensation when FBs 30GM performs G code command G02 G03 the compensation value will be added to the radius of arc G164 INTERPOLATION COMPENSATION CANCELLATION G164
19. cause 1 Check whether machining data setting is correct Solution 2 Reboot Motor alarm Alarm ID MOT 005 Alarm Title DDA command overflow FBs 30GM sends too many commands In the one interpolation time Description interval if software calculates that the number of commands to be sent is out of 2047 pulses this alarm will appear 1 DDA software time setting value interpolation time interval parameter Pr3203 is too long Possible Motion velocity is too fast Cause Servo resolution is set too high Backlash compensation or pitch compensation is too large Compensation is enabled before booting PEUN E oe Recommend that low interpolation time interval setting parameter 3203 is not less than 2000 2 Reduce the velocity to do the test if max rapid travel feedrate is to high Pr461 Pr463 Solution Reduce the servo resolution setting to do test encoder and FBs 30GM Pr61 Pr63 4 If mechanical compensation time constant is set parameter 1401 1420 cancel the mechanical compensation setting to do test FATEK Automation Corporation 160 FBs 30GM User Manual and find the best setting 5 If system had set feed forward parameter 581 600 cancel feed forward setting to do test and find the best setting 6 Please contact staff of machinery manufacturer to solve problem In order to achieve the multi axis coordinated control FBs 30GM uses DDA Digital Differential Analyzer
20. 1 0 001 inch 0 01 mm 0 01 deg 2 0 0001 inch 0 001 mm 0 001 deg 3 0 00001 inch 0 0001 mm 0 0001 deg E It would not be affected by imperial system E When the parameter is changed all of the parameters that relate BLU have to change Axis motor command reset o 1 polarity M The definition of motor rotation direction to the machine movement 0 Same 1 Reverse the direction M Ifthe direction of machine movement is reverse the direction of command set the parameter to revise the command 10 Axis encoder resolution 1250 reset 2500000 M If encoder is used setting unit is pulse rev if ruler is used setting unit is pulse mm Note that this setting value is resolution for single phase A or B phase before frequency multiplication mM Assume that the ruler resolution is 1um pulse i e 1mm 1000pulse with encoder scaling factor of 4 Pr8x 4 Thus this parameter shall set to 1000 4 250 MN Assume that the ruler resolution is 10um pulse i e 1mm 100pulse with encoder scaling factor of 4 Pr8x 4 Thus this parameters shall set to 100 4 25 81 83 Axis encoder scaling factor 1 4 ES ee M Encoder feedback gain of the servo board can set to 1 2 or 4 Gear number at the 1 121 126 ballscrew side 1 reset 999999999 Gear number at the motor FATEK Automation Corporation 131 FBs 30GM User Manual side M Gear number at the ballscrew side Gear numb
21. 1 means that is equal to the setting of Pr501 Pr503 When Pr3207 1 the percentage is equal to the value of this Register Example D3428 10 means 10 If the percentage is less than 10 the rapid traverse override percentage is 10 D3431 Motion program Motion program number Write only Number specified This Register is used to specify the number of motion programs to be executed Range 1 to 9999 Activate method reset D3432 Control VO value Range 10000 10000 Write only VO range 10V 10 V DD3462 User define input Corresponds to FBs 30GM Write only D3462 D3463 MACRO global variable 101462 DD3464 User define input Corresponds to FBs 30GM Write only D3464 D3465 MACRO global variable 101464 DD3466 User define input Corresponds to FBs 30GM Write only D3466 D3467 MACRO global variable 101466 DD3468 User define input Corresponds to FBs 30GM Write only D3468 D3469 MACRO global variable 101468 DD3470 User define input Corresponds to FBs 30GM Write only D3470 D3471 MACRO global variable 101470 DD3472 User define input Corresponds to FBs 30GM Write only D3472 D3473 MACRO global variable 101472 DD3474 User define input Corresponds to FBs 30GM Write only D3474 amp D3475 MACRO global variable 0101474 FATEK Automation Corporation 120 FBs 30GM User Manual DD3476 Use
22. If the value of D3431 was changed when the program is running the changed setting of specified program would become effective at next start 4 Motion program can be paused by setting M1401 5 Set M1402 to stop and reset the motion program and FBs 30GM into standby state JOG mode JOG function is suitable for user to test and adjust machine In JOG mode you can move the machine toward different directions by triggering the special relays M1403 M1408 accordingly Operation 1 Set FBs 30GM to JOG mode set D3426 to 4 mode selection please refer to Table 10 2 Set FBs 30GM JOG speed percentage D3429 and JOG feedrate Pr521 Pr523 3 Trigger the special relays M1403 M1408 according to the direction you want the machine to travel toward FATEK Automation Corporation 48 FBs 30GM User Manual Table 11 Axis JOG feedrate FBs 30GM motion parameter Descriptions Pr521 X axis JOG feedrate Pr522 Y axis JOG feedrate Pr523 Z axis JOG feedrate Table 12 Special relays for JOG Special relays for JOG Axis and direction M1403 X axis M1404 X axis M1405 Y axis M1406 Y axis M1407 Z axis M1408 Z axis 6 3 MPG mode Manual Pulse Generator MPG mode is for the purpose of manual or semi automatic machine control with an external electric hand wheel Generally MPG mode can adjust machine or vary the execution speed of motion program FBs 30GM c
23. for detailed descriptions please refer to Appendix III MOT 021 Must re homing MOT 022 Home position inaccurate MOT 029 Miss index in homing MOT 030 Zero speed timeout in homing MOT 036 Can t leave home dog FATEK Automation Corporation 57 7 G code and M code of motion program 7 1 G code instructions FBs 30GM User Manual Table 15 G code instructions listing G Code Description G Code Description G00 Positioning G66 Marco call G01 Linear interpolation G67 Marco call cancel G02 Circular interpolation Helical G70 Unit setting of inch system interpolation CW G03 Circular interpolation Helical G71 Unit setting of metric system interpolation CCW G04 Dwell G90 Absolute command G09 Exact stop G91 Incremental command G17 X Y plane selection G92 Program coordinate system setting G18 Z X plane selection G92 1 Rotating program coordinate system setting G19 Y Z plane selection G161 Compensation setting of linear interpolation G28 Return to reference position G162 Vector compensation setting of circular interpolation G28 1 Incremental distance triggered G163 Radius compensation setting by sensor of circular interpolation G30 2nd 3rd and 4th reference G164 Interpolation compensation position return cancellation G53 Machine coordinate system G165 Electrical zero point setting setting G65 Simple calling G166 Return to electrical zero point FATEK Automati
24. interpolation mode 1000 it is recommended to designate the interpolation mode to the MACRO program number before leaving MACRO program Thereafter as long as encountering the axial displacement of the command block the system will automatically call this MACRO program without specifying again Of course this MACRO interpolation mode will be automatically removed after encountering G00 G01 G02 G03 or the content of 1000 changes 5 When performing motion program system will predecode MACRO program therefore MACRO execution speed is ahead of G M code instructions So if specifying variables or reading data need to be synchronized with issuing G M code instructions please add WAIT instruction before specifying variables or reading data to ensure correct operation FATEK Automation Corporation 104 FBs 30GM User Manual 6 Being a sub program the MACRO program need to add M99 at the last line to return to the main program 7 Please try to add more comment in the program to develop good habits and this can help to increase the readability of the program and deal with follow up maintenance or troubleshooting 8 8 2 Global variable Table 23 Global variable table Variables Description Rule 0 VACANT R 1 400 Normally arithmetic variables R W 656 1999 Memorable variables still exist when power off R W 120000 165535 Corresponding to PLC register Registry
25. GOO backlash compensation value BLU 125 Pr1243 Z axis GOO backlash compensation value BLU 126 Pr1261 X axis GO1 backlash compensation value BLU 127 Pr1262 Y axis G01 backlash compensation value BLU 128 Pr1263 Z axis G01 backlash compensation value BLU 129 Pr1281 X axis backlash critical speed mm min 130 Pr1282 Y axis backlash critical speed mm min 131 Pr1283 Z axis backlash critical speed mm min 132 Pr1301 X axis pitch error compensation type 133 Pr1302 Y axis pitch error compensation type 134 Pr1303 Z axis pitch error compensation type 135 Pr1321 X axis pitch error compensation Interval BLU 136 Pr1322 Y axis pitch error compensation Interval BLU 137 Pr1323 Z axis pitch error compensation Interval BLU 138 Pr1341 X axis table index for reference home 139 Pr1342 Y axis table index for reference home FATEK Automation Corporation 127 FBs 30GM User Manual 140 Pr1343 Z axis table index for reference home 141 Pr1401 X axis mechanical compensation time constant ms 142 Pr1402 Y axis mechanical compensation time constant ms 143 Pr1403 Z axis mechanical compensation time constant ms 144 Pr1421 X axis max static dual feedback error BLU 145 Pr1422 Y axis max static dual feedback error BLU 146 Pr1423 Z axis max static dual feedback error BLU 147 Pr2001 MPG 4th scaling factor 148
26. Terminal Current Voltage A A Axial feedback signal 500 kHz high speed digital signal input E b 2 put 15mA 5V B B Axial feedback signal 500 kHz high speed digital signal input PG PG Encoder index signal 500 kHz high 15mA 5V speed digital signal input Axial alarm feedback signal low 10mA 24V ALM ALM speed input FATEK Automation Corporation 15 FBs 30GM User Manual Table 7 Output signals Item Max input Description Terminal Current Voltage 250 Relay output after system start up S ON S ON i A 1A VAC it switches to short circuited 30VDC AP AP Axial position control pulse signal 20mA 5V BP BP Axial position control pulse signal 20mA 5V Digital output signal photo coupler isolated output YO Y5 500mA Do not connect to any ac power source Common of YO Y5 signals Do not connect to any ac power COM2 COM3 source and connect a 2A fuse in 1000mA 5 30V series to ensure electrical circuit s safety VO Analog voltage output 10mA 10V VO Analog voltage output ground 10mA OV Isink lt 0 54 Trigger Circuit FUSE 24 Figure 4 Input and output points wiring FATEK Automation Corporation 16 FBs 30GM User Manual RS 485 Figure 5 RS 485 COM port Table 8 RS485 pin description Pin Description NC Not connected GND
27. Workpiece B 75 25 C 15 105 A 60 105 l Mechanical origin point Figure 52 G30 reference position return example Program description presume tool is in A 60 10 1 to second reference point G30 P2 X75 0 Y25 0 A gt B gt 2 reference point 2 to third reference point G30 P3 X15 0 Y10 0 A gt C gt 3 reference point G53 Machine coordinate system setting G53 Command form G53X_ Y _ Z_ X move to specify machine coordinate of X position Y move to specify machine coordinate of Y position Z move to specify machine coordinate of Z position Description Machine origin point is the fixed origin point when factory build the machine this coordinate system is fixed when G53 is specified tool will move to the specified position on machine coordinate when tool returns to machine zero point 0 O 0 this point is the origin point of machine coordinate system lt Notes gt 1 G53 only effective in specified block 2 G53 only effective absolute mode G90 not effective in increment mode G91 FATEK Automation Corporation 74 FBs 30GM User Manual 3 Before use G53 to set coordinate system must set coordinate system on the basement of reference return position by manual G65 SIMPLE CALL G65 Command form G65 P_L_ P number of the program to call L repetition count Description After calling MACRO P_ is called to execute and L__ indicates repea
28. XO X8 of FBs 30GM is triggered FBs 30GM will do the following actions in sequence A Stop executing program No action is taken if FBS 30GM is already on standby B Switch motion program to 01001 01009 corresponding to XO X8 Execute once the motion program 01001 01009 Switch to the previous motion program and return to standby state after the triggered program is finished Note Use this method to execute motion program program name must be named as 01001 01009 Therefore pay attention to having the corresponding motion programs in FBs 30GM otherwise the alarm message will occur FATEK Automation Corporation 47 FBs 30GM User Manual 6 Operation mode of FBs 30GM The operation mode of FBs 30GM can be categorized into Auto JOG MPG and HOME mode About instructions of each mode please see the following sections 6 1 6 2 Auto mode This mode is generally used when executing motion programs When you want to perform exercise program you must set the operation mode to Auto In this mode commands such as start pause or stop motion programs can be issued by setting special relays In addition the applications and operations described in this manual are all based on Auto mode unless otherwise specified mode Operation 1 Set FBs 30GM to Auto mode mode selection please refer to Table 10 2 Specify the motion program number D3431 3 Set M1400 to start the program specified by D3431
29. Y Z space G28 RETURN TO REFERENCE POSITION G28 Command form G28X Y Z X Y Z mid point position absolute value in G90 mode increment value in G91 mode Description It can return to reference position or return to origin point in order not to let the tool crush it will use GOO mode to move from present position it will move to the specified safety mid point first and then return to origin point or reference point Only the axes which are given values when using G28 will perform the reference position return FATEK Automation Corporation 71 FBs 30GM User Manual Example 1 G90 G28 X50 0 Y30 0 A gt B gt C mid point 50 30 El A Reference point Origin Mid point 50 30 x Figure 51 G28 return to reference position example1 Example 2 G28 XO X axis return to zero point Y axis and Z axis stay the same G28 YO Y axis return to zero point X axis and Z axis stay the same G28 ZO Z axis return to zero point X axis and Y axis stay the same G28 1 INCREMENTAL DISTANCE TRIGGERED BY SENSOR G28 1 Command form G28 1X_Q_R_F1 _ F2 _ X Specified point of the first part X can be replaced with Y or Z Q Second part distance if there is no this argument the second part distance will be the same with the first part incremental distance R The distance to the sensor F1 The speed of the first part F2 The speed of the second part F If F1 and F
30. address should be integer Description M address is not an integer Reason Programming error Solution Check the program and use M address in integer Alarm ID COR 052 Alarm title Sub program number P should be integer If the sub program number P is not an integer FBs 30GM will send Description this alarm Reason Programming error Please check the program and use the sub program number P in Solution integer Alarm ID COR 053 Alarm title Repeat count L should be integer Description If the repeat times Lis not an integer this alarm will appear Reason Programming error Solution Please check the program and use the repetitive times L in integer Alarm ID COR 054 Alarm title Incompatible data type When the data format doesn t meet the requirements set by Description FBs 30GM FBs 30GM will send this alarm Reason Machining program is not compatible with FBs 30GM Solution Make sure that the data format is suitable for FBs 30GM FATEK Automation Corporation 181 FBs 30GM User Manual Alarm ID COR 059 Alarm title Subprogram call sequence num H must integer Description Number H called in subprogram is not an integer Reason Program error Solution Change the number H of subprogram into an integer Alarm ID COR 060 Alarm title M99 return sequence number P must integer D
31. at this file will process with standard ISO file That means that file will not be able to use MACRO Syntax Keyword AMACRO is all capitals characters A semicolon is required at the end of each line Example 1 MACRO file format MACRO IF 1 1 THEN G00 X100 ELSE G00 Y100 END IF M99 Example 2 ISO file format head line G00 X100 G00 Y100 G00 X0 G00 YO M99 FATEK Automation Corporation 87 FBs 30GM User Manual 8 3 Block format Table 18 Block format list N G X Y Z l J K F M Optional skip function be effective when M1421 is ON If you use a sequence number it must be the first in the block The preparatory function s G must follow N The linear dimension words follow G Specify the X axis first The linear dimension words follow G Specify the Y axis second N I lt xXx D Z2 The linear dimension words follow G Specify the Z axis third l The interpolation words follow the dimension words Specify the X axis first J The interpolation words follow the dimension words Specify the Y axis second K The interpolation words follow the dimension words Specify the Z axis third F It must follow the last dimension and interpolation to which it applies M Any miscellaneous function s that you specify must last in the block just ahead of the end of block character
32. cannot find out the index signal FBs 30GM will send alarm Alarm ID MOT 030 Alarm Title Zero speed timeout in homing When motor touches HomeDog if motor cannot stop FBs 30GM will Description send this alarm Possible 1 Setting drive gain is not good so it makes motor vibrating Cause 2 Motor running causes resonance phenomenon 1 Check the position loop gain and velocity loop gain setting of driver Solution 2 Start the resonance frequency inhibition ability of driver 3 Contact machinery manufacturers for help When searching home machine will use the velocity setting value of the first stage to move to home DOG and stop once it meets home DOG After that machine moves backward with velocity of the second stage More After leaving home DOG to move backward it start to search the description nearest motor index signal At the first stage to find the home DOG motor will decrease velocity to stop After 0 1 second command stops if system data 8 X 9 Y 10 Z error register receives values bigger than zero speed check window Pr901 Pr920 FBs 30GM will send alarm FATEK Automation Corporation 168 FBs 30GM User Manual Alarm ID MOT 036 Alarm Title Can t leave home dog When searching home if motor can t leave HomeDog after moving over Description 5 pitches FBs 30GM will send this alarm message Possible HomeDog is damaged Cause Use the electrical multimeter to check whether the s
33. cases According to the result of INT expression in the CASE FBs 30GM executes corresponding program block Example MACRO 1 1 G01 G90 XO YO F1000 CASE 1 OF 1 X 1 0 1 Y 1 0 1 X 2 0 1 Y 2 0 1 3 4 5 X 3 0 1 Y 3 0 1 ELSE X 4 0 1 Y 4 0 H1 END_CASE M30 FATEK Automation Corporation 90 8 5 4 IF Syntax IF lt Condition gt THEN lt Statement list gt ELSEIF lt Condition gt THEN lt Statement list gt ELSE lt Statement list gt END_IF Description conditional execution Example MACRO 1 3 0 G01 G90 XO YO F1000 IF 1 1 THEN X 1 0 1 1 0 1 ELSEIF 1 2 THEN X 2 0 1 Y 2 0 1 ELSEIF 1 3 THEN X 3 0 1 Y 3 0 1 ELSE X 4 0 1 Y 4 0 1 END IF M30 FATEK Automation Corporation FBs 30GM User Manual 91 8 5 5 REPEAT Syntax REPEAT lt Statement list gt UNTIL lt Condition gt END_REPEAT Description REPEAT loop control Example MACRO 10 30 11 22 5 12 10 2 13 11 2 14 2 0 15 1 5 G01 G90 X 12 Y 13 F1000 REPEAT GOO X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 14 14 2 0 15 15 1 5 UNTIL 14 gt 12 OR 15 gt 13 END _REPEAT M30 FATEK Automation Corporation FBs 30GM User Manual 92 8 5 6 WHILE Syntax WHILE lt Condition gt DO lt Statement list gt END
34. driver is set too small Encoder solution and electric gear ratio is set wrong Drive or motor is damaged Encoder or line between encoder and FBs 30GM is abnormal On debug function page variable number 23 is not equal to100 Add lubricating oil to machine Use electric meter to check whether wire connecting is correct es EE e E e E A When FBs 30GM runs dry run mode open case to check whether servo on off of relay pulses abnormally 4 Increase acceleration and deceleration time parameter 401 5 Inner loop gain of driver is set too small For Mitsubishi driver check Pr37 6 Contact to machinery manufacturers for helping Maximum velocity setting value of GOO and home search is equal to setting parameter divided by Kp This value multiplied by 2 is setting range of FBs 30GM Reasonable following error Ferr speech in command setting value of loop gain Alarm allowed values max velocity of first stage in home search process velocity GOO of each axis Kp 2 For example Speed 1000mm min loop gain 30 precision 1um Ferr 1000 1000 60 30 555 32 X axis reasonable following error 33 Y axis reasonable following error 34 Z axis reasonable following error Alarm ID Description Possible MOT 020 Alarm Title Cannot back control mode when move When emergency stop or monitor mode C31 is canceled in one Interpolation time interval No 3203 if the motor movement exceeds zero speed che
35. gt gt gt a a N4 Call MACRO program 00202 and read argument X through 24 After entering 00202 X is stored in the local variable 1 Use 10 to backup absolute command mode G90 Use 11 to backup interpolation mode GOO Do linear interpolation G01 with incremental command G91 and move 10 0 along Y axis Restore to absolute command mode G90 Restore to interpolation mode GOO Return to main program N5 Do positioning GOO with absolute command G90 and move to X 10 0 N6 Program end FATEK Automation Corporation 107 Main program N1 G90 G01 X20 N2 G65 P201 X1 10 call 00201 N3 X 20 G90 G00 N4 G65 P202 X 10 N5 X 10 G90 G00 N6 M30 FBs 30GM User Manual MACRO 1 GETARG X1 1 STD 1 1600 00201 sub program read argument X1 as 10 0 normalized BLU call 00202 Ty program end FATEK Automation Corporation 10 1004 backup command mode G90 G91 GOO Y 1 move 10 0 along Y axis G 10 restore to G90 M99 return to main program MACRO 00202 sub program 1 STD 24 1600 10 1004 11 1000 G91 G01 Y 1 G 10 1000 11 M99 read argument X as 10 0 backup command modeG90 backup interpolation mode G00 move 10 0 along Y axis restore to G90 restore to G00 return to main program 108 FBs 30GM User Manual 9 Examples of motion progra
36. input state is on If the off signal get in checking the next two signals If either signal is off the system input state is changed to off The system input state is off gt If the off signal gets in checking the two signals behind it If either signal is on the system input state is changed to on E 1 The system input state is on If the off signal gets in checking the next signal If signal is off the system input state is changed to off The system input state is off If the on signal gets in checking the next signal If signal is on the system input state is changed to on E 2 The system input state is on If the off signal gets in checking the next two signals If both of signals are off the system input state is changed to off The system input state is off If the on signal gets in checking the next two signals If both of signals are on the system input state is changed to on E 3 The system input state is on If the off signal gets in checking the next four signals If all of signals are off the system input state is changed to off The system input state is off If the on signal gets in checking the next four signals If all of signals are on the system input state is changed to on gig Biguageg ge pe et cease pr15 0 PF TELT TLE FETd Ges piS 2 SUBI SEE ni5 3 j Me Te IT ET aa ME INC FATEK Automation Corporation FBs 30GM User Manual E Set the parameter to Control precision BLU
37. lacks Description system will send alarm Possible Programming error Cause Solution Check MACRO program to confirm whether using and is correct Alarm ID COM 011 Alarm Title absent right In program notation and must be used in pairs if lacks Description system will send alarm Possible Programming error Cause Solution Check MACRO program to confirm whether using and is correct Alarm ID COM 012 Alarm Title absent FOR keyword in FOR statement If FOR loop in MACRO uses TO to define loop condition incorrectly this Description alarm will appear Possible Programming error Cause Solution Check MACRO program to confirm whether FOR loop uses TO correctly Alarm ID COM 013 Alarm Title absent DO keyword in FOR statement If FOR loop in MACRO uses DO to define Implement task in loop Description incorrectly this alarm will appear Possible Programming error Cause Solution Check MACRO program to confirm whether FOR loop uses DO correctly Alarm ID COM 014 Alarm Title absent END_FOR keyword in FOR statement If FOR loop in MACRO doesn t use END_FOR to finish loop this alarm Description will appear Possible Programming error FATEK Automation Corporation 172 FBs 30GM User Manual Cause Solution Check MACRO program to confirm whether FOR loop uses END
38. move to a point with negative and positive direction The backlash is the error of stop E The backlash and the speed is a relation of exponent The parameter set for backlash coverage speed If the value is bigger the coverage speed is faster E When Pr1281 Pr1283 are equal to zero FBs 30GM will still follow default value 800 to process compensation amount estimation L ewe dew elder rr der ro de ole ee mt L J J 1 hosdoensbosdocahana L LU Bachiaah Amare ALU 0 0 100 400 60 M0 wd CM 140 mi mi DO Pot dra va ener bed rd FATEK Automation Corporation 148 FBs 30GM User Manual Figure 67 Backslash amount vs feedrate Pitch error compensation 1301 1303 0 2 reset type E Set the parameter to decide to start compensation or not 0 No compensation 1 Unidirection 2 Bidirection Pitch error compensation 1000 1321 1323 BLU 50000 reset Interval 99999999 M After interval compensation start according to this setup set the pitch of compensation Table index for reference 1341 1343 1 100 50 reset home M After interval compensation start what number is mechanical origin in table for compensation suggest 50 Axis mechanical 1401 1403 compensation time 0 60000 ms reset constant E Mechanical compensation backlash pitch error is described as an exponential curve This parameter is used to determine the time constant ms of exponen
39. of a number Ex 10 4 1 SQRT 10 1 2 2 SQRT 9 2 3 STD Standardize arguments read a number in argument one by least increment method in argument two when necessary for decimal point programming FATEK Automation Corporation 99 FBs 30GM User Manual Ex 9 STD 9 1600 normalize by distance axis BLU STDAX Standardize arguments read a number in argument one by least increment method in argument two is axis address Ex 24 STDAX 24 X normalize by X dimension 3 STDAX 3 A normalize by A dimension STKTOP Peek the stack value by index from top one Ex PUSH 5 push 5 variable into stack PUSH 6 push 6 variable into stack PUSH 7 push 7 variable into stack 1 STKTOP O 1 7 2 STKTOP 1 2 6 3 STKTOP 2 3 5 TAN Calculates the tangent of a number Ex H10 45 1 TAN 10 41 1 2 TAN 45 2 1 WAIT Wait until all previous motion logic commands are finished Ex MACRO MACRO program GOO XO GOO position to X0 0 GO1 X80 G01 linear interpolation to X80 0 WAIT Wait until all previous motion logic commands are finished G01 X80 101462 G01 linear interpolation to X 80 0 101462 Assign 101462 20 0 before this single block is executed After this block is executed machine move to X100 0 M30 Program end
40. specific user defined global variables of MACRO Notice Relays M1400 M1499 and registers D3300 D3499 of FBs PLC are designed for the system of FBs 30GM Users please do not use these registers for other purposes to avoid unpredictable behavior Table 27 Control relays of FBs PLC for FBs 30GM Relay Function Description In AUTO mode turn ON this relay can be used to start M1400 Start the motion program In the process turn ON this relay can be used to M1401 Feed Hold suspend the motion program Turn ON this relay to reset and stop the motion M1402 Reset program M1403 X Axis JOG M1404 X Axis JOG M1405 Y Axis JOG M1406 Y Axis JOG M1407 Z Axis JOG FATEK Automation Corporation In JOG mode turn ON the relay and the machine will move along the corresponding direction of axis In HOME mode turn ON the relay to trigger reference point searching of the corresponding axis 114 FBs 30GM User Manual M1408 Z Axis JOG Satins X Axis MPG Selection In MPG mode if the corresponding axial relay is ON the M1410 as Wee machine will go relative displacement according to the Selection hand wheel input TET Z Axis MPG Selection In Auto mode when this relay is ON after starting the motion program GOO G01 G02 and G03 s FEEDRATE MTS MPG OVERRIDE MPG determined by the rotational speed Simulation The faster the rotati
41. zero point to the specified point 90 40 2 Increment command G91 G01 X70 0 Y20 0 the tool does linear interpolation X 70 and Y 20 to the specified point FATEK Automation Corporation 60 FBs 30GM User Manual Example 2 processing example P 0 38 Thickness 10mm Po 0 0 Ps 45 0 Figure 41 G01 linear interpolation example 2 Program description 1 Absolute way NO01 GOO X0 0 YO O Z10 0 positioning to above of Po NO02 G90 G01 Z 10 0 F1000 straight interpolation to bottom of workpiece speed 1000mm min NOO3 Y38 0 Po gt P1 NOO4 X20 0 Y45 0 P1 gt P2 NOO5 X55 0 P2 gt P3 NOO6 Y10 0 P3 gt P4 NOO7 X45 0 YO O Pa gt Ps NOO8 X0 0 Ps gt Po NOO9 GOO Z10 0 positioning back to above of Po NO10 M30 program end 2 Increment way NO01 GOO X0 0 YO 0 Z10 0 positioning to above of Po NOO2 G91 G01 Z 20 0 F1000 straight interpolation to bottom of workpiece speed 1000mm min NOO3 Y38 0 Po gt P1 FATEK Automation Corporation 61 FBs 30GM User Manual NOO4 X20 0 Y7 0 P1 gt P2 NOO5 X35 0 P2 gt P3 NOO6 Y 35 0 P3 gt P4 NOO7 X 10 0 Y 10 0 P4 gt Ps NOO8 X 45 0 Ps gt Po NO09 GOO Z20 0 positioning back to above of Po NO10 M30 program end G02 G02 CIRCULAR INTERPOLATION G03 G03 Command form 1 X Y plane circular interpolation G02 R_ G17 pa an ae he ae 2 Z X plane circular interpolation G02 R_ G18 PE
42. 130 Aprenda tados 160 FATEK Automation Corporation FBs 30GM User Manual Table Table Ts Status Indicators ati 11 Table 2 Upper terminal signals ccccccccccccccsssesscsececeeeeessessaeeeeeesesceesesseaeeeeeesessees 12 Table 3 Lower terminal signals ccoconnonoconncncnnnonononnnnnnnonnnnnononnnnnnnnnnonnnnnnnnnnnnnnnnninnnns 13 Table 4 Power input output specification ccccceessecesssecssscecssseecssececseeecsseeeesseeees 14 Table 5 In putitas cid A name a A S a a 14 Table 6 Feedback signals ss 15 Table 7 Output signals sise a 16 Table 8 RS485 pin description cccoconoooononcnnnonnonononnnnnnnnncnnnononnonnnnnnnonnnnnnncnnnnnnnnnnnnnns 17 Table 9 Debug Variables ii iia iria 36 Table 10 Mode selection description ss 41 Table Il AXIS JOG Tecate issus es aE 49 Table 12 Special relays for JOG iii A tees 49 Table 13 Parameters of home search method and axis home offset oooocccccnn 51 Table 14 Home mode and home offset settings VV 54 Table 15 G code instructions listing occcccononoononnnnnnnnnnononnnnnnnnnnnnnnnnnonnnnnnnnnnannnns 58 Table 16 G02 G03 circular interpolation nono nooo nccononnnnnonn cons 63 Table 17 MI fUnetION LADO cra A A AA A 85 Table 18 Block form A o 88 Table 19 Operatoria ona RM Ann er nie estos eave 88 Table 20 Functions listing table coooocococccccnncanononnnnnnnnncnnnonononnnnnnnnnnnnnonnnnnnn
43. 1413 HRS ae a 27 41 4 M315 M1415 esa Figure 31 Example of FBs PLC ladder diagram Set FBs 30GM to Auto mode and specify the motion program number M110 Trigger X1 gt 30GM cycle start Trigger X2 gt 30GM feed hold xi SH l Trigger X3 gt 30GM stop Figure 32 Example of FBs PLC ladder diagram cont FATEK Automation Corporation 45 FBs 30GM User Manual 5 3 Control and supervise the operating status 1 In addition to performing motion program FBs 30GM s has a variety of functions by connecting to FBs PLC to arrange FBs PLC s special relays M1400 M1430 special registers D3426 D3435 or use GMMon to modify the parameters 2 Inthe process of motion program Users can check the special relays M1464 M1474 and M1480 M1488 and registers D3440 D3443 to monitor the operating status of FBs 30GM 3 D3432 D3434 and D3440 D3443 the special registers of FBs PLC are used to pass MACRO program s user defined data in one way direction gt FBs PLC uses D3432 D3434 to deliver user defined data to FBs 30GM gt FBs PLC uses D3440 D3443 to receive user defined data from FBs 30GM 4 _FBs 30GM has an analog output terminal which can be adjusted by setting D3435 to control its output voltage value D3435 ranges from O to 20000 corresponding to the output voltage 10V 10 V linearly D3
44. 16 RS 2185 COM DO add dica 17 Connection between FBs PLC and FBs 30GM with CB55 17 Improper WIFI Boccia lid iia iia 18 Selecting the grounding wire 18 Wiring example with Yaskawa servo amplifier 19 Connecting feedback signals from Yaskawa servo amplifier 20 Wiring example with Mitsubishi servo amplifier 21 Connecting feedback signals from Mitsubishi servo amplifier 22 Step1 of FATEK GMMon installation procedure 23 Step2 of FATEK GMMon installation procedure 24 Step3 of FATEK GMMon installation procedure 24 Step4 of FATEK GMMon installation procedure 25 Step5 of FATEK GMMon installation procedure 25 Internet Protocol Version 4 TCP IPv4 Properties 26 Add aMeWIP address tan ein bles a 27 Syst m function page sise cerner daa 29 Monitor function page siniriesesnteiteneitesss ssdiitenates descente 30 Simulate function page 32 Files FUNCION Page cia 33 Debug function page 34 Relation between FBs PLC and FBs 30GM 37 GMMon Files function sr daa 38 Drag and drop the file to Upload 38 Use GMMon to set up operating parameters ccccccnnoniooccncncnononcnnnanonnnnnnnnns 40 Example of JOG mode ladder diagram cccceesesscececeeeceesesseaeeeeeeeensees 42 Example of Auto mode ladder diagram 43 Example of FBs PLC ladder diagram 45 Example of FBs PLC ladder diagram cont
45. 2 are not specified the speed will be the same as the value of F_ Description Move to X with the specified speed F1 After reaching X move to Q with the specified speed F2 If FBs 30GM meets the optical sensor signal during the second part FBs 30GM will immediately move R away from the sensor Otherwise after the machine moves to FATEK Automation Corporation 72 FBs 30GM User Manual Q the execution of the block is completed Notice Please connect the optical sensor to the terminal of index signal G30 2nd 3rd and 4th REFERENCE POSTION RETURN G30 Command form G30PnX_Y_Z_ X Y Z mid point coordinates absolute value under G90 increment value under G91 Pn Specified reference point parameter 2801 2860 P1 mechanical origin point P2 second reference point P_ default is P2 Description For the convenience that change tool and check we use parameter to set a reference point to suitable position it can let tool need not return to mechanical zero point increase efficiency in changing the tool the usage of this command is the same as G28 only expect returned point Floating reference position return command usually use in the position of automatically change the tool differ from the origin point Movement is GOO mode FATEK Automation Corporation 73 FBs 30GM User Manual Example Third Y reference E point Second reference
46. 4305 0 VO 10V D3435 20000 VO 10 V The user defined data in FBs 30GM can be accessed in MACRO programs Information such as X and Y axis coordinates can be delivered with the user defined data About MACRO structure motion language please refer to section 8 5 4 Troubleshooting Whenever the system or the program stops due to an alarm the alarm can be found by the two ways below 1 Special relay M1474 of FBs PLC is ON 2 The monitor screen of GMMon displays the alarm code General alarms can be cleared by triggering STOP after solving the causes of the alarms Some alarms have to be cleared by shutting down and then restarting FBs 30GM About alarm messages please refer to Appendix III FATEK Automation Corporation 46 FBs 30GM User Manual 5 5 Trigger input terminals to execute motion programs This function is a special application of FBs 30GM When FBs 30GM is on standby or during the process of running FBs 30GM can be assigned to a motion program directly and execute the program immediately by triggering one of the input terminals XO X8 without the need to using FBs PLC to set STOP START or change specified program How to use this function 1 Set FBs PLC s M1424 ON 2 Set FBs 30GM to Auto mode mode selection please refer to Table 10 3 Configure the parameters of FBs 30GM according to your requirement 4 Trigger one of the input terminals XO X8 of FBs 30GM After one of the input terminals
47. 5 O Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X6 M1486 Status X6 0 Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X7 M1487 Status X7 0 Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X8 M1488 Status X8 O Input transistor OFF 1 ON M1490 Over Travel The signal from X limit switch enables the flag ON then the FATEK Automation Corporation 117 FBs 30GM User Manual X controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG The signal from X limit switch enables the flag ON then the M1491 Over Travel X controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG The signal from Y limit switch enables the flag ON then the M1492 ee controller change to feed hold mode and can retract only in the dd opposite direction by MPG or JOG The signal from Y limit switch enables the flag ON then the M1493 Over Travel Y controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG The signal from Z limit switch enables the flag ON then the M1494 a controller change to feed hold mode and can retract only in the a opposite direction by MPG or JOG The signal from Z limit switch enables the flag ON then the M1495 Over Travel Z controller change to feed hold mode and can retract onl
48. 5 Pr503 Z axis rapid travel GOO FO feedrate 66 Pr521 X axis JOG feedrate 67 Pr522 Y axis JOG feedrate FATEK Automation Corporation 125 FBs 30GM User Manual 68 Pr523 Z axis JOG feedrate 69 Pr541 X axis cutting acceleration time 70 Pr542 Y axis cutting acceleration time 71 Pr543 Z axis cutting acceleration time 72 Pr561 X axis loss pulse check window 73 Pr562 Y axis loss pulse check window 74 Pr563 Z axis loss pulse check window 75 Pr581 X axis velocity feed forward percentage 76 Pr582 Y axis velocity feed forward percentage 77 Pr583 Z axis velocity feed forward percentage 78 Pr601 X axis corner reference feedrate mm min 79 Pr602 Y axis corner reference feedrate mm min 80 Pr603 Z axis corner reference feedrate mm min 81 Pr621 X axis maximum cutting feedrate G01 82 Pr622 Y axis maximum cutting feedrate G01 83 Pr623 Z axis maximum cutting feedrate G01 84 Pr641 X axis cutting bell shaped acceleration time 85 Pr642 Y axis cutting bell shaped acceleration time 86 Pr643 Z axis cutting bell shaped acceleration time 87 Pr661 X axis MPG feedrate 88 Pr662 Y axis MPG feedrate 89 Pr663 Z axis MPG feedrate 90 Pr821 X axis speed of first part homing 91 Pr822 Y axis speed of first part homing 92 Pr823 Z axis speed of first part homing 93 Pr841 X axis speed of second part homing 94 Pr842 Y axis spe
49. 73 MACRO global variable 101272 DD3374 User define output Corresponds to FBs 30GM Read only D3374 amp D3375 MACRO global variable 101274 DD3376 User define output Corresponds to FBs 30GM Read only D3376 amp D3377 MACRO global variable 101276 DD3378 User define output Corresponds to FBs 30GM Read only D3378 amp D3379 MACRO global variable 101278 DD3380 User define output Corresponds to FBs 30GM Read only D3380 amp D3381 MACRO global variable 101280 DD3382 User define output Corresponds to FBs 30GM Read only D3382 D3383 MACRO global variable 101282 DD3384 User define output Corresponds to FBs 30GM Read only D3384 D3385 MACRO global variable 101284 DD3386 User define output Corresponds to FBs 30GM Read only FATEK Automation Corporation 122 FBs 30GM User Manual D3386 amp D3387 MACRO global variable 0101286 DD3388 User define output Corresponds to FBs 30GM Read only D3388 D3389 MACRO global variable 101288 DD3390 User define output Corresponds to FBs 30GM Read only D3390 amp D3391 MACRO global variable 4101290 FATEK Automation Corporation 123 FBs 30GM User Manual Appendix II FBs 30GM motion parameters Motion parameters listing Table 30 Motion parameters listing table Index No Description 1 Pr15 1 0 board digital fi
50. 8 D3319 DD3320 Y Axis Velocity Unit BLU min Read only D3320 amp D3321 FATEK Automation Corporation 121 FBs 30GM User Manual DD3322 Z Axis Velocity Unit BLU min Read only D3322 amp D3323 DD3352 User define output Corresponds to FBs 30GM Read only D3352 D3353 MACRO global variable 101252 DD3354 User define output Corresponds to FBs 30GM Read only D3354 D3355 MACRO global variable 101254 DD3356 User define output Corresponds to FBs 30GM Read only D3356 amp D3357 MACRO global variable 101256 DD3358 User define output Corresponds to FBs 30GM Read only D3358 D3359 MACRO global variable 101258 DD3360 User define output Corresponds to FBs 30GM Read only D3360 D3361 MACRO global variable 101260 DD3362 User define output Corresponds to FBs 30GM Read only D3362 amp D3363 MACRO global variable 101262 DD3364 User define output Corresponds to FBs 30GM Read only D3364 amp D3365 MACRO global variable 101264 DD3366 User define output Corresponds to FBs 30GM Read only D3366 amp D3367 MACRO global variable 101266 DD3368 User define output Corresponds to FBs 30GM Read only D3368 D3369 MACRO global variable 101268 DD3370 User define output Corresponds to FBs 30GM Read only D3370 amp D3371 MACRO global variable 101270 DD3372 User define output Corresponds to FBs 30GM Read only D3372 amp D33
51. 99 P100 label Return to main program P_ sequence number N100 M99Q_ Return and go to specified M99 Q100 line number Return to main program Q_ line number line100 G67 Modal macro call cancel G67 FATEK Automation Corporation 103 FBs 30GM User Manual 8 8 Variable specifications MACRO variables can be divided into three types local variables Local variable 1 400 system variables System variable 1000 31986 and public variables Global variable 1 165535 Different types of variables will have their different life cycles as well as reading and writing rules The following sections will have more detailed descriptions 8 8 1 MACRO notices 1 Try to use local variables 1 400 instead of global variables 1 10495 Because of MACRO execution the user s data are passed through the arguments A_ B_ Z Xl _ Yl _ but passed by global variables does not comply with user s usage 2 Since the modal variables 2001 2100 3001 3080 will be reverted to VACANT state when the system is reset Modal variables can be applied across multiple MACROs to exchange data and save shared resources 3 When you execute MACRO if you need to change mode G code G91 G90 G17 G18 G19 etc states please backup its current states in the beginning and restore them to its original states before leaving MACRO 4 After leaving the MACRO if you still want to keep this MACRO
52. Bs 30GM s composition FBs 30GM User Manual 3 8 9 KE 4 SINS RS 1 HER 11 Ke ocolooo PWR RUN ERR w USB 4 JOTION CONTROLLERS LAN T a 1 FBs 30GM_ IN AC100 240V A0 BOr PGO APO BPO ALMO Als Bis PGi Al Pis ALMT APZ ALM2 Pa Vos VO F 80 PGO APO BPO ALMO AT Bi POT APT BPT ALMI A Z APZ BPZ AMZ Y poet ar STI teppei ppt RE E ES 7 STE STE SES J ce ce ae a ie ol E SI ES gt SESTEsSTEesTi 6 NL NU Le pa aL QT AVVO OLEATE EZ al KE AO MIR IST IR TIA NI NIRO MSN IS TOS NI NI MAS TIRITAS TIO MIR NIRO En d ES E SEO ES E E l sl al aile ile Sh fe E ailes ED E ES Q R RP NP RP RP RO POL NP NA RE RU RRQ QE RQ A POL OS 4 EN AN k Ke ps 5 2 10 2 3 Ey SCA Ke Ee Figure 2 Front view of FBs 30GM DIN RAIL tab Status indicators USB Host port 666006066606 FATEK Automation Corporation 35
53. Cycle Time of DDA is set by More parameter Pr3203 In one Cycle time of DDA every axial is allowed description to send maximum 2047 pulses Once exceeding this value FBs 30GM will send alarm Alarm ID MOT 008 Alarm Title Loss Pulse One second after sending command FBs 30GM will check whether the error of feedback command and sending command is in predetermined Description error range If no FBs 30GM will send alarm 1 Kinematic occurs obstruction phenomenon 2 Servo drive occurs unexpected Servo ON OFF 3 CPU board send the data to axis card unsuccessfully CPU board or axis card has problem the contact between CPU and axis card is Possible not good Cause 4 The cable that sends command from FBs 30GM to servo driver has poor quality or is disconnected 5 FBs 30GM doesn t set servo drive alarm check FBs 30GM continues to send motion command although the drive is abnormal 6 Local interference FATEK Automation Corporation 161 Solution Set More description FBs 30GM User Manual Do not shut down FBs 30GM when alarm occurs Please check whether the value of No 8 9 10 in debug function page is zero Check whether the mechanical lubrication system is good Open the cover of axial to check whether foreign matter blocks the motion of axial Rotate screw to check whether machine is stuck loading of driver Check the drive servo on and the servo off of power or cable
54. EA tr pits 3 Z X plane circular interpolation G19 ae Y_Z_ r Fe F_ X Y Z Specified point J K the vector value that starting point of arc to the center of a circle center of a circle starting point R Radius of arc F Feed rate G90 G91 decide absolute or increment Description G02 G03 do circular interpolation according to appointed plane coordinate system size of arc and speed of interpolation and the rotate direction decide by G02 CW G03 CCW Description of the command format as below FATEK Automation Corporation 62 FBs 30GM User Manual Table 16 G02 G03 circular interpolation 1 Plane selection 617 xy plane setting G18 xz plane setting G19 Y Z plane setting Direction Counterclockwise direction CCW G90 Two axes of X Y Z End coordinate of arc End a En Er 02 Clockwise direction CW 3 Two axes of X Y Z Vector value from start point to Distance from start Two axes of 1 J K Vector value from start of arc to A 5 Speed of feed F Feedrate along the arc feedrate Example 1 G02 GO3direction Y G03 X G03 Z G03 n G02 G02 X z Y Gi G17 8 G19 Figure 42 G02 G03 direction 2 I J K definition FATEK Automation Corporation FBs 30GM User Manual sil Stast p osition End position Y Z Z 3 K End position Cen Center J I Ne Start position A End position X Y a arc of X Y plane b arc of Z X plane c arc of Y Z plane F
55. EK Automation Corporation 96 FBs 30GM User Manual CEIL Return the smallest integer that is greater than or equal to a number Ex 10 1 4 1 CEIL 10 1 2 2 CEIL 1 5 2 2 COS Calculates the cosine of a number Ex 10 180 1 COS 10 1 1 2 COS 180 2 1 FLOOR Return the largest integer that is less than or equal to a number Ex 10 1 4 1 FLOOR 10 1 1 2 FLOOR 1 5 2 1 GETARG Read caller argument in subroutine Ex 00001 main program G101 X30 Y40 Z1 40 Z2 50 G0101 extension G code macro 1 GETARG X the value of X argument will store in 1 2 GETARG Z1 the value of Z1 argument will put in 2 3 GETARG W without W argument 3 will be VACANT GETTRAPARG For G66 G66 1 modal macro call handler to get the block s information Ex 00001 main program G66 P100 X100 Y100 G01 X20 00100 subroutine 1 GETARG X Get X argument 100 to 1 2 GETTRAPARG X Get the block X argument 20 to 2 FATEK Automation Corporation 97 FBs 30GM User Manual MAX Determines the maximum of two inputs Ex H10 1 2 20 4 5 1 MAX 10 20 1 4 5 2 MAX 1 2 4 5 2 1 2 MIN Determines the minimum of two inputs Ex H10 1 2 20 4 5 1 MIN 10 20 1 1 2 2 MIN 1 2 4 5 2 4 5
56. FBs 30GM FBs 30GM Motion Controller User Manual v1 05 2015 4 17 FATEK Automation Corporation FBs 30GM User Manual Contents COMES entrent A AAA AA AAA AAA LEA ARA 2 Table died iii 6 PUT a ica eds rennes 7 T Overview Ot EBS 3OGM iiris deiei dica 9 1 1 DIMENSIONS sise Lee Soke eesti aah Mit de Mine slide hohe ote ensemble n s ee 9 1 2 Composition and part names 10 1 3 Status INdicat rs 5er entente a 11 1 4 Terminals ae Hors a ad 12 2 PSPC CATION scx ccelvee A 14 3 MiB dais 19 3 1 Wiring example with Yaskawa servo amplifier 19 3 2 Wiring example with Mitsubishi servo amplifier 21 4 GMMon monitor software coooonnnoccconoccnoncnononnnnnnnnnnnnncnonnnrnn nn rra nn nan n cren nn nn rana rra nc 23 4 1 GMMon Installation A ae 23 4 2 Setting UP A connection 26 4 2 7 Configure A A A Lan mn rm nr detre es des metre es 26 4 2 2 Change FBs 30GM s IP address ccccononococnnonononononononononnnnnnnnnonnnnnnncononnonannnncnnnos 27 4 2 3 Update FBs 30GM s kernel 28 4 3 Functions f GMMON sue tannins Ain Ge nent 28 4 31 System function Pare a ed le del Ao 29 4 3 2 Monitor function page iii 30 4 3 3 Simulate function page iii 32 4 3 4 Files function page iii 33 4 3 5 Debug function page ccccccconocoonnnnnncnnnonononnnnnnncnanonenonnnnnnnnnnnnnonnnnnnncnnnnannnnnnnnnnnos 34 4 4 Rest FBs 30GM to factory settings 36 FATEK Automation Corporation FBs 30GM User Manual 5 Operat
57. FBs 30GM User Manual FBs PLC assigns the motion program to 30GM by setting the register D3431 Therefore the file name of the motion program must follow the naming format below so FBs 30GM is able to identify the designated motion program Motion program naming format A Four digits come after an uppercase O B If the digits are less than four left pad zeroes to four digits C The four digit number ranges from 1 to 9999 Out of this range may cause unpredictable results Examples gt Number 1 gt Number 456 gt Number 7156 gt Unqualified file name FATEK Automation Corporation 00001 00456 07156 0 1234 gt 083412 00000 Oabcd 39 FBs 30GM User Manual 5 2 2 Configure FBs 30GM s operating parameters 30GM Connection Status System Information Status OFF LINE Kernel Version GMMon Version 01 01 IP Address 192 168 0 11 Language FE 5 EE English Parameters Para 15 3837 Para 8001 8600 1 0 board digital filter type Control precision X axis motor command polarity Y axis motor command polarity Zaxis motor command polarity X axis encoder pulse count Y axis encoder pulse count Zaxis encoder pulse count lx axis encoder feedback gain of the servo board Y axis encoder feedback gain of the servo board Z axis encoder feedback gain of the servo board X axis gear number at the ballscrew side X axis gear number at the motor side
58. Ground D Data D Data PLC connects to FBs 30GM with a specific port Port2 because it guarantees a 921600 high baud rate Figure 6 takes FBs PLC CB55 as example to illustrate how FBs PLC connects to FBs 30GM FBs 30GM FBs CB55 Figure 6 Connection between FBs PLC and FBs 30GM with CB55 FATEK Automation Corporation 17 FBs 30GM User Manual Warning Please do not connect 24VDC ground and MPGND together Otherwise it may cause internal hardware broken Figure 7 Improper wiring Please use wires of 1 6mm and above for the grounding Earth Figure 8 Selecting the grounding wire Never connect the AC main circuit power supply to any of the input output terminals as it will damage FBs 30GM Check all the wiring prior to power up To prevent any electromagnetic noise make sure FBs 30GM is properly grounded Do not touch the terminals when power on FATEK Automation Corporation 18 3 Wiring FBs 30GM User Manual 3 1 Wiring example with Yaskawa servo amplifier EN EN EN EN IN EN BX EN EX FN X7 X6 X5 X4 X3 X2 X1 X0 FN EN EN EN EN EN EN FN COM1 MPGA FN FN MPGB X8 E STOP LSP2 LSN2 DOG2 LSP1 LSN1 DOG1 LSPO LSNO DOGO COMO e Ex Yaskawa servo amplifier 24V AP0 MN PULS 24VIN H AP0 PULS IS O BPO peoee SIGN P OT BPO SIGN N OT
59. Hold M1465 on This relay is ON when the motion program is paused Ig M1466 Block Stop This relay is ON when the motion program is in block stop M1467 Ready This relay will be ON after FBs 30GM boots up completely M1468 X Axis Busy When the corresponding axial relay is ON indicates that the axis manual functions hand wheel JOG Home are running M1469 Y Axis Busy FBs 30GM cannot accept new manual commands When the corresponding relay is OFF indicates that the axial axis in the M1470 Z Axis Busy Idle state allowing accepted new manual commands X Axis Home M1471 OK After returning HOME the corresponding axial relay will be ON MO Y Axis Home stroke limit of each axis will be activated from then Users OK should notice that if these relays are not ON you should not Z Axis Home start motion program M1473 OK When ALARM occurs FBs 30GM will stop and this relay will be M1474 Alarm ON FBs 30GM DI The state of input terminal XO M1480 Status XO O Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X1 M1481 Status X1 O Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X2 M1482 i Status X2 0 Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X3 M1483 f Status X3 0 Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X4 M1484 f Status X4 0 Input transistor OFF 1 ON FBs 30GM DI The state of input terminal X5 M1485 Status X
60. LOCK and then continue to edit PLC s ladder 3 Set FBs 30GM to Jog mode mode selection please refer to Table 10 Table 10 Mode selection description D3426 Description 0 Default value same as Auto mode 2 Auto mode 4 JOG mode 6 MPG mode 7 HOME mode 4 The axes move by triggering the corresponding special relays M1403 M1408 Establish the communication with FBs 30GM a CC 199 TXTDE PROGRAM BLOCK V1 0 Set FBs 30GM to Jog mode xo NES Xx axis JOG pai 5 Ge seal m ingi Y axis JOG ee rt irae NO21 x6 M1406 1 Z axis J0G NO22 X7 M1407 H gt mal i sr FATEK Automation Corporation 41 FBs 30GM User Manual Figure 29 Example of JOG mode ladder diagram About JOG mode please refer to section 0 5 2 4 Procedure to execute a motion program Before using 30GM to execute a motion program you must first complete the connection between FBs PLC and FBs 30GM FBs 30GM can run a motion program in Auto mode according to the following settings 1 Goto http www fatek com to download FBs 30GM PROGRAM BLOCK which establishes the communication with FBs 30GM FATEK Support Software Download Before using FBs 30GM PROGRAM BLOCK please update your PLC s OS to version V4 72 2 Import FBs 30GM PROGRAM BLOCK and then continue to edit PLC s ladder 3 Set FBs 30GM to Auto mode mode selection please refer to Table 10 Specify the motion program number D3431 5
61. M meets the optical sensor signal during the second part FBs 30GM will immediately move 20 0 away from the sensor Otherwise after the machine moves to Q the execution of the block is completed 30 0 O X Sensor Q R 0 10 0 40 0 X axis A Figure 61 Sensor triggered incremental displacement Notice Please connect the optical sensor to the terminal of index signal FATEK Automation Corporation 113 FBs 30GM User Manual Appendix Special relays and registers of FBs PLC FBs PLC series have special relays and registers to control or monitor the operation state of FBs 30GM The detailed descriptions are listed in the tables below The special relays of FBs PLC can be divided into two types A Control relays M1400 M1430 These relays are for FBs PLC to control FBs 30GM B Status relays M1464 M1474 M1480 M1488 and M1490 M1495 These relays are for FBs PLC to monitor the operation state of FBs 30GM Hence users can confirm the operation state of FBs 30GM by checking these status relays Special registers D3426 D3431 store part of the operating parameters of FBs 30GM and their values can be modified through FBs PLC Register D3432 can determine the output voltage of VO terminal Users can write data to specific user defined global variables of MACRO by registers DD3434 DD3446 On the other hand FBs PLC can read the coordinates and velocities from Registers DD3304 DD3322 And registers DD3352 DD3390 are read only
62. Pr2041 MPG resolution Pulse rev 149 Pr2051 MPG scaling factor 150 Pr2401 X axis 1st Software travel limit positive direction 151 Pr2402 X axis 1st Software travel limit negative direction 152 Pr2403 Y axis 1st Software travel limit positive direction 153 Pr2404 Y axis 1st Software travel limit negative direction 154 Pr2405 Z axis 1st Software travel limit positive direction 155 Pr2406 Z axis 1st Software travel limit negative direction 156 Pr2441 X axis 2nd Software travel limit positive direction 157 Pr2442 X axis 2nd Software travel limit negative direction 158 Pr2443 Y axis 2nd Software travel limit positive direction 159 Pr2444 Y axis 2nd Software travel limit negative direction 160 Pr2445 Z axis 2nd Software travel limit positive direction 161 Pr2446 Z axis 2nd Software travel limit negative direction 162 Pr2481 2nd software limit persistency 163 Pr2801 X axis 2nd reference point 164 Pr2802 Y axis 2nd reference point 165 Pr2803 Z axis 2nd reference point 166 Pr2821 X axis 3rd reference point 167 Pr2822 Y axis 3rd reference point 168 Pr2823 Z axis 3rd reference point 169 Pr2841 X axis 4th reference point 170 Pr2842 Y axis 4th reference point 171 Pr2843 Z axis 4th reference point 172 Pr3202 1 0 scan time 173 Pr3203 Interpolation time interval 174 Pr3207 Feedrate override selection 175 Pr3221 Debug level FATEK Automation Corporation 128 FBs 30GM User Manual
63. R20000 R65535 R W Remark All global variable lifetime will end when FBs 30GM is power off If user wants to memorize 1 400 values after shut down FBs 30GM set Pr3811 for this function Users please do not use other global variables that are not mentioned and have been used within the system to avoid system being abnormal 8 8 3 Local variables Table 24 Local variables listing Variables Description Rule 0 VACANT R 1 400 Local variable for macro program R W Remark The local variables use in MACRO the effective life time is only useful in MACRO executive process When the execution is finish and escape from the program the local variables will automatically become vacant Sub Program and main program can use the same local variable at the same time the life time of variable ends along with the end of the main program FATEK Automation Corporation 105 FBs 30GM User Manual It is suitable to use local variables if operations need to be done in a MACRO program When calling a MACRO program FBs 30GM has its default addresses that can be used to store incoming arguments Table 25 Default argument specification Address Variable Address Variable Address Variable Number Number Number A 1 J 5 U 21 B 2 K 6 V 22 C 3 M 13 W 23 D 7 P 16 X 24 E 8 Q 17 Y 25 F 9 R 18 Z 26 H 11 S 18 l 4 T 20 X1 GETARG X1
64. Set M1400 to start the program specified by D3431 If the value of D3431 is changed when the program is running the changed setting of specified program would become effective at next start Motion program can be paused by setting M1401 Set M1402 to stop and reset the motion program and FBs 30GM into standby state FATEK Automation Corporation 42 FBs 30GM User Manual 000 Q w Le 018 019 z o z 021 Establish the communication with FBs 30GM 199 TXTDF CC BLOCKS FBS 30GM PROGRAM BLOCK V1 0 Set FBs 30GM to Auto mode M103 1 H 08 MOV EN s 2 El D D3426 Specify the motion program number M110 08 MOV Hoa EN S 10 g i i D3431 Trigger XO gt 30GM cycle start XO m al fE Trigger Xi gt 30GM feed hold A Rf Trigger X2 gt 30GM stop X2 SA Af Figure 30 Example of Auto mode ladder diagram About Auto mode please refer to section 6 1 FATEK Automation Corporation 43 FBs 30GM User Manual 5 2 5 Example of FBs PLC ladder diagram NOOO NO17 NO18 NO19 NO20 NO21 NO22 NO23 NO24 NO25 NO26 NO27 NO28 NO29 NO30 Establishes the communication with FBs 30GM Set FBs 30GM to JOG mode Under JOG mode the X axis moves in the positive direction Under JOG mode the X axis moves in the negative direction Under JOG mode the Y axis moves in the positiv
65. TEK GMMon InstallShield Wizard Welcome to the InstallShield Wizard for FATEK GMMon The InstallShield R Wizard will install FATEK GMMon on your computer To continue click Next WARNING This program is protected by copyright law and international treaties Figure 13 Step1 of FATEK GMMon installation procedure FATEK Automation Corporation 23 FBs 30GM User Manual Step2 Enter customer information 4 FATEK GMMon InstallShield Wizard User Name ser Name Organization InstallShield Figure 14 Step2 of FATEK GMMon installation procedure Step3 Click Install to start Installation Ready to Install the Program The wizard is ready to begin installation If you want to review or change any of your installation settings click Back Click Cancel to exit the wizard Setup Type Typical Destination Folder C Program Files x86 fatek 30GM lt Back Gista Figure 15 Step3 of FATEK GMMon installation procedure FATEK Automation Corporation 24 FBs 30GM User Manual Step4 Installing FATEK GMMon and waiting for the process bar to be completed J FATEK GMMon InstallShield Wizard The program features you selected are being installed AZ Please wait while the InstallShield Wizard installs FATEK GMMon This may Moss take several minutes FU lt Back j net gt cancel Figure 16 Step4 of FATEK GMMon installation procedure Step5 Installati
66. V 2R T servo system time constant V tangent velocity R radius M We can calculate the speed with the radius by the function when shrink error and servo character is the same E FATEK Automation Corporation 139 FBs 30GM User Manual V R Vref 7 Rref Circular velocity is direct proportion to square of circular radius M Reference radius Rref 5mm Using the Rref to set the circular velocity Vref Normal tool suggest setting Vref 500mm min TON dl Figure 64 Reference radius and velocity E Note Huge curvature path and short block path both are clamped by Pr408 The same curvature path will clamp to the same velocity because of the Pr408 The following error will become small because of the velocity become small The precise will become higher If the following is still too big please turn on the feed forward percentage Pr581 Pr583 It will send compensation for servo lag but it makes bigger acceleration and shake To solve the problem cutting acceleration time Pr401 can set longer If the high speed make centrifugal force is too bigger the tool may shake Before set Pr408 please check the machine rigidity to avoid shake Jn oe e a aereos CT pa E Rapid Travel GOO O Linear 1 Independent FATEK Automation Corporation 140 FBs 30GM User Manual G92 G92 1 after reset E Set reserve local coordinate G92 G92 1 after reset O After reset it will not rese
67. X axis dual feedback resolution 34 Pr262 Y axis dual feedback resolution 35 Pr263 Z axis dual feedback resolution 36 Pr301 X axis dual feedback scaling factor 37 Pr302 Y axis dual feedback scaling factor 38 Pr303 Z axis dual feedback scaling factor 39 Pr381 X axis Servo driver control mode 40 Pr382 Y axis Servo driver control mode 41 Pr383 Z axis Servo driver control mode 42 Pr401 Cutting acceleration time 43 Pr402 Acceleration accelerated to 1G time 44 Pr404 Post cutting bell shaped acceleration time 45 Pr405 Maximum cutting feedrate 46 Pr406 Maximum corner reference feedrate 47 Pr408 Arc cutting reference feedrate at radius 5 mm 48 Pr410 MPG acceleration time 49 Pr411 Rapid Travel GOO 50 Pr413 Reserve local coordinate G92 G92 1 after reset 51 Pr421 X axis cutting in position window 52 Pr422 Y axis cutting in position window 53 Pr423 Z axis cutting in position window 54 Pr441 X axis rapid travel GOO acceleration time 55 Pr442 Y axis rapid travel GOO acceleration time 56 Pr443 Z axis rapid travel GOO acceleration time 57 Pr461 X axis max rapid travel GOO feedrate 58 Pr462 Y axis max rapid travel GOO feedrate 59 Pr463 Z axis max rapid travel GOO feedrate 60 Pr481 X axis rapid travel in position window G09 61 Pr482 Y axis rapid travel in position window G09 62 Pr483 Z axis rapid travel in position window G09 63 Pr501 X axis rapid travel GOO FO feedrate 64 Pr502 Y axis rapid travel GOO FO feedrate 6
68. Z axis Program coordinate Program coordinate system Y axis system X axis Program coordinate X14 142 YO Rotate Program D coordinate 45 20 Figure 55 G92 1 rotating program coordinate system setting example N3 G01 X100 Machine coordinate X80 711 Y80 711 FATEK Automation Corporation 79 FBs 30GM User Manual Program coordinate X100 0 YO O Coordinate offset X10 Y10 Program coordinate system Y axis Program coordinate system X axis Program coordinate X100 YO Rotate Program net done coordinate 45 Figure 56 G92 1 rotating program coordinate system setting example cont N4 M30 G161 COMPENSATION SETTING OF LINEAR INTERPOLATION G161 Command form G161 X_Y_Z X Compensation of linear interpolation X position Y Compensation of linear interpolation Y position Z Compensation of linear interpolation Z position Description After setting this linear compensation when FBs 30GM performs G code command G01 tool will move with extra compensation value Compensation will be effective when the corresponding axis is specified FATEK Automation Corporation 80 FBs 30GM User Manual Example End point 20 Start point End point 1 20 x Origin End point 2 Figure 57 G161 linear interpolation compensation example Uncompensated G90 G01 X100 0 Y40 0 End point at X100 0 Y40 0 Set compensation
69. _FOR Alarm ID COM 015 Alarm Title absent UNTIL keyword in REPEAT statement If REPEAT loop in MACRO uses UNTIL to define loop condition Description incorrectly this alarm will appear Possible Programming error Cause Check MACRO program to confirm whether using UNTIL in REPEAT loop Solution is correct Alarm ID COM 016 Alarm Title absent END_REPEAT keyword in REPEAT statement If REPEAT loop doesn t have END_REPEAT to finish loop this alarm will Description be sent Possible Programming error Cause Check MACRO program to confirm whether REPEAT loop has Solution END_REPEAT Alarm ID COM 017 Alarm Title absent DO keyword in WHILE statement If WHILE loop uses DO to define implement task incorrectly this alarm Description will appear Possible Programming error Cause Check MACRO program to confirm whether WHILE loop uses DO Solution correctly Alarm ID COM 018 Alarm Title absent END_WHILE keyword in WHILE statement Description If WHILE loop doesn t have END_WHILE to finish loop Possible Programming error Cause FATEK Automation Corporation 173 FBs 30GM User Manual check MACRO program to confirm whether WHILE loop has END_WHILE Solution to end Alarm ID COM 019 Alarm Title absent THEN keyword in IF statement If IF uses THEN to define implement task incorrectly system will send Description this alarm Possible Prog
70. _WHILE Description WHILE loop control Example MACRO 10 30 11 22 5 12 10 2 13 11 2 14 2 0 15 1 5 G01 G90 X 12 Y 13 F1000 WHILE 14 lt 12 AND 15 lt 13 DO GOO X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 G01 X 12 14 Y 13 15 G01 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 14 14 2 0 15 15 1 5 END _WHILE M30 FATEK Automation Corporation FBs 30GM User Manual 93 FBs 30GM User Manual 8 5 7 FOR Syntax FOR lt INT variable1 gt lt expression1 gt TO lt expression2 gt BY lt expression3 gt DO lt Statement list gt END_FOR Description FOR loop control variable1 loop control variable expression1 loop start number long or double expression2 loop end number long or double expression3 loop increase decrease number long or double Statement list execute statement Example MACRO 10 30 11 22 5 12 10 2 13 11 2 14 2 0 15 1 5 G01 G90 X 12 Y 13 F1000 FOR 6 0 TO 3 BY 1 0 DO GOO X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 GO1 X 12 14 Y 13 15 14 14 2 0 15 15 1 5 END_FOR M30 FATEK Automation Corporation 94 8 5 8 EXIT Syntax EXIT Description Break loop or exit jump control Example MACRO 10 30 11 22 5 12 10 2 13 11 2 14 2 0
71. an be used in two ways with electric hand wheel depending on user requirement MPG JOG Description You can use MPG Manual Pulse Generator mode to move the machine Operation 1 Select MPG mode set D3426 to 6 2 Select corresponding axis X Y Z set M1409 M1411 3 Select incremental rate set D3427 4 Rotate MPG machine will move with velocity according to rotation speed of MPG device MPG simulation Description FATEK Automation Corporation 49 FBs 30GM User Manual Users can use this function to check the speed of motion program file This function will use the rotation speed of hand wheel to decide the feedrate of GOO G01 G02 and GO3 If the hand wheel speeds up the program moves fast If the hand wheel stops then the program also stops If the hand wheel moves reversely the program moves reversely too Operation 1 Select AUTO mode set D3426 to 0 or 2 2 Set M1412 to on 3 Set M1400 to start running motion program file 4 Operator can rotate MPG to run motion program file The faster MPG rotates the faster machining speed is If MPG stops machine stops too This function can be Enable or Disable immediately P S This function is easy to use for testing machine Motion parameter Pr661 663 axis MPG feedrate upper bound 6 4 HOME mode Because of the tool setting motion program coordinate is based on Machine zero point So it is necessary to make sure where Machine zero po
72. and Pr3824 are set to the moving ratio for synchronous moving axis direction M EX When Pr3823 1 and Pr3824 2 it implies if master axis moves 1mm then slave axis moves 2mm M Pr3825 set the enable timing of the two couple axes 0 cancel couple 1 Machine coupling coupling starts from power on and can t cancel 2 PeerSynchronization coupling E Coupling starts from power on and M1422 on When M1422 is off coupling is canceled M FBs 30GM adds command from master axis and slave axis and sends to two axes at the same time 3 Superimposition coupling E Coupling starts from power on and M1422 on When M1422 is off coupling is canceled FATEK Automation Corporation 154 FBs 30GM User Manual E Superimposition coupling is slave axis superimpose on the master axis When the command makes for master axis both of the axis will move When commands make for slave axis the slave axis will move and relative to the position of the master axis 4 MasterSlaveSynchronization coupling E Coupling starts from power on and M1422 on When M1422 is off coupling is canceled NE MasterSlaveSynchronization coupling is FBs 30GM will get the command from master axis then send two axes to execute 5 One to many coupling E Coupling starts from power on and M1422 on When M1422 is off coupling is canceled E Similar to PeerSynchronization coupling FBs 30GM adds command from master axis and slave axis and sends to all axes to exe
73. and optical incremental linear encoders to implement precise close loop control FBs 30GM adopts widely used G code from standard RS274D to describe motion behavior Pairing up with CAM software FBs 30GM can help users in much more complicated motion control and dealing with applications in many aspects 1 1 Dimensions The dimensions of FBs 30GM as shown in Figure 1 below 90 eee if D ERE PWR RUN ERR 485 FATEK MOTION CONTROLLERS RS 485 EZENN VO IN O AC100 240V 75 a NH a a ie a Ais Bis POT APTF a Ms Ag B2 PG2 AP2 BP2 a Iv N M e DE A APAE E TT T TT Tye SAS TT IST IST JUUY 4 cale EP G eae JEA JE an NU TIN TT IST UU So III JS Tr AS D PO TT T TT JEN TT 5 SET NAINA QD 175 Figure 1 The dimensions of FBs 30GM FATEK Automation Corporation 1 2 Composition and part names Figure 2 shows F
74. ao 58 51 52 sa a ss fs 57 ss so foo ee es ee ee E E ee 5 Two way pitch compensation fill in positive amp negative table According to the moving direction of machine FBs 30GM will determine to use positive or negative table value at the same point of stroke Axial stroke is in the positive direction of home Moves the machine away from home and progress to the positive direction of machine coordinate measures the pitch error and enters the error into Pr800x Pos abs comp pitch err table Revert the machine progress direction and move back to home measures the pitch error and enters the error into Pr810x Neg abs comp pitch err table Move the machine away from home and progress in the positive direction of machine coordinate and Pri34x 50 fill in Pos table 50 51 59 60 x Jez fes Jea es as fo fa fo fs sf fs fs fs fo When the machine progress direction is revert and move back to home fill in Neg table 60 59 51 50 aa az as aa as Ja e Jas fao 58 51 52 sa a ss fs 57 ss fso feo 5 PP 2 E 0 E E ES Axial stroke is in the negative direction of home Moves the machine away from home and progress to the negative direction of machine coordinate measures the pitch error and enters the error into Pr810x Neg abs comp pitch err table Revert the machine progress direction and move back to home measures the pitch error and enters the erro
75. ble connecting wire error internal parameters is set wrong servo motor is Cause unsuitable driver is error etc Solution Follow the steps in driver s application manual to solve alarm Alarm ID MOT 017 Alarm Title First Positive software limit exceed The end point in movement of servo motor exceeds positive software Description limit Possible Stroke movement of machine table exceeds the setting value Cause Remove alarm and let axis moves to negative movement out of the Solution stroke protection software Alarm ID MOT 018 Alarm Title First Negative software limit exceed The end point in movement of servo motor exceeds negative software Description limit Possible Stroke movement of machine table exceeds the setting value Cause Remove alarm and let axis move to positive movement out of the Solution stroke protection software Alarm ID MOT 019 Alarm Title Following error exceed Because of the characteristics of servo servo motor location there is no way to respond the command of FBs 30GM immediately so a slow Description phenomenon appears when this latency is not in allowed range FBs 30GM will send out the alarm 1 Movement mechanism is not smooth Possible Contact wire has poor quality Cause Setting values of acceleration and deceleration time are too small E a Servo on off Relay is interfered FATEK Automation Corporation 163 Solution More description FBs 30GM User Manual Inner loop gain of
76. ble value this alarm will be sent Reason Servo vibration 1 Servo tuning Solution 2 Change parameters Alarm ID COR 076 Alarm title G04 dwell time cannot be negative Description When input value of dwell time G04 is negative this alarm will appear Reason Program error Solution Check the machining program and enter a positive value to G04 Alarm ID COR 201 Alarm title Part program file not exist Description When specified program does not exist this alarm will appear Reason Solution Ensure that program file exists Alarm ID COR 202 Alarm title Communication link failure Description When communication link is dropped FBs 30GM will send this alarm Reason Solution Reconnect a good communication link Alarm ID COR 204 Alarm title File size too large Description When program file is too large FBs 30GM will send this alarm Reason Program error Solution Reduce the program size or split program into two subprograms FATEK Automation Corporation 183 FBs 30GM User Manual Alarm ID COR 205 Alarm title File content is empty After FBs 30GM loads the program it finds out that the file content is Description null Reason Loading program error Solution Reload program Alarm ID COR 207 Alarm title Sequence number not found Description When sequence number is not found FBs 30GM will send this alarm Reason Pro
77. ch axis Step 3 Motor moves to HOME DOG according to homing direction Pr861 863 and 1 homing speed Pr821 823 Step 4 When FBs 30GM receives the home DOG signal it will plan the stop action Step 5 After the motor stops at point A it will move backwards with axis homing 2 part speed Pr841 843 Step 6 When the machine leaves the home DOG FBs 30GM waits for the nearest zero point on linear encoder Step 7 After FBs 30GM receives the zero point on linear encoder FBs 30GM will plan the stop action according to the home search method Pr961 963 and homing offset Pr881 883 and finally the motor will stop at point B Step 8 At the 1st HOME return linear encoder dual feedback does not work and due to the effect of mechanical error machine cannot stop exactly on desired position zero point of linear encoder or HOME offset so after motor really stops on B point FBs 30GM will instantly calculate this error A Step 9 FBs 30GM will initialize the system data below according to home search method Pr961 963 and home offset Pr881 883 After booting linear encoder dual feedback is always enabled when the 1st time HOME return is finish After booting from the 2nd time return HOME FBs 30GM will only execute step 9 After executing the 1st HOME return successfully the error A between real machine position and target position will be compensated in the next interpolation V X diagram speed vs posit
78. ch method and axis home offset No961 0 No961 0 1 No961 2 No881 0 No881 L No881 L The absolute position command L Machine cornete o o 4 gt P S After the 2nd time HOME return FBs 30GM will only execute step 8 V X diagram speed vs position for each type of HOME return is shown as below A eee Motor zero point Feed rate Ri a P d Machine origin coordinates 1 lt a wee eee qa Axis homing 1 feed rate RL Position Axis homing 2 feed rate frs i i ON Home DOG signal Motor index signal OFF Figure 33 V X diagram of using motor feedback Pr961 0 and Pr881 0 FATEK Automation Corporation 51 FBs 30GM User Manual O No961 0 or 1 No881 L Feed rate r i Machine origin I Axis homing 1 feed rate Position Axis homing 2 feed rate ON HOME DOG signal OFF Motor mdex signal Figure 34 V X diagram of using motor feedback Pr961 0 or 1 and Pr881 L 0 No961 2 No881 L Feed rate p LEA Machine origin ii Motor zero i coordinates W point nee gt sance aR OE lt oo f Axis homing 1 feed rate P Position Axis homing 2 feed gate TT Ts Eo i ON HOME DOG signal OFF Motor mdex signal Figure 35 V X diagram of using motor feedback Pr961 2 and Pr881 L FATEK Automation Corporation 52 FBs 30GM User Manual Using linear encoder dual feedback Step 1 Switch FBs 30GM to home mode set D3426 7 Step 2 PressJOG of desired home sear
79. ck window 901 FBs 30GM will send alarm 1 Cancel instantly movement of machine by hand FATEK Automation Corporation 164 FBs 30GM User Manual Cause 2 Drive gain is set badly Therefore when cancelling instantly motor will be trembled 1 Avoid man made movement Solution 2 Check the drive s position loop gain and speed loop gain setting Alarm ID MOT 021 Alarm Title Must re homing Description When MOT 0020 and MOT 0022 appear FBs 30GM will send alarm Possible MOT 0020 Cannot back control mode when move or MOT Cause 0022 Home position inaccurate is triggered Solution See MOT 0020 or MOT 0022 alarm Alarm ID MOT 022 Alarm Title Home position inaccurate After booting at the N N gt 1 times of searching home home grid will be Description compared to the result of the first time searching home if the error is over 0 1 turn of motor FBs 30GM will send alarm Possible 6 Homing signal of motor is abnormal Cause 7 Stopper coupling or bearings is not locked tightly 1 Move motor in the same direction and observe to check whether Solution position counter index changes normally 2 Check whether the mechanism components are fixed properly Alarm ID MOT 023 Alarm Title Fatal following error exceed Because of the characteristics of servo servo motor location and FBs 30GM cannot respond immediately command a delay phenomenon Description will appear when this de
80. connected disconnected Kernel Version kernel version number of FBs 30GM 10 plugin Version lO plugin version number of FBs 30GM Language 4 12 change the language of GMMon OM PWN bP Import 10 plugin import the lO plugin configuration file IO plugin defines special relays and registers of FBs PLC to communicate with FBs 30GM O plugin s version should be the same with FBs 30GM PROGRAM BLOCK s Export 10 plugin export the lO plugin configuration file Parameters list of FBs 30GM s operating parameters 10 Import Parameter import the parameter configuration file 11 Export Parameter export the parameters configuration to a file FATEK Automation Corporation 29 FBs 30GM User Manual 12 Refresh refresh the page to see the current value of FBs 30GM parameters 13 Update update FBs 30GM parameters 14 GMmon Version GMMon software version number 15 Connection indicator green light blinks when FBs 30GM is connected or red light blinks when alarm happens 4 3 2 Monitor function page After connecting to FBs 30GM use can use Monitor function a E GMMon Soe Coordinate Position Machine Program e x 1313 985 x 1313985 Y 1 62 Y 1 62 z 1 63 Z 1 63 Speed x 0 mm min 4 0 mm min Z 0 mm min Program Name 02 Line 1 6 690 F20000 601 xo YO 20 617 G02 x10 15 G17 G03 XO Y10 1 10 601 x10 Y20 230 mo2 ViewPoint w XYZ XY XZ YZ YX ZX ZY Motor Alarm No 25 O
81. control mode 0 2 4 o restar E This parameter is supported for kernel version after 10 116 3 16 version 10 116 0 16 only support A B Phase Position control mode FATEK Automation Corporation 136 FBs 30GM User Manual E Set param for Servo driver control mode 0 CW CCW Position control mode 2 A B Phase Position control mode 3 Sign Pulse Positive logic 4 Sign Pulse Negative logic M Set each axis under G01 G02 G03 G31 mode this parameter is the spending time on compound feedrate accelerates to Pr405 In other words this parameter and Pr405 will determine maximum compound acceleration Pr405 a 60 um max one sec es RA on accelerated to 1 60000 reset 1G time E Set each axis under G01 G02 G03 mode this parameter is the spending time on compound acceleration accelerates to 1G In other words this parameter will determine maximum compound jerk Imax Pr402 000 Mea Post cutting bell shaped 0 60000 ms 20 reset acceleration time E The parameter can smooth the path of speed that plan before interpolation The shake will be restrained Suggest value is 20msec 30msec E ex FATEK Automation Corporation 137 FBs 30GM User Manual interpolation time 10msec 12 12345 6 7 8 91011 12 Tiunit ms Figure 63 Speed time before interpolation The figure is speed time before interpolation If the post cutting bell shaped acceleration time is O the option is disabled If
82. cute NE Bit on the axis is coupling Bit 1 X axis to carry 2 Bit 2 Y axis to carry 4 Bit 3 Z axis to carry 8 When Pr3822 is 12 12 4 8 the slave axes are Y axis and Z axis NW Note When use one to many coupling master axis ratio and slave axis ratio become 1 1 Settings of Pr3823 and Pr3824 are not useful 3826 Coupling couple time ms 0 60000 ms 0 rest 3827 Coupling decouple time ms 0 60000 ms 0 reset M Pr3826 Coupling couple time M Pr3827 Coupling decouple time BE AE ICE CO ea EEE Initial Command Mode 0 2 restart O default 1 G90 2 G91 E Default is G90 Pitch error compensate 999999 8001 8600 BLU reset compensation table 999999 FATEK Automation Corporation 155 FBs 30GM User Manual E The parameter set for the compensation of the pitch error The value is modulus Compensation Command reality Pr8001 8100 are X axis positive direction pitch error compensation table 1 100 Pr8101 8200 are X axis negative direction pitch error compensation table 1 100 Pr8201 8300 are Y axis positive direction pitch error compensation table 1 100 Pr8301 8400 are Y axis negative direction pitch error compensation table 1 100 Pr8401 8500 are Z axis positive direction pitch error compensation table 1 100 Pr8501 8600 are Z axis negative direction pitch error compensation table 1 100 E Ex Command value is 20000 BLU machine value is 20002 BLU then th
83. discovering that machine table stops on the switch 2 If machine table is not on the switch check IO terminal blocks 24V Solution power supply terminal blocks connecting wire and components of switch 3 Check whether IO card is abnormal Alarm ID MOT 029 Alarm Title Miss index in homing When searching home if motor does not find out motor index signal Description after leaving home DOG more than 5 pitches FBs 30GM will send this alarm 1 Can t read the index signal Possible F 2 The setting of homing 2 travel feedrate is too fast Cause 3 The setting of motor reduction ratio is too big FATEK Automation Corporation 167 FBs 30GM User Manual 4 The distance between index signal and HomeDog is more than 5 pitches 1 Check motor index wire connecting observe debug variables 48 X 49 Y 50 Z to check whether index signal is read If no Solution please check whether connecting wire is correct 2 Reduce setting value of the homing 2nd travel feedrate Parameter 841 843 When searching home machine will use the velocity setting value of the first stage to move to home DOG and stop After that machine moves backward with velocity of the second stage After leaving home DOG to ae move backward it start to search the nearest motor index signal In the description second stage FBs 30GM will calculate according to resolution of encoder If FBs 30GM leaves home DOG more than 5 pitches and
84. e DNS server dais seta uno et TI Co J cms LS A Figure 18 Internet Protocol Version 4 TCP IPv4 Properties 2 Click Add to add a new IP address as 192 168 10 XXX FATEK Automation Corporation 26 FBs 30GM User Manual Advanced TCP IP Settings IP Settings DNS WINS Options IP addresses IP address Subnet mask Co Add D Default gateways Gateway Metric Automatic metric Figure 19 Add a new IP address 4 2 2 Change FBs 30GM s IP address The default IP of FBs 30GM is 192 168 10 10 You can change its IP address with a USB flash drive by following the procedures below 1 Prepare a USB flash drive preformatted with the FAT32 file system 2 Create a file named SettingO ini with the content below take IP address 192 168 10 11 as example and put this file in your USB root directory ACTION SET_IP PARAMETER 0 192 168 10 11 255 255 255 0 0 0 0 3 Insert the USB flash drive containing SettingO ini to FBs 30GM Turn off FBs 30GM and on again wait until RUN led is yellow it means the system has finished restarting 5 Pull out the USB and check its root directory If a file named SettingO out exists it means that the IP address has been changed successfully Note When there exists a file named Setting0 out in the USB root directory before inserting the USB FBs 30GM s IP address would not be modified You have to delete Settin
85. e and execute motion prOgraMS ccccconononoonnnnnnnnonononanononcnnonannnnnononnnononannnnnenonnnos 37 5 1 Relation between FBs PLC and FBs 30GM cooocococccoccccconcnononcnnnncnnoncnonnnnnnnnccnnncccnnnno 37 5 2 Procedure to execute a motion program cccononococccononnconononnnonononnnnnnnonnnnnnnnnananononnos 37 5 2 1 Upload the motion program to FBs 30GM 37 5 2 2 Configure FBs 30GM s operating parameters 40 5 2 3 Use the JOG mode to test and adjust machine cccccconnnocoooonnnnononanonanannnnnons 41 5 2 4 Procedure to execute a motion program 42 5 2 5 Example of FBs PLC ladder diagram 44 5 3 Control and supervise the operating status 46 5 4 TROUDIESHOOUIA Bs 5 id A A ra an ne 46 5 5 Trigger input terminals to execute motion programs ccconocccccnnnnnnnnanononnnnnnnnnnananos A7 6 Operation mode of FBs 30GM iii 48 6 1 AUTO MOdeie shied dt eines ltda 48 6 2 JOG MOG of nr ne eee cit 48 6 3 MPG ModE toa AAA ai 49 6 4 HOME Mod er iinan aiaa a aaa i aa a iaaii aaaea ia 50 7 G code and M code of motion program 58 7 1 GCOd INSTRUCCION iii AA Ad 58 7 2 M cOde instructions dada Mine Hii dike dia de diag 85 8 MACRO structure motion language sn 87 8 1 Introducir ntm ee 87 8 2 File formaties a er enee A ae TE der tonne te ment tees 87 8 3 fel TOMATE A Aita 88 8 4 Operators E ca ad 88 8 5 Statements site Mea ne alle et nt EE nette 89 8 5 1 JAsSEenmMmeNte ann nt et cade
86. e axis positive software limit 999999999 999999999 2nd Software travel limit e BLU reset 999999999 999999999 NW The second software travel limit is turned on or off by M1423 Descriptions Range Unit initial Activate method 2nd software limit persistency E This parameter is used to set the second software limit persistency 0 Stop FBs 30GM to restore the limit to the settings in Pr2441 2446 1 Stop FBs 30GM to retain the limit set by MACRO variables 1941 1943 2nd software positive limit 1961 1963 2nd software negative limit 2 Stop or turn on off FBs 30GM to retain the limit set by MACRO variables 1941 1943 2nd software positive limit 1961 1963 2nd software negative limit 999999999 2801 2803 2nd reference point x reset 999999999 999999999 2821 2823 3rd reference point x reset 999999999 999999999 2841 2843 4th reference point reset 999999999 100 3202 1 0 scan time 0 001ms 5000 restart 5000 E After system start the scan time of I O card 3203 Interpolation time interval 500 0 001ms 5000 FATEK Automation Corporation 151 FBs 30GM User Manual 2000000 M After system start when each axis direction movement command time interval 3207 Feedrate override selection 172 2 restart E Set the override type 1 override is reality percentage range 200 200 industrial mechanical setup 2 override defau
87. e compensation value is 2 Command value is 40000 BLU machine value is 39999 BLU then the compensation value is 1 Command value is 20000 BLU machine value is 20002 BLU then the compensation value is 2 Command value is 40000 BLU machine value is 39999 BLU then the compensation value is 1 FATEK Automation Corporation 156 FBs 30GM User Manual Instruction of pitch error compensation Manufacturing error of screw leads to the inconsistence between command and actual motion of working table However because this error is a constant value it can be measured by the equipment and setting parameters into FBs 30GM to compensate this error in the machining process Pr1301 1303 determine whether Pitch error compensation function is enabled Pr1321 1323 determine the value of basic pitch error compensation Pr1341 1343 determines the starting compensation no of original point in pitch compensation table For every axis FBs 30GM provides totally 100 compensation points the default and recommended value is 50 Steps for measurement of pitch compensation parameter Step 1 Close all mechanical compensation pitch Pr130x backlash Pr122x Pr124x Pr126x Pr128x sharp corner Pr136x Pr144x and do the home search action Step 2 Load the attachment example program and then with the measuring instruments measures the pitch error of every single pitch Step 3 According to pitch compensation type one way two way a
88. e direction Under JOG mode the Y axis moves in the negative direction Under JOG mode the Z axis moves in the positive direction Under JOG mode the Z axis moves in the negative direction Reset X axis machine position set current position as the origin of X axis Reset Y axis machine position set current position as the origin of Y axis Reset Z axis machine position set current position as the origin of Z axis Set FBs 30GM to Auto mode and specify the motion program No 10 which is going to be execute Set M1400 to start the program Set M1401 to pause the program Set M1402 to stop the program FBs 30GM PROGRAMBLK can be downloaded from http www fatek com FATEK Support Software Download Before using FBs 30GM PROGRAM BLOCK please update your PLC s OS to version V4 72 FATEK Automation Corporation 44 FBs 30GM User Manual NOOO EME Establish the communication with 30GM 199 TXTDF cc BLOCKS FBS 30GM PROGRAM BLOCK V1 0 Set FBs 30GM to JOG mode M104 x axis JOG Y axis JOG Z axis JOG z z z z z z re o rm Oo N nN gt p w N e o wo z z z o o nN mn un ES NO28 NO29 NO30 x3 M1403 Re et X4 M1404 1 gt X5 M1405 W e e r n E 7 AA J I X7 i M1407 tt xo i M1408 1H Reset X Y and Z axes machine position M313 M
89. e start in moving Before all manual commands are sent prohibit starting machining to prevent operation error Manual command JOG INJOG and MPGJOG cannot be sent successfully Remove alarm Wait until machine stops then start machining Compiler alarm Alarm ID COM 001 Alarm Title EOF in comment The symbol and must be used in pairs if the program uses Description as the beginning of the comment but doesn t use at the end of the comment System will send alarm Possible Programming error Cause Solution Using symbol before command and symbol after command Alarm ID COM 003 Alarm Title Syntax error Description MACRO program has syntax error when FBs 30GM interprets it Possible Programming error Cause Solution Check program syntax according to symbol appears on the screen Alarm ID COM 004 Alarm Title Illegal variable Description System cannot access variable this alarm will appear Possible Change error variable Cause Solution Check program variable and confirm whether system uses that variable Alarm ID COM 005 Alarm Title expression too complex Description MACRO is too complicated Possible Programming error Cause FATEK Automation Corporation 170 FBs 30GM User Manual Solution Check whether logic is clear and correct Alarm ID COM 006 Alarm Title EXIT statement outside loop statement
90. ec decimal point not permitted G09 EXACT STOP G09 Command form G09 En X Y Z G01 TP tee X Y Z position of exact stop Description When pass through the corner because tool moves too fast or servo system delays tool cannot cut the exact shape of corner but when you need to cut high precision rectangular you can use GO9 or G61 to make it it slow down the tool when approach to corner when reach to the specified position in motion parameter range it will run the next block GO9 exact stop only be effective in one block which has GO9 Notice G01 check window parameter Pr421 423 GOO check window parameter Pr461 463 FATEK Automation Corporation 69 FBs 30GM User Manual Example y bog Position check Next block 2 Path without G09 a GES Previous block x Figure 48 Exact stop example G17 X Y PLANE SELECTION G17 G18 Z X PLANE SELECTION G18 G19 Y Z PLANE SELECTION G19 Command form G17 X Y plane selection G18 Z X plane selection G19 Y Z plane selection Description When use circular interpolation tool radius compensation or polar coordinate command need to use G17 G18 or G19 to set moving plane and tell FBs 30GM the working plane default G17 Y G03 X G03 Z G03 X Z Y G17 G18 G19 Figure 49 G17 G18 G19 setting interpolation plane FATEK Automation Corporation 70 FBs 30GM User Manual Figure 50 X
91. ed of second part homing 95 Pr843 Z axis speed of second part homing 96 Pr861 X axis negative homing direction 97 Pr862 Y axis negative homing direction 98 Pr863 Z axis negative homing direction 99 Pr881 X axis home offset 100 Pr882 Y axis home offset 101 Pr883 Z axis home offset 102 Pr901 X axis zero speed check window 103 Pr902 Y axis zero speed check window FATEK Automation Corporation 126 FBs 30GM User Manual 104 Pr903 Z axis zero speed check window 105 Pr921 X axis home dog polarity 106 Pr922 Y axis home dog polarity 107 Pr923 Z axis home dog polarity 108 Pr941 Enable X axis home grid function 109 Pr942 Enable Y axis home grid function 110 Pr943 Enable Z axis home grid function 111 Pr961 Home mode of X axis 112 Pr962 Home mode of Y axis 113 Pr963 Home mode of Z axis 114 Pr981 X axis homing 2nd protect revolution encoder type 115 Pr982 Y axis homing 2nd protect revolution encoder type 116 Pr983 Z axis homing 2nd protect revolution encoder type 117 Pr1001 X axis fast home return function 118 Pr1002 Y axis fast home return function 119 Pr1003 Z axis fast home return function 120 Pr1221 X axis backlash compensation start 121 Pr1222 Y axis backlash compensation start 122 Pr1223 Z axis backlash compensation start 123 Pr1241 X axis GOO backlash compensation value BLU 124 Pr1242 Y axis
92. eed of tool feed feed rate G19 faa Y_Z_ l a X_F Y Z end position of arc X end position of straight line R radius of arc J K center position of arc F speed of tool feed feed rate Description When the 3 axis which is vertical to arc plane moves G02 G03 is to be helical interpolation The choice of helical interpolation is the same as circular interpolation Helical interpolation uses G code G17 G18 G19 to decide which plane to do circular interpolation FATEK Automation Corporation 67 FBs 30GM User Manual G17 form synchronously with arc of X Y plane G18 form synchronously with arc of Z X plane G19 form synchronously with arc of Y Z plane Example Z End point Starting point Figure 47 Helical interpolation Program description G17 G03 X0 0 Y1000 0 R1000 0 Z900 0 F600 synchronously with arc of X Y plane CCW do helical interpolation with feedrate 600mm min FATEK Automation Corporation 68 FBs 30GM User Manual G04 DWELL G04 Command form G04 a X specific time decimal point permitted 0 001 9999 999s P specific time decimal point not permitted Description By specifying a dwell the execution of the next block is delayed by the specified time In addition a dwell can be specified to make an exact check Example G04 X2500 delay 2 5 sec G04 X2 5 delay 2 5 sec G04 P2500 delay 2 5 sec G04 P2 5 delay 2 s
93. ensor of HomeDog Solution is damaged or wiring connection is missing When searching home machine will use the velocity setting value of the first stage to move to home DOG and stop After that machine moves backward with velocity of the second stage After leaving home DOG to More move backward it start to search the nearest motor index signal In the description second stage FBs 30GM will calculate according to resolution of encoder If FBs 30GM leaves home DOG more than 5 pitches and cannot find out the index signal FBs 30GM will send alarm Alarm ID MOT 041 Alarm Title Second Positive software limit exceed Description Position value of end point of servo motor exceeds setting value in FBs 30GM Second Positive software limit Possible The motion of machine table exceeds setting value Cause Remove alarm Move axis in negative direction out of stroke protection Solution software Alarm ID MOT 042 Alarm Title Second Negative software limit exceed Position value of end point of servo motor exceeds setting value in Description FBs 30GM Second negative software limit Possible The motion of machine table exceeds setting value Cause Remove alarm Move axis in positive direction out of stroke protection Solution software FATEK Automation Corporation 169 FBs 30GM User Manual Alarm ID Description Possible Cause Solution MOT 051 Alarm Title Inhibit cycl
94. er Manual NC Files Management 30GM IP Address 192 168 0 100 Local C Program Files x86 FATEK 30GM 30GM MotionFiles E Motion Prograns Name Size Last Modified 2013 9 23 EF 11 29 22 G0000 01821 997 09 10 13 19 41 Reading Motion files G0001 01010 37 08 09 13 17 4 2013 9 23_E F 11 29 23 G0002 Reading complete 60003 00999 221 09 11 13 09 3 00910 958 09 04 13 13 46 00907 384 09 04 13 13 42 00906 203 09 11 13 10 12 00905 843 09 04 13 12 5 00904 1540 09 04 13 12 4 00666 205 09 10 13 19 1 00555 76 08 26 13 15 52 172 08 28 13 14 0 70 09 11 13 11 1 124 08 26 13 15 4 99 07 25 13 15 2 24 07 25 13 15 2 07 25 13 15 2 OFF LINE Figure 26 GMMon Files function NC Files Management 30GM IP Address 192 168 0 100 Local C Program Files x86 FATEK 30GM 30GM MotionFiles g Motion Programs Size Last Modified 2013 9 23_E F 11 29 22 G0000 997 09 10 13 19 41 Reading Motion files 60001 37 a IAE 2013 9 23 EF 1129 23 G0002 Reading complete EE 221 09 11 13 09 3 958 09 04 13 13 4f 384 09 04 13 13 4 203 09 11 13 10 12 09 04 13 12 5 09 04 13 12 4 09 10 13 19 16 08 26 13 15 52 08 28 13 14 0 09 11 13 11 1 08 26 13 15 4 07 25 13 15 2 07 25 13 15 2 07 25 13 OFF LINE Figure 27 Drag and drop the file to upload FATEK Automation Corporation 38 Motion program naming rule
95. er at the motor side E System can decide the speed rate by the parameters M Ex Gear number at the ballscrew side Gear number at the motor side 2 1 Motor speed ballscrew 2 1 1 161 163 Pitch of the ballscrew BLU 5000 reset 1000000 E Pitch of the ballscrew E Ballscrew rotate a revolution that move value of linear When change the Pr17 this parameter have to change Loop Gain of the position 1 181 183 1 sec 30 reset loop 1000000 E Loop Gain of the position loop for servo system 1 For each corresponding axis direction the parameter setting value should be the same as loop gain of the position loop for driver Suggest every feed axis should be the same 2 System can compute reasonable servo following error by the parameter setting value When output signal is pulse driver is position control the parameter setting value is only for system monitoring motor motion is OK or not E When System sends pulse commands the parameter means Vema _ calculate ideal following error System Kp Pr181 According to the formula Fe debug variable No 32 No 34 and real following error System debug variable No 8 No 10 If the difference is too big FBs 30GM will alarm Fatal following error exceed If the feed forward turn on FBs 30GM will calculate by the parameter then send compensation to decrease the following error E This parameter is used to define the encoder feedback ty
96. er reference 6 601 603 mm min 360000 reset feedrate 3600000 E The parameters are set for corner feedrate FBs 30GM will check the length of corner and decrease the speed before into the corner E The parameters are the max speed at corner that the angle is 120 degree Suggest value is mm min E The parameters are bigger and the speed is faster but the precise is worse The parameter is smaller and the speed is slower but the precise is better E Note If the program has G61 or G09 in position check control will cancel decrease speed plan If you don t need corner decrease speed Parameter 406 and 408 could set a huge value and the system will turn a corner with a high speed Please Pr404 set bigger to protect tool and avoid the huge shake If the program has auxiliary axis or rotation axis please set Pr601 Pr623 to avoid machine vibration Suggest value is 500 621 623 eo maximum cutting mm min 5000 reset feedrate 3600000 E Set each axis under G01 mode Pr621 Pr623 are the each axis maximum cutting feedrate acceleration time NW Set each axis under G00 G01 mode Pr621 Pr623 are the spending time on each axis acceleration accelerates to 1G In other words this parameter will determine each axis maximum jerk 9 8 Jmax Pr641 a FATEK Automation Corporation 143 FBs 30GM User Manual o 661 663 Axis MPG feedrate mm min 6000 reset 3600000 E Pr661 Pr663 axis MPG feedrate upper bound E Whe
97. erform RESET and then perform program start 3 M30 Program end return to starting point M30 command is for end of program When program execute M30 command the program will stop all actions and the memory will return to the initial of the program 4 M98 M99 sub program control A sub program which has fixed performing method is executed usually we prepare first and put it into memory when we need to use we can call by main program We use M98 to call the sub program and use M99 to end that Command form FATEK Automation Corporation 85 FBs 30GM User Manual M98P__H__L_ Sub program called P is specified number of program ex P1234 to motion program 01234 H is the number of ranking in specified program L is the number of repeats that sub program executes M99 P__ Sub program end P is the line number that returns to main program after sub program ends FATEK Automation Corporation 86 FBs 30GM User Manual 8 MACRO structure motion language 8 1 Introduction To increase FBs 30GM application flexibility FBs 30GM provide MACRO programmable function After the machining program is declared as MACRO format specific arithmetic operators can be used this way The program will not only has simple motion control functions but logical and arithmetic operations 8 2 File format is the head character and the first line is also called head line If head line without keyword AMACRO statement
98. escription The return sequence number P of M99 is not an integer Reason Program error Solution Change the return sequence number P of M99 into an integer Alarm ID COR 064 Alarm title P address must be integer Description If P address is not an integer this alarm will be sent Reason Programming error Solution Change P address into an integer Alarm ID COR 066 Alarm title Inc axis command and abs axis command conflict Description Both G91 and G90 are in the same line Reason Programming error Decide to use incremental or absolute command and enter the Solution correct command Alarm ID COR 067 Alarm title Arc center vector and radius conflict The arc end point is not on the arc created by the arc starting point Description and the specify center Reason Programming error Solution Please check the machining program Alarm ID COR 070 Alarm title Invalid G Code Description Enter incorrect G code to FBs 30GM Reason Program error Solution Enter the valid G code FATEK Automation Corporation 182 FBs 30GM User Manual Alarm ID COR 071 Alarm title No main program assignment Description The name of main program is not specified Reason The program is not loaded Solution Specify the name of main program Alarm ID COR 075 Alarm title Exact stop wait timeout Description After 1 second sending Exact stop G09 G61 command If the difference between feedback and command exceeds allowa
99. eth A nt tee 89 FATEK Automation Corporation FBs 30GM User Manual 8 0 2 O Oia A ral de sr 89 O OR 90 BA A AAA teen rend enr nt red eat der 91 8 5 5 REP Teoria aii a int es 92 30 06 WHILE ces rai eraa ia daa 93 BET OR a atte aides abet tae cod da 94 TT 95 8 59 COM Medion Aa 95 8 6 Functions OB ai ti 96 8 7 SUDEDTOBTIMICON EOL cio A AA AA AA A 102 TS A AN 102 8 7 2 ReturnMethodS umi nd 103 8 8 Variable specifications era n a do bre dde eo A 104 8 81 MACRO NOUCOS und ti 104 8 8 2 lt Global variablesivs ia aa 105 8 8 3 Local variables iria 105 8 8 4 SYSTEM VALI DIOS iii id esata ees 106 8 8 5 MACRO example acti ta Ga neta daa 107 9 Examples of motion program iii 109 9 1 SUI did 109 9 2 MUItSpeed controla asa eel M fa 110 9 3 COUPE A a das es 110 9 4 Trigger input terminals to execute motion program 111 9 5 Dynamically change endpoint ss 112 9 6 Sensor triggered incremental displacement coconoccccnnnonononononnnnnononnnnnnnnnnnnnnnos 112 Appendix Special relays and registers Of FBS PLC oooonoccccconoccncnononnnonononcnonononnncnnnnnnnnono 114 FATEK Automation Corporation FBs 30GM User Manual Appendix II FBs 30GM motion parameters ooocccnnoccccnonocanonononnnonononnnononononcnnnonnncnnnnnnnnnnns 124 l Motion parameters listing ss 124 Il Descriptions of motion parameters ssesssessssssseserressssssrserrtssssssreernessssesreernessssene
100. file from 30GM to Local C Download Right click the mouse button to the file and select download D Delete Right click the mouse button to the file and select delete E Rename Right click the mouse button to the file and select rename FATEK Automation Corporation 33 FBs 30GM User Manual 10 116 7 16 30GM core version of the new features sports programs can be copied to USB 30GM as follows 4 3 5 Debug function page System Data 8414 171127 85563 342254 5000 10000 2701 181067776 0 D JO M1 a bp yn mn tuo ome me ome me ome ome ome DIJO mn 2 wn 0 0 0 0 0 0 0 0 0 0 10 0 0 0 0 0 0 0 0 0 0 0 9190910 10 10 0 10 10 10 01010 010 10 0 10 10101 1010 9 10 10 10 0 0 0 0 0 0 0 10 0 0 10 0 10 10 01 100 Figure 24 Debug function page 8 10 X Y Z axis following error value Definition The error amounts between axial position command values and feedback values and is calculated as below X Y Z axis following error value Absolute position command value Absolute position feedback value Unit BLU Description 1 These variables are the current amounts of axial tracking errors used to check the amounts of errors between axial position command values and feedback values 2 When the axis is stationary the error amount at this time is called static error and in theory is almost equal to O If it is greater than Pr561 Pr563 for X Y and Z axis FBs 30GM will se
101. g0 out FATEK Automation Corporation 27 FBs 30GM User Manual 4 2 3 Update FBs 30GM s kernel The default kernel version of FBs 30GM is 10 116 0 6 Before using GMMon please update FBs 30GM s kernel version after 10 116 3 16 by following the procedures below 1 Prepare a USB flash drive preformatted with the FAT32 file system 2 Create a file named SettingO ini with the content below take kernel update file named package _511450f6 zip as example and put this file in your USB root directory ACTION SW_ INSTALL PARAMETER package_511450f6 zip 3 Insert the USB flash drive containing SettingO ini to FBs 30GM Turn off FBs 30GM and on again wait until RUN led is yellow it means the system has finished restarting 5 Pull out the USB and check its root directory If a file named SettingO out exists it means that the kernel has been changed successfully Note When there exists a file named Setting0 out in the USB root directory before inserting the USB FBs 30GM s kernel version would not be updated You have to delete Setting0 out 4 3 Functions of GMMon There are five main functions in GMMon the System function the Monitor function the Simulate function the Files function and the Debug function A System fill in the IP address of FBs 30GM to connect or disconnect You can set the parameter or change the language B Monitor monitor the content and the g
102. gram error Solution Use sequence number in the program range FATEK Automation Corporation 184
103. igure 43 G02 G03 vector of I J and K 3 How to use R When 0 lt 180 degree Ris positive G02 loa X_Y_ R250 When 180 degree lt 0 lt 360 degree R is negative G02 Pe X_Y_ R 250 When 0 360 degree use I J and K Start point p 77 Center 1 Arc 180 wi Are amp gt 180 R positive R negative Figure 44 Circular interpolation of different O FATEK Automation Corporation 64 FBs 30GM User Manual Example 1 y 4000 4000 2000 2000 1500 Figure 45 Circular interpolation example 1 G90 GOO X5500 Y4000 positioning to start point of arc G17 G90 G03 X1500 Y4000 l 3000 J 1000 F200 absolute command G17 G91 G03 X 4000 Y2000 1 3000 J 1000 F200 increment command Example 2 interpolate a full circle FATEK Automation Corporation 65 FBs 30GM User Manual Starting point End point Figure 46 Circular interpolation example 2 G90 GOO XO YO G02 11000 F100 interpolate a full circle FATEK Automation Corporation 66 FBs 30GM User Manual G02 G02 HELICAL INTERPOLATION G03 G03 Command form 1 617 Poe X_Y_ rl DIE X Y end position of arc Z end position of straight line R radius of arc J center position of arc F speed of tool feed feed rate G18 Le X Z Co Y_F X Z end position of arc Y end position of straight line R radius of arc K center position of arc F sp
104. in error Description Reason Programming error Solution Please check the machining program Alarm ID COR 005 Alarm title Program loading failure Description MACRO syntax error Reason Programming error Solution Please check the machining program Alarm ID COR 006 Alarm title Arc not on work plane In GO2 and G03 syntax if vector from center to starting point is not on the arc of working plane this alarm will appear Description Ex G17 G02 150 K10 if it implements the left program this alarm will appear Reason Programming error Check the machining program to ensure that GO2 and G03 are used Solution correctly Alarm ID COR 007 Alarm title Arc radius too short In GO2 and GO3 syntax if Arc radius is smaller than 10 to the power of Description minus 10 10 10 system will send this alarm Reason Programming error Check the machining program to ensure that the Arc radius of GO2 and Solution G03 are used correctly FATEK Automation Corporation 176 FBs 30GM User Manual Alarm ID COR 008 Alarm title Arc destination not on arc In G02 and G03 syntax if the Arc end point coordinate is not on the circle system will send this alarm From V8 31 version parameter 3807 destination not on arc check window is added It allows error set in parameter 3807 Description When error of Arc end point coordinate is smaller than setting value in Pr3807 system will automatically co
105. ine whether to enable fast home return function of each axis and are off by default in order to be compatible with HOME mode Enable the axis fast home return function Pr100x 1 and the specifications are as follows 1 When the machine has not yet executed the first reference searching the mechanical origin has not been established M1471 M1473 Off If carrying out reference searching FBs 30GM will follow Pr96x s setting to decide the reference searching method During reference searching the first and the second homing speed will be determined by Pr82x Pr84x 2 After the first reference searching the mechanical origin has been established M1471 M1473 On If FBs 30GM carries out reference searching again the machine will not go back to the mechanical origin with the previous reference searching method but do rapid positioning GOO to the origin directly Backlash compensation 1221 1223 02 reset start FATEK Automation Corporation 147 FBs 30GM User Manual E Set Backlash compensation start or not 0 OFF 1 Linear Guideway ON 2 Box Guideway ON GOO backlash compensation 999999 1241 1260 BLU reset value 999999 E The parameter is machine tool on the high speed GOO and move to a point with negative and positive direction The backlash is the error of stop G01 backlash compensation 999999 1261 1263 BLU reset value 999999 E The parameter is machine tool on the low speed F10 and
106. int HOME is When FBs 30GM boots up the execution of reference searching home search is important User should complete home return before starting AUTO motion program files The following describes three approaches of home return for users to select according to their machines If users do not know which approach to choose or machines lack HOME DOG motor index signals users can adopt the instructions of using absolute encoder to do Home mode Using motor feedback Step 1 Switch FBs 30GM to HOME mode set D3426 to 7 Step 2 PressJOG of desired home return axis Step 3 Motor moves to HOME DOG according to homing direction Pr861 863 and 1st homing speed Pr821 823 Step 4 When FBs 30GM receives home DOG signal it begins to stop Step 5 After the motor stops at point A it will move backwards with axis homing 2 part speed Pr841 843 FATEK Automation Corporation 50 FBs 30GM User Manual Step 6 When the machine leaves home DOG FBs 30GM will search the nearest motor index signal Step 7 After FBs 30GM receives the motor index signal FBs 30GM will plan the stop action according to the home search method Pr961 963 and homing offset Pr881 883 and finally the motor will stop at point B Step 8 After completing the 1st time HOME return FBs 30GM will initialize the system data below according to home search method Pr961 963 and home offset Pr881 883 Table 13 Parameters of home sear
107. ion for each type of HOME return is shown as below FATEK Automation Corporation 53 FBs 30GM User Manual Table 14 Home mode and home offset settings No961 0 No961 0 1 No961 2 No881 0 No881 L No881 L The absolute position L command Feed rate Machine origin coordinates 1 Axis homing 15 feed rate Postion Axis homme 2 feed rate ON HOME DOG signal OFF Optical ruler zero pomt signal Figure 36 V X diagram of dual feedback Pr961 0 and Pr881 0 FATEK Automation Corporation 54 FBs 30GM User Manual O No961 0 or 1 No881 L Feed rate Machine origin Axis homing 1 feed rate P Axis hommg 2 feed rate e e HOME DOG signal OFF Ontical miler zero nomt signal Figure 37 V X diagram of dual feedback Pr961 0 or 1 and Pr881 L No96t 2 NoBB Machine origin Hi Opticalruler Feed rate hs pol Axis hommg 1 feed rate Axishoming 2 feed rate Po HOME DOG signal OFF Optical ruler zero pomt signal Figure 38 V X diagram of dual feedback Pr961 2 and Pr881 L FATEK Automation Corporation 55 FBs 30GM User Manual Using absolute encoder Step 1 Move axis to the appointed point for machine origin during tuning process of servo driver Step 2 After triggering M1413 M1415 FBs 30GM automatically records the initial value A from encoder Step 3 Next time when FBs 30GM is rebooted and communicates successfully with driver regardle
108. irst reference searching is completed 48 50 X Y Z axis motor index counter Definition The number of pulses is recorded when the motor index feedback signal of each axis is generated Description 1 Theoretically updated increments of these variables each time have to be equal to Pr61 Pr63 and if not which means that the hardware may lose pulses Please check the feedback signal A A B B C C wiring are off or if it is affected by noise 2 For non absolute encoder this variable will be set to zero after the first reference searching is completed FATEK Automation Corporation 35 FBs 30GM User Manual Table 9 Debug variables Debug variables 8 X axis following error value 40 X axis absolute position command value 9 Y axis following error value 41 Y axis absolute position command value 10 Z axis following error value 42 Z axis absolute position command value 24 X axis absolute position 48 X axis motor index counter feedback value 25 Y axis absolute position 49 Y axis motor index counter feedback value 26 Z axis absolute position 50 Z axis motor index counter feedback value 4 4 Rest FBs 30GM to factory settings You can follow the porcedures below to reset FBs 30GM to factory settings Other diagnostic variables are for internal use only 1 Reset the motion parameters Use GMMON click System gt Import to import FBs 30GM factory parame
109. lay phenomenon is not in allowed limit FBs 30GM will send alarm 1 Servo motor doesn t receive control due to external force 2 Parameter of drive inner loop gain is too small Possible 3 Parameters of acceleration and deceleration time is set too short o 4 Encoder is abnormal or connecting encoder to FBs 30GM is abnormal FATEK Automation Corporation 165 Solution FBs 30GM User Manual 1 Check the external motion of machine table 2 Check the setting parameter of drive 3 Check the acceleration and deceleration setting of each axis parameters 401 541 560 4 Maintain the connection between encoder and servo drives Maximum velocity value of GOO and home search is equal to setting parameter divided by Kp This value multiplied by 4 is setting range of FBs 30GM Reasonable following error Ferr speech in command loop gain b Alarm allowed values max velocity of first stage in home search description process velocity GOO of each axis Kp 4 32 X axis reasonable following error 33 Y axis reasonable following error 34 Z axis reasonable following error Alarm ID MOT 024 Alarm Title Fatal dual feedback error exceed If FBs 30GM discovers that the command and the second command of Description encoder feedback exceed allowable limit set in Pr3817 FBs 30GM will send this alarm 1 Servo motor doesn t receive control due to movement caused by Possible external force Cause 2 Exter
110. lse E After activating dual feedback the A B pulse number between two indexes are recorded and self checking every time FBs 30GM encounters an index from ruler optical encoder if the difference exceeds the value set by this parameter FBs 30GM shall pop up MOT 40 Dual feedback self detect error exceed E If the setting value is O the self checking function shall be disabled NE Generally it is applied to all types of optical encoder including both equal distance Optical encoder and distance code Optical encoder M Limitation gt This function is only enabled after the axis completes returning reference point search HOME gt When a problem occurs the system shall not pop up alarm immediately but hold until the 5th index is received then only the alarm pop up In other words if the movement range is within 4 indexes such detection function is inactive gt Default index s width set by the system is 5 Pulses FATEK Automation Corporation 153 FBs 30GM User Manual Coupling master axis 0 3 restart number 3822 Coupling slave axis number 0 3 o restart M Pr3821 and Pr3822 are set to coupling axis number M EX When Pr3821 1 it means X axis and Pr3822 2 it means Y axis then Y axis movement will follow X axis and the moving ratio according to Pr3823 and Pr3824 Coupling master axis ratio 1 999999 restart factor 999999999 restart Coupling slave axis ratio factor 999999999 M Pr3823
111. lt steps range 1 20 E When MACRO program execute single step block execute or not O disable 1 enable M1416 have to be ON before program start E Set the parameter for decimal point type 0 standard 1 0 001mm 1 pocket 1 1mm Static dual feedback error O ms 1000 reset timeout 60000 E This parameter is used to define the waiting time before FBs 30GM switches to static state when it stops sending command controller start send command controller stop send command No3805 static 2 movemen Figure 69 Static dual feedback error timeout FATEK Automation Corporation 152 FBs 30GM User Manual Destination not on arc 0 1000 BLU 5 reset check window E Set the error of radius from start point to end point If the error is larger than this parameter FBs 30GM alarms en nee unt io amants Start address of persist 0 400 restart working global variable E 0 1 400 data all reset after power off 1 400 Start address of persist working global variable EX setting 100 04100 0400 data will persist after power off 0 Fatal dual feedback error BLU 10000 reset 100000 E This parameter is used to define the maximum allowed dual error between motor encoder and ruler s optical encoder feedback signal in dynamic state M If setting value is O this checking function is inactive Dual feedback self detect 0 50 Pulse reset error pu
112. lter type 2 Pr17 Control precision 3 Pr41 X axis motor command polarity 4 Pr42 Y axis motor command polarity 5 Pr43 Z axis motor command polarity 6 Pr61 X axis encoder resolution 7 Pr62 Y axis encoder resolution 8 Pr63 Z axis encoder resolution 9 Pr81 X axis encoder feedback scaling factor 10 Pr82 Y axis encoder feedback scaling factor 11 Pr83 Z axis encoder feedback scaling factor 12 Pr121 X axis gear number at the ballscrew side 13 Pr122 X axis gear number at the motor side 14 Pr123 Y axis gear number at the ballscrew side 15 Pr124 Y axis gear number at the motor side 16 Pr125 Z axis gear number at the ballscrew side 17 Pr126 Z axis gear number at the motor side 18 Pr161 X axis pitch of the ballscrew 19 Pr162 Y axis pitch of the ballscrew 20 Pr163 Z axis pitch of the ballscrew 21 Pr181 X axis loop gain of the position loop 1 sec 22 Pr182 Y axis loop gain of the position loop 1 sec 23 Pr183 Z axis loop gain of the position loop 1 sec 24 Pr201 X axis sensor type 25 Pr202 Y axis sensor type 26 Pr203 Z axis sensor type 27 Pr221 X servo axis type 28 Pr222 Y servo axis type 29 Pr223 Z servo axis type 30 Pr241 X axis dual feedback related to port no 31 Pr242 Y axis dual feedback related to port no FATEK Automation Corporation 124 FBs 30GM User Manual 32 Pr243 Z axis dual feedback related to port no 33 Pr261
113. m 9 1 S curve 60 0 Figure 59 S curve Program description G90 G17 set to absolute command and X Y plane GOO X20 0 Y20 0 positioning to 20 20 G03 X20 0 Y80 0 R30 0 F500 CCW circular interpolation to 20 80 G02 X20 0 Y120 0 R20 0 CW circular interpolation to 20 120 GO1 Y130 0 linear interpolation to 20 130 G03 X20 0 Y70 0 R30 0 CCW circular interpolation to 20 70 G02 X20 0 Y30 0 R20 0 CW circular interpolation to 20 30 G01 Y20 0 linear interpolation to 20 20 M02 Program end FATEK Automation Corporation 109 9 2 Multi speed control F FBs 30GM User Manual Program description 10 0 20 0 30 0 40 0 50 0 x Figure 60 Multi speed control X0 0 YO 0 ZO O G90 G00 G01 X10 0 G01 X20 0 G01 X30 0 G01 X40 0 G01 X50 0 M02 9 3 Coupling Y15 0 Y30 0 Y45 0 Y60 0 Y75 0 F100 F150 F200 F250 F300 Set Pr3825 to select coupling type 0 Cancel coupling 1 Machine coupling coupling starts from power on and can t be canceled 2 PeerSynchronization coupling Coupling starts from power on and M1422 on When M1422 is off coupling is canceled FBs 30GM receives commands from the master axis or the slave axis and then sends to two axes at the same time FATEK Automation Corporation 110 FBs 30GM User Manual 3 Superimposition coupling Coupling starts from power on and M1422 on When M1422 is off coupling is canceled
114. machining program Alarm ID COR 019 Alarm title sub program no M99 Description Subprogram has no M99 to return main program Reason Programming error Solution Write M99 at the end of subprogram Alarm ID COR 020 Alarm title Too many G code Description There are more than 10 G codes in a single block Reason Programming error Dividing that single block into others single block that has less than Solution 10G codes Alarm ID COR 021 Alarm title Too many l J K triples Description Repeat too much IJK command in the same single block Reason Programming error Solution Please check the machining program Alarm ID COR 022 Alarm title Use undefined workpiece coordinate Description Do not input G17 G18 G19 Reason Programming error Solution Decide the working plane and input G17 G18 or G19 Alarm ID COR 024 Alarm title Invalid arc radius value When implementing G02 G03 appointing Arc end point and given radius is contradicted given radius cannot meet appointing Arc end Description i point Ex G03X1500Y4000R2000 Reason Programming error FATEK Automation Corporation 179 FBs 30GM User Manual Solution Check the program and recalculate Alarm ID COR 026 Alarm title macro stack is empty Description Empty stack still has value pop The numbers of Push commands and Pop commands are not the Reason same Check the program to ensure that the number of Push command s is Solution the
115. mm width DIN RAIL Ethernet RJ45 port Right side cover plate Hole for screw fixation size 4 5X2 Terminals of 24VDC output and digital I O terminals Pitch 7 62mm Communication interface cover plate RS 485 COM port Terminals of main power input and servo signals Pitch 7 62mm 10 FBs 30GM User Manual 1 3 Status indicators Table 1 shows the meaning of each status indicators Table 1 Status indicators Name Description PWR Green FBs 30GM is connected to the ac power supply RUN Yellow System is ready Blinking yellow Motion program is processing ERR Blinking red Motion control kernel sends alarm message and has to suspend processing 485 Yellow RS485 communication success LAN Green LAN communication success FATEK Automation Corporation 11 FBs 30GM User Manual 1 4 Terminals Terminals and its descriptions are described as below D IMPGND MPG5V JMPGA MPGB S ON DOGO LSPO LSN1 DOG2 LSP2 X8 X0 X2 X4 X6 YO Yi Y2 A MPGB S ON 0 LSNO DOG1 LSPi LSN2 LE STOP 1 X1 X3 X5 COM2 3 Y3 FBs 30GM IN_ AC100 240V AU BU APO ALMO Al Bl APT BPI ALMI A2 B2 AP2 BP2 VO VO A0 B0 PGO APO BPO ALMO Al B1 PGi AP1 BP1 ALM1 A2 B2 PG2 AP2 BP2 ALM2
116. ms 01001 01009 FATEK Automation Corporation 111 FBs 30GM User Manual If you are currently running a motion program FBs 30GM will directly switch to the corresponding motion program and start After the program is finished FBs30GM will switch back to the previous motion program and return to standby state 9 5 Dynamically change endpoint Program description MACRO MACRO program GOO XO GOO position to XO 0 G01 X80 G01 linear interpolation to X80 0 WAIT Wait until all previous motion logic commands are finished G01 X80 101462 G01 linear interpolation to X 80 0 101462 Assign 101462 20 0 before this single block is executed After this block is executed machine move to X100 0 M30 Program end Generally before executing a motion program commands within the program will be pre decoded in advance Locus and endpoint of each single block are decided at this moment By using WAIT function to stop pre decoding after the start of the motion program you can change the value of 101462 before execution GO1 X80 101462 block The machine move to X 80 0 101462 in the end 9 6 Sensor triggered incremental displacement Program description GOO X0 0 G28 1 X10 0 Q30 0 R20 0 F1 1000 F2 200 M02 Move to X10 0 with the specified speed F1 After reaching X machine move to Q with the specified speed F2 FATEK Automation Corporation 112 FBs 30GM User Manual If FBs 30G
117. n Corporation 134 FBs 30GM User Manual Table 31 Type of servo axis setting Setting 1 2 4 5 3 Note 1 CSSS PA Workpiece 0 360 0 360000 0 360 gt over coordinate 360 back to 0 display Machine 0 360 O0 360000 0 360 gt over coordinate 360 back to 0 display Absolute The shortest Use command The same as linear Direct move to instruction distance signal or axis behavior move goal position within as moving to command position within 2 half circle direction maybe over 1 circle moving to the circle close command corresponding angle position within one circle Increment Use command signal or as moving direction Do increment instruction movement Reference Move to middle point by increment or absolute type command position from middle point back to origin EX Machine coordinate positioning return Machine The shortest distance within half circle The same as Direct move to coordinate linear axis goal position positioning behavior within 2 maybe circle over 1 circle Note1 Type C Setting value is 3 is the specification for special purpose machine FATEK Automation Corporation 135 FBs 30GM User Manual Axis dual feedback servo 241 243 0 3 restart channel no E This parameter is used to define the actual axis number that is used to receive dual feedback signal from ruler X axis corresponds to 1 Y axis co
118. n parameter is set to O it means using JOG feedrate as MPG feedrate mm 821 823 Speed of first part homing 0 240000 10000 min E On Home search process this parameter will determine the maximum moving velocity before touching Home DOG switch mm ET Pree ot sccone pant 0 240000 pa 2000 reset homing min E On Home search process this parameter will determine the maximum moving velocity after leaving Home DOG switch 861 863 Negative homing direction 0 1 Po o rest E On Home search process this parameter will determine the direction of Home DOG switch 99999999 881 883 Axis home offset dd BLU reset 99999999 E The parameter have to fit Pr961 Pr980 Home search method M Pr961 Pr963 is 0 or 1 When FBs 30GM find the motor index tool will move to specialize point that is the offset position After arriving the point machine coordinate will be zero E Pr961 Pr963 is 2 When FBs 30GM find the motor index tool will move to point that is the index After arriving the point machine coordinate will be offset value FATEK Automation Corporation 144 FBs 30GM User Manual M Pr961 Pr963 is 3 When FBs 30GM leave DOG sensor tool will move to specialize point that is the offset position After arriving the point machine coordinate will be zero E Home Offset Action Index ES p gt Motor speed positive Home speed distance Speed of second home Motor speed negative
119. nables or disables coupling When Pr3825 is Axis Coupling OR M1422 Rie 2 3 4 or 5 and if M1422 is ON coupling is enabled If M1422 is OFF coupling is disabled The second software travel limit switch 0 Without second software travel limit M1423 FOKE n 1 With second software travel limit Two Switch Please refer to parameters 2441 2446 for further instructions FBs 30GM triggers the execution of motion programs A FBs 30GM 0 Disable launch 1 Enable to trigger the execution of motion programs directly from FBs 30GM M1425 Drive Control YO of FBs 30GM FBs 30GM 0 output transistor OFF DO YO 1 output transistor ON M1426 Drive Control Y1 of FBs 30GM FBs 30GM O output transistor OFF DO Y1 1 output transistor ON M1427 Drive Control Y2 of FBs 30GM FBs 30GM 0 output transistor OFF DO Y2 1 output transistor ON M1428 Drive Control Y3 of FBs 30GM FBs 30GM O output transistor OFF DO Y3 1 output transistor ON M1429 Drive Control Y4 of FBs 30GM FBs 30GM 0 output transistor OFF DO Y4 1 output transistor ON M1430 Drive Control Y5 of FBs 30GM FBs 30GM O output transistor OFF DO Y5 1 output transistor ON Table 28 Status relays of FBs PLC for FBs 30GM Relay Function Description FATEK Automation Corporation 116 FBs 30GM User Manual M1464 Start Light This relay is ON when the motion program is processing Feed
120. nal encoder signal is unusual 3 External encoder parameters are set wrong 1 Check external motion mechanism 2 Check whether external encoder wire is normal ue 3 Check whether external encoder corresponding to mechanical axis olution Pr241 260 resolution parameter 261 280 and feedback scaling factor 301 320 are set correctly 4 Contact machinery manufactures in case no solution is found FATEK Automation Corporation 166 FBs 30GM User Manual Alarm ID Description MOT 025 Alarm Title Positive hardware limit exceed Servo motor touches the positive hardware limit in moving process 1 Machine table exceeds protection point Possible 2 Hardware stroke switches are damaged or broken Cause 3 Input signal has error 1 Use MPG mode to move machine table to opposite direction once discovering that machine table stops on the switch 2 If machine table is not on the switch check IO terminal blocks 24V Solution power supply terminal blocks connecting wire and components of switch 3 Check whether IO card is abnormal AlarmID MOT 026 AlarmTitle Negative hardware limit exceed Servo motor touches the negative hardware stroke limit in moving Description process 1 Machine table exceeds protection point Possible 2 Hardware stroke switches are damaged or broken Cause 3 Input signal has errors 1 Use MPG mode to move machine table in opposite direction once
121. nd G67 are used in pairs Alarm ID COR 013 Alarm title G65 G66 must be the last one in G code list G65 and G66 are MACRO so in single block the right hand side of G65 and G66 will have processing arguments So in single block please put Description other G code in the left hand side of G65 and G66 If the right hand side of G65 and G66 has G code or M code system will send this alarm Reason Programming error Solution Please check the machining program Alarm ID COR 014 Alarm title Absent program number The right hand side of G65 and G66 doesn t have parameter P to Description specify program number system will send this alarm Reason Programming error Please check the machining program to ensure the use of G65 and Solution G66 Alarm ID COR 015 Alarm title Too many M code Description There are more than 3 M codes in a single block Reason Programming error Please check the machining program to ensure that there are equal or ain less than 3 M codes in a single block Alarm ID COR 016 Alarmtitle Illegal variable access Description Accessing variables do not exist Reason Programming error Solution FATEK Automation Corporation 178 FBs 30GM User Manual Alarm ID COR 017 Alarm title Label not found Description Cannot find out corresponding line number N in GOTO command Reason Programming error Solution Please check the
122. nd alarm MOT 008 3 When axes are moving the error amounts at this time are called dynamic errors and in theory should be less than the maximum allowable amount of following error values 16 18 Otherwise FBs 30GM will send alarm MOT 019 or MOT 023 4 When feedrate override is uniform these variables should be almost equal to debug variables 32 34 Otherwise please check the position control loop gain FATEK Automation Corporation 34 FBs 30GM User Manual of the servo driver is the same as Pr181 It may also be caused by enabled feed forward or command filter function of servo driver Of course abnormal wire connection may cause the inconsistencies between debug variables 8 10 and 32 34 24 26 X Y Z axis absolute position feedback value Definition The axial position control feedback of the motors Unit BLU Description 1 For non absolute encoder these variables will be set to zero after the first reference searching is completed 40 42 X Y Z axis absolute position command value Definition Cumulative command pulses sent by FBs 30GM Unit BLU Description 1 These variables are the amounts of position commands sent by FBs 30GM and is not necessary exactly equal to debug variables 72 74 machine coordinates because these variables also include mechanical compensations such as backlash sharp pitch and temperature 2 For non absolute encoder this variable will be set to zero after the f
123. nd stroke direction of axis home direction positive negative select the corresponding fill in format One way pitch compensation just fill in positive table Regardless of moving direction of axes FBs 30GM will send all positive direction values in the reference table as the compensation values at the same point of the stroke Axial stroke is in the positive direction of home Moves the machine away from home and progress to the positive direction of machine coordinate measures the pitch error and enters the error into Pr800x Positive absolute compensation pitch error table Note that the fill in serial no of pitch error compensation is to the higher direction Move the machine away from home and progress in the positive direction of machine coordinate and Pr134x 50 fill in Pos table 50 51 59 60 93993239 1033338333 FATEK Automation Corporation 157 FBs 30GM User Manual Axial stroke is in the negative direction of home Moves the machine away from home and progress to the negative direction of machine coordinate measures the pitch error and enters the error into Pr800x Negative absolute compensation pitch error table Note that the fill in serial no of pitch error compensation is to the lower direction Move the machine away from home and progress in the negative direction of machine coordinate and Pr134x 50 fill in Pos table 50 49 41 40 aa az las aa as Jas Ver a f
124. nnnnnnnnnns 96 Table 21 Call methods listing table 102 Table 22 Return methods listing table 103 Table 23 Global Variable table iio ani a a 105 Table 24 Local variables listing octal laa 105 Table 25 Default argument specification 106 Table 26 System variables ss 106 Table 27 Control relays of FBs PLC for FBs 30GM oooooocccccncnononononnnnnnnnnncnnanononnnnonnnos 114 Table 28 Status relays of FBs PLC for FBs 30GM ccccsssccceesssteceesssneeecssseeeeeeeeeaes 116 Table 29 Special registers of FBs PLC for FBs 30GM 118 Table 30 Motion parameters listing table nnsnssnseoeseesnssssesrerersssssserereesessssesrrens 124 Table 31 Type of servo axis setting 135 Table 32 Interpolation time and command 138 FATEK Automation Corporation Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 FBs 30GM User Manual Figure The dimensions of FBS IDO Micol AAA 9 Front view of FBS 30GM a nn nn ere 10 FBs 306M terminals ud 12 Input and output points Wiring ss
125. nt or delimiter in CASE statement Description If CASE command in MACRO uses or this alarm will appear Possible Programming error Cause Check MACRO program In CASE statement or is correct However Solution you should use when finishing CASE command Coordinate alarm Alarm ID COR 001 Alarm title Array Index must be Integer When indirect variable is not an integer the system will send this alarm Description Ex if 1 in 1 1 command is not positive integral this alarm will appear Reason Programming error Please check the machining program the index in MACRO command Solution has to be rounded Ex ROUND 1 1 Alarm ID COR 002 Alarm title File not found If the file that the system wants to read does not exist Description EX Use M98 or G65 G66 etc to call a no existence file Reason Programming error Solution Check the machining program to make sure the existence of the file FATEK Automation Corporation 175 FBs 30GM User Manual Alarm ID COR 003 Alarm title Divide by zero If denominator in division of MACRO is equal to 0 Description Ex If 3 in 1 2 3 command is equal to 0 Reason Programming error Check the machining program to ensure that the denominator is not Solution equal to 0 Alarm ID COR 004 Alarm title Operand doma
126. on the faster the machine movement MPG stops the machine stops It is suitable for processing test of machine RESET X Axis M1413 Machine Position Set current position to zero as the corresponding axial RESET Y Axis machine coordinate origin Suited for test processing M1414 Machine land adjust the machine coordinate If used during Position processing it may cause the machine coordinates RESET Z Axis incorrect M1415 Machine Position When this relay is ON FBs 30GM stops after a BLOCK of M1416 Single Block G CODE is finished Users have to set Start to start doing next BLOCK When this relay is ON if there is a skip sign A in M1417 Optional Skip process program it will skip this line and do next BLOCK X axis When this relay is ON the program will run but the M1418 Machine Lock X axis does not move It is usually used for program checking Y axis When this relay is ON the program will run but the M1419 Machine Lock Y axis does not move It is usually used for program checking Z axis When this relay is ON the program will run but the M1420 Machine Lock Z axis does not move It is usually used for program checking FATEK Automation Corporation 115 FBs 30GM User Manual When this relay is ON the program will pause if it M1421 Optional Stop encounters M01 during processing When this relay is OFF it will skip this line i This relay e
127. on Corporation 58 FBs 30GM User Manual G00 POSITIONING GOO Command form GOOX_Y_ Z_ X Y gt Z Specified point Description Each axles move to appointed point in no interpolation status X Y Z is the final position use G90 G91 to design absolute or increment value lt Notice gt The movement mode can decide by motion parameter Pr411 0 linear 1 each axle move in max speed independently Example End point 20 20 Program zero point Figure 39 G00 positioning example Program description 1 First way absolute G90 GOO X90 0 Y40 0 use difference value between appointed point and zero point to do straight interpolation to appointed point 2 Second way increment G91 GOO X70 0 Y20 0 use difference value between appointed point and initial point to do straight interpolation to appointed point FATEK Automation Corporation 59 FBs 30GM User Manual G01 LINEAR INTERPOLATION G01 Command form G01X_Y_z F 2 X Y gt Z Specified point F Feed rate mm min Description G01 executes linear interpolation it can be used with G90 G91 to decide absolute or increment mode use feed rate provided by F to go to the specified position Example1 20 Start point 20 Program zero point Figure 40 G01 linear interpolation example 1 1 Absolute command G90 G01 X90 0 Y40 0 do linear interpolation from
128. on has been completed Click Finish to exit JE FATEK GMMon InstallShield Wizard InstallShield Wizard Completed The InstallShield Wizard has successfully installed FATEK GMMon Click Finish to exit the wizard Figure 17 Step5 of FATEK GMMon installation procedure FATEK Automation Corporation 25 FBs 30GM User Manual 4 2 Setting up a connection 4 2 1 Configure IP address The default IP address in FBs 30GM is 192 168 10 10 The computer connected to FBs 30GM should have an IP address such as 192 168 10 XXX If only one network interface card exist and the IP address is not 192 168 10 XXX you can do the following steps to add a new IP address to your computer PS The computer and FBs 30GM should be in the same subnet or your computer can connect to the network port of Fbs 30GM directly 1 Goto Internet Protocol Version 4 TCP IPv4 Properties page and click Advanced FF hl Internet Protocol Version 4 TCP 1Pv4 Properties E General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address B i 7 2 5 oR Subnet mask 255 25 8 0 Default gateway Dita Jbtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Mis A A Alternat
129. ordinate instruct will go back the machine origin that rotates in a revolution FATEK Automation Corporation 133 FBs 30GM User Manual It s useful in backlash compensation and quad peak error compensation and home grid function E Set the parameter is 3 Rotary axis C Machine coordinate and absolute coordinate are rotary axes Coordinate value is between 360 360 degree The unit in Metric coordinate system and inch coordinate system both are degree G28 and G30 reference coordinate instruct will go back the machine origin that rotates in a revolution It s useful in backlash compensation and quad peak error compensation and home grid function E Set the parameter is 4 Rotary axis D Machine coordinate is rotary axis and absolute coordinate is linear axis Coordinate value is between 0 360 degree The unit in Metric coordinate system and inch coordinate system both are degree G28 and G30 reference coordinate instruct will go back the machine origin It s useful in backlash compensation and quad peak error compensation and home grid function E Set the parameter is 5 Rotary axis E Machine coordinate and absolute coordinate are linear axes The unit in Metric coordinate system and inch coordinate system both are degree G28 and G30 reference coordinate instruct will go back the machine origin It s useful in backlash compensation and quad peak error compensation and home grid function FATEK Automatio
130. pe FATEK Automation Corporation 132 FBs 30GM User Manual 0 Incremental encoder 1 Optical linear encoder 2 No feedback E Set the parameter is 0 linear axis 1 Machine coordinate and absolute coordinate are linear axes 2 Metric coordinate and inch coordinate transform 3 G28 and G30 reference coordinate instruct will go back the machine origin 4 It is useful in backlash compensation and quad peak error compensation and home grid function E Set the parameter is 1 Rotary axis A Machine coordinate and absolute coordinate are rotary axes Coordinate value is between 0 360 degree The sign is the direction of absolute coordinate G90 moving instruct The unit in Metric coordinate system and inch coordinate system both are degree G28 and G30 reference coordinate instruct will go back to the machine origin that rotates in a revolution It s useful in backlash compensation and quad peak error compensation and home grid function Absolute coordinate G90 moving instruction is automatic to choose the shortest path E Set the parameter is 2 Rotary axis B Machine coordinate and absolute coordinate are rotary axes Coordinate value is between 0 360 degree The sign is the direction of absolute coordinate G90 moving instruct rotate positive direction and rotate negative direction The unit in Metric coordinate system and inch coordinate system both are degree G28 and G30 reference co
131. peed E Increment JOG unit E MPG JOG unit Decimal Point Input When parameter is inputted by decimal point input will to be the common measurement unit mm inch sec etc if input by whole number it will to be the Min unit that system default mm ms etc Precision BLU Set motion parameter Pr17 to Control precision BLU 1 0 001inch 0 01mm 0 01deg 2 0 0001inch 0 001mm 0 001deg 3 0 00001inch 0 0001mm 0 0001deg FATEK Automation Corporation 76 FBs 30GM User Manual G90 ABSOLUTE COMMEND G90 G91 INCREMENT COMMEND G91 Command form G90 G91 Description G90 absolute command G91 incremental command 4 Specified point Program zero point Figure 53 G90 G91 absolute increment commend example Program description 1 First way absolute G90 GOO X90 0 Y40 0 use the different distance from specified point to program zero point to linear interpolation to specified point 2 Second way increment G91 GOO X70 0 Y20 0 use the different distance from specified point to starting point to linear interpolation to specified point FATEK Automation Corporation 77 FBs 30GM User Manual G92 PROGRAM COORDINATE SYSTEM SETTING G92 Command form G92 X_Y_Z X Y Z set the position that work coordinate system G92 in programmable coordinate system Description When we design the program we must set another p
132. r define input Corresponds to FBs 30GM Write only D3476 D3477 MACRO global variable 101476 DD3478 User define input Corresponds to FBs 30GM Write only D3478 D3479 MACRO global variable 101478 DD3480 User define input Corresponds to FBs 30GM Write only D3480 D3481 MACRO global variable 101480 D3302 M Code 00799 When the controller doing M Read only CODE it will put the contents of M CODE in here D3303 S Code 000079999 When the controller doing S Read only CODE it will put the contents of S CODE in here DD3304 Program Coordinate X X axis program coordinate Read only D3304 amp D3305 position the unit is the minimum input unit LIU DD3306 Program Coordinate Y Y axis program coordinate Read only D3306 8 D3307 position the unit is the minimum input unit LIU DD3308 Program Coordinate Z Z axis program coordinate Read only D3308 8 D3309 position the unit is the minimum input unit LIU DD3310 Machine Coordinate X X axis machine coordinate Read only D3310 amp D3311 position the unit is the minimum input unit LIU DD3312 Machine Coordinate Y Y axis machine coordinate Read only D3312 amp D3313 position the unit is the minimum input unit LIU DD3314 Machine Coordinate Z Z axis machine coordinate Read only D3314 amp D3315 position the unit is the minimum input unit LIU DD3316 Compound feedrate Unit LIU min Read only D3316 D3317 DD3318 X Axis Velocity Unit BLU min Read only D331
133. r into Pr800x Pos abs comp pitch err table FATEK Automation Corporation 158 FBs 30GM User Manual Move the machine away from home and progress to the negative direction of machine coordinate and Pr134x 50 fill in Neg table 50 49 41 40 When the machine progress direction is revert and move back to home fill in Pos table 40 41 49 50 At last do the experiment again to measure pitch compensation parameter and to verify the effectiveness of compensation 4 Q amp A Q1 Pitch error compensation function is ineffectiveness Ans Pitch error compensation function is only enabled when the home search action is finished Q2 Machine is still at inaccurate position after being pitch error compensation Ans The effectiveness of optimize mechanism compensation is depends on the reproducible of mechanism action Thus when this phenomenon occurs please check whether the assembly of mechanism is appropriate FATEK Automation Corporation 159 FBs 30GM User Manual Appendix III Alarm ID Operation alarm Power break in machining re calibrate before Alarm ID OP 023 Alarm title machining As start machining FBs 30GM will set up machining flag in registry dat and it will be removed when machining comebacks to ready status Description When rebooting if machining flag is not removed this alarm will appear Possible Discontinue power in machining process
134. ram and the blue line has just being simulated N Play simulate all the content of the motion program Step simulate one line of the motion program at a time ViewPoint select one of the seven coordinate systems such as XYZ space XY plane XZ plane YZ plane YX plane ZX plane and ZY plane FATEK Automation Corporation 32 FBs 30GM User Manual 4 3 4 Files function page E GMMon NC Files Management 30GM IP Address 192 168 0 11 o Local c FATEK 30GM Motion_Prog 30GM 30GM MotionFiles Motion 1 Name Size Last Modified 2014 1 15_E 10 43 06 cou MDIBlock 2 03 20 12 12 01 Reading Motion Files 2014 1 15 0 43 07 G0001 00001 18 03 20 12 14 48 ANS EF 1 _ gt Reading Complete pa TEST 78 02 04 06 06 18 ae G0000 54 01 15 14 09 00 G0161 0 15 G0162 G0001 200 01 15 14 09 00 G0163 154 01 15 14 09 00 G0164 ry 1 15 14 09 00 download G0165 15 14 09 00 delete G0166 15 14 09 00 Rename G0167 15 14 09 00 01 15 14 09 00 01 15 14 09 00 01 15 14 09 00 01 15 14 09 00 01 15 14 09 00 OFF LINE Figure 23 Files function page 1 FBs 30GM IP Address enter IP address of the FBs 30GM to connect Connect get connected Local the motion program will be put in the local path C FATEK 30GM Motion_Programs 30GM the path of motion program on FBs 30GM 5 Log message this displays log message of file management A Upload Drag and drop the file from Local to 30GM B Download Drag and drop the
135. ramming error Cause Solution Check MACRO program to confirm whether IF loop use END correctly Alarm ID COM 020 Alarm Title absent END_IF or ELSE keyword in IF statement Description If IF loop doesn t have ELSE or END_IF this alarm will appear Possible Programming error Cause Solution check whether IF loop uses ELSE or END_IF Alarm ID COM 021 Alarm Title absent END_IF keyword in IF statement Description If IF loop uses END_IF to finish loop incorrectly this alarm will appear Possible Programming error Cause Solution Check whether IF loop uses END_IF correctly Alarm ID COM 022 Alarm Title absent OF keyword in CASE statement Description If CASE command uses OF incorrectly this alarm will appear Possible Programming error Cause Solution Check whether CASE command uses OF correctly absent END_CASE or ELSE keyword in CASE Alarm ID COM 023 Alarm Title statement Description If CASE command doesn t use ELSE or END_CASE Possible Programming error FATEK Automation Corporation 174 FBs 30GM User Manual Cause Solution Check whether CASE loop uses ELSE or END CASE correctly Alarm ID COM 024 Alarm Title absent END_CASE keyword in CASE statement Description If CASE command doesn t have END_CASE keyword Possible Programming error Cause Solution Ensure that END_CASE keyword is used before finishing CASE command Alarm ID COM 025 Alarm Title abse
136. raph illustrated by the motion program which is in process C Simulate Simulate a motion program on local PC without connection to FBs 30GM D Files manage motion program files E Debug you can use it for debugging parameters FATEK Automation Corporation 28 FBs 30GM User Manual Monitor and Debug functions can only be operated when connecting to FBs 30GM while Simulate and Files functions can only be operated when disconnecting to FBs 30GM 4 3 1 System function page fi SMMon ade 30GM Connection Status System Information Qs Disconnected O reno Version Language FE ANEN English o oros 192 168 10 10 E connect Q crus version yu 8 x Parameters 1 0 board digital filter type Control precision X axis motor command polarity System En Para 15 3837 Para 80018600 sn TT Y axis motor command polarity E Z axis motor command polarity iles X axis encoder pulse count Y axis encoder pulse count Z axis encoder pulse count X axis encoder feedback gain of the servo board Y axis encoder feedback gain of the servo board Z axis encoder feedback gain of the servo board X axis gear number at the ballscrew side 0 0 0 0 0 0 0 0 0 0 0 0 0 X axis gear number at the motor side Dore Brun D OFF LINE E ommon version VOL 03 O Figure 20 System function page Status ON LINE OFF LINE status IP Address input IP address of the FBs 30GM to connect Connect Disconnect het
137. rogram coordinate zero point we can use G92 to set a new coordinate system at this time this command is set a new zero point of coordinate system when the tool is in any position after setting tool will start to perform at this point absolute command is computed by this new coordinate system Example Program coordinate x Program zero point system Figure 54 Program coordinate system setting example Do the specified MACRO program and set program coordinate to zero before execution MACRO program with different machine coordinate FATEK Automation Corporation 78 FBs 30GM User Manual G92 1 ROTATING PROGRAM COORDINATE SYSTEM SETTING G92 1 Command form G92 1 X_Y_Z_ 1 JJ K_R_ X Y Z Set the position that work coordinate system G92 in programmable coordinate system J gt K Direction vector of an axis of rotation R Angle of rotation Description This command will take the X Y Z filled value as new offset and rotate an angel R about the direction vector as a new coordinate system Example N1 G90 GOO X20 Y20 Machine coordinate X20 Y20 Program coordinate X20 Y20 Default of MACRO system variable 1901 1902 coordinate offset is XO YO N2 G92 1 X10 Y10 K1 R45 Machine coordinate X20 Y20 Program coordinate X14 142 YO Set MACROsystem variable 1901 1902 coordinate offset to X10 Y10 program coordinate X Y plane rotate 45 about
138. rrect center coordinate so the end point can be on arc correctly If error of Arc end point coordinate is bigger than setting value in Pr3807 system will send alarm Reason Programming error Check the machining program to ensure that the Arc radius of G02 and Solution G03 are used correctly Alarm ID COR 009 Alarm title Macro call too deep Description Use G65 to call MACRO subprogram that has more than 12 layers Reason Programming error Check machining program to ensure that G65 calls MACRO Solution subprogram that has less than 12 layers Alarm ID COR 010 Alarm title Modal macro call too deep Description Use G66 to call MACRO subprogram that has more than 4 layers Reason Programming error Check machining program to ensure that G66 calls MACRO Solution subprogram that has less than 4 layers Alarm ID COR 011 Alarmtitle Subprogram call too deep Description Use M98 to call subprogram that has more than 16 layers Reason Programming error ae Check machining program to ensure that M98 calls subprogram that olution has less than 16 layers FATEK Automation Corporation 177 FBs 30GM User Manual Alarm ID COR 012 Alarm title Too many modal macro canel G67 G66 and G67 need to be used in pairs When number of G67 is larger Description than G66 in one machining program this alarm will appear Reason Programming error Solution Check program to ensure that G66 a
139. rresponds to 2 and Z axis corresponds to 3 E NOTE With each servo axis that wants to set up a dual feedback it needs two hardware ports on the servo card In which the first port is applied to send command from FBs 30GM and receive the encoder feedback of encoder The second port is applied to receive the ruler s optical encoder feedback Therefore please check whether the hardware ports are enough to set up a dual feedback control system Axis dual feedback 10 261 263 Pulse mm 250 reset resolution 2500000 E This parameter is used to set the resolution of ruler feedback of each servo axis Note that this setting value is resolution for single phase A or B phase E Setting unit is pulse mm for linear axis and is pulse rev for rotation axis E Example 1 Assume that the ruler resolution is 1um pulse 1mm 1000pulse with scaling factor of 4 Pr30x 4 Thus parameters Pr26x is set to 1000 4 250 2 Assume that the ruler resolution is 10um pulse 1mm 100pulse with scaling factor of 4 Pr30x 4 Thus parameters Pr26x is set to 1000 4 25 3 Assume that the rotary optical encoder resolution is 10mdeg pulse 1rev 3600000pulse with scaling factor of 4 Pr30x 4 Thus parameters Pr26x is set to 3600000 4 90000 Axis dual feedback scaling 301 303 1 2 4 4 reset factor E This parameter is used to define the dual feedback encoder scaling factor and it can be set to 1 2 or 4 381 383 Servo driver
140. rve local coordinate 1 After reset it will reserve local coordinate but restart is not 2 After reset or restart it will not reserve local coordinate Ere tti ti 421 423 Ais cutting in position 0 300000 MEE reset window E When program include G09 the system will check the position of block M After system stop sending command below 2second system will check motor feedback of position in the window If it is in the range systems send command for next block If it spend time over 2sec system alarm Exact Stop wait too long E idt GOO aaa PAS Maple raver 600 0 60000 EJE reset acceleration time E Set each axis under GOO mode Pr441 Pr443 are the spending time on each axis velocity accelerate to Pr461 Pr463 respectively In other words Pr441 Pr443 and Pr461 Pr463 will determine maximum compound acceleration Pr461 A A 60 60 2 max Pr441 eo sec mm aervag Smak rapid travel G00 le og 10000 reset feedrate min M Set each axis under GOO mode this parameter represent the max allowable feedrate when GOO override is not FO Rapid travel in position 481 483 0 300000 BLU 30 reset window E When program include G09 the system will check the position of block M After system stop sending command below 2second system will check motor feedback of position in the window If it is in the range system sends command for next block If it spend time over 2sec system alarm E
141. same with that of Pop command s Alarm ID COR 027 Alarm title Invalid macro arguments Description Macro Alarm Once Macro finds out the unreasonable situation machining program Reason will be stopped and alarm will appear Solution According to display content of alarm to find out where error is Alarm ID COR 040 Alarm title Block end point exceed software limit Description The coordinate in the program exceeds machine limit Reason Program error Solution Check the machining program and correct coordinate position Alarm ID COR 041 Alarm title GOTO label must be integer The input GOTO label is not an integer Ex GOTO 1 Correct Description GOTO 1 Wrong N1 Correct N1 Wrong Reason Program error Solution Check the machining program and input integer in GOTO label Alarm ID COR 043 Alarm title ASIN ACOS operand must between 1 0 and 1 0 Description ASIN ACOS Operand is not between 1 0 and 1 0 Reason Programming error FATEK Automation Corporation 180 FBs 30GM User Manual Solution Check the machining program Alarm ID COR 044 Alarm title SQRT operand should not be negative The square root of a negative value will be imaginary but FBs 30GM Description does not provide this function Reason Programming error Solution Check the program enter a positive value in SQRT operand Alarm ID COR 047 Alarm title M
142. signal If the setting value of No 8 9 10 in debug function page do not change please take home search action don t need to reboot after that check whether parameters 24 25 26 40 41 42 are equal to zero if the parameters 24 25 26 are not equal to zero the feedback loop has problems If the parameters 40 41 42 are not equal to zero command transmission from FBs 30GM to the motor has been lost pulse If all parameters 24 25 40 41 42 are not zero then the interference signal is relatively large specifically in the machining process the setting value of parameters 8 9 10 gradually become large The reason is the contact point between CPU board and axis card is not good Try to replace CPU board and axis card parameters 561 580 to check the range of loss pulse 8 X axis following error value 9 Y axis following error value 10 Z axis following error value 24 X axis absolute position feedback value 25 Y axis absolute position feedback value 26 Z axis absolute position feedback value 40 X axis absolute position command value 41 Y axis absolute position command value 42 Z axis absolute position command value FATEK Automation Corporation 162 FBs 30GM User Manual Alarm ID MOT 009 Alarm Title Servo Driver Alarm Description Drive sends out warning signal Drive alarm mostly is because of external causes Ex High temperature Possi
143. ss of positions of axis FBs 30GM will compare present motor encoder position with value A to calculate the correct motor position Step 4 Updating machine coordinate servo command and motor feedback If dual feedback control is used linear encoder feedback will be updated at the same time P S This is the easiest approach of reference searching as long as you trigger M1413 M1415 to complete the steps and take current location as the origin of coordinates FATEK Automation Corporation 56 FBs 30GM User Manual Home return disorders diagnostic steps 1 Axis moves in the opposite direction and stops until it meets hardware stroke limit when executing HOME return Possible reasons a HOME DOG signal is always ON Diagnostic method Check if input HOME DOG signal of FBs 30GM is always ON b Servo motor index signal does not enter FBs 30GM Diagnostic method Move the axis manually check whether the value of system debug variables 48 X axis 49 Y axis and 50 Z axis change once or not when the motor turns one revolution and the difference must equal to encoder resolution parameters Pr61 63 and Pr81 83 c FBs 30GM parameters are wrong Checking following parameters Y Pr201 203 encoder type are set O or 1 Y Pr41 43 axis motor polarity are the same as default setting of manufacturer Y Pr861 863 axis homing direction are the same as default setting of manufacturer 2 Related system alarms below
144. ters you can download FBs 30GM default parameters from FATEK website In contrast you can use the export function to backup the current setting parameters Reset FBs 30GM G code settings Use GMMON gt click Files upload G0000 G0003 and G0161 G0167 under the C FATEK 30GM Y Motion_Programs directory to the FBs 30GM FATEK Automation Corporation 3 After completing the above two steps reboot FBs 30GM 36 FBs 30GM User Manual 5 Operate and execute motion programs In addition to operating FBs 30GM FBs PLC can monitor the input states and control the output states of 30GM Please refer to Appendix Special relays and interface registers of FBs PLC 5 1 Relation between FBs PLC and FBs 30GM e 6060 01696 8060160 60 Ks FBs PLC FBs 30GM Figure 25 Relation between FBs PLC and FBs 30GM FBs 30GM cannot run independently and must work with FBs PLC After FBs PLC sends commands through RS 485 to 30GM 30GM acts correspondingly 5 2 Procedure to execute a motion program 5 2 1 Upload the motion program to FBs 30GM Use Notepad or other text editors to edit a motion program Upload the motion program to FBs 30GM FATEK Automation Corporation 37 Monitor FBs 30GM Us
145. the parameter is existed the command will be smoothed EX Pr404 gt 5ms Table 32 Interpolation time and command COIN ECETIA CONOS ESTETICA CANINOS TT NS Bones TAN Tronas FATEK Automation Corporation 138 FBs 30GM User Manual 9 7 5 0 0 5 4 2 ECO CO PEUT The command of speed is smoothed The post cutting bell shaped acceleration time can smooth the command and restrain the speed change 6 Maximum cutting feedrate mm min 5000 reset 3600000 E Set the maximum cutting feedrate for compound speed Maximum corner 6 gt mm min 500 reset reference feedrate 3600000 NW Set the maximum corner feedrate FBs 30GM will check the length of corner and decrease the speed before into the corner M The parameter is the max speed at corner that the angle is 120 degree Suggest value is 200mm min E The parameter is bigger and the speed is faster but the precise is worse The parameter is smaller and the speed is slower but the precise is better M Note If the program has GO9 in position check control will cancel decrease speed plan If you don t need corner decrease speed Parameter 406 and 408 could set a huge value and the system will turn a corner with a high speed Please Pr404 set bigger to protect tool and avoid the huge shake Arc cutting reference 0 mm 500 reset feedrate at radius 5 mm 3600000 min E Servo lag will make the arc path shrink during the arc cutting The shrink error is T
146. thod is 3 this function will disable M These parameters are used to decide the HOME search method of each axis 0 By HomeDog sensor suitable for linear axis or rotary axis witch the proportion of motor and pitch is not 1 After HOME table moved on the machine position which offset had added 1 By reference index of motor suitable for linear axis or rotary axis witch the proportion of motor and pitch is 1 2 By HomeDog sensor suitable for linear axis or rotary axis witch the proportion of motor and pitch is not 1 After HOME motor laid on index FATEK Automation Corporation 146 FBs 30GM User Manual 3 By HomeDog sensor but no encoder index signal Suitable for linear axis or screw and motor gear ratio is not integer for rotary axis When axis direction finds DOG sensor for Home shift processing direct move to machine coordinate position After arriving position clear machine coordinate position to O then it is called finish Home search action Axis homing 2nd protect gg1 983 XS n0ming end protec 1 999999 Rev 5 reset revolution encoder type E These parameters are used to determine the numbers of pitches when searching home if motor can t leave Home Dog after moving over the number of pitches FBs 30GM will send alarm message E These parameters are effective when Pr201 Pr203 are set to O and Pr961 Pr963 are set to O 2 or 3 Axis fast h t function E These parameters are used to determ
147. tial curve The lower the setting value is the lesser time needed to complete the compensation However it may find the machine vibrates during operation if the time constant is too low The suggested setting value is 100ms FATEK Automation Corporation 149 FBs 30GM User Manual Prii Omer Bi NA E A 0 4 g z A PA A A A A lacadorotocciorcitono 2 fowedocefocefoce ece 1 D OR hemesee qesnfsssfonctesstese 5 os Ui ek ee EA i J nl Pas 163 of compensation 4 MA a qgqeespoeceyeoeseoyoso 2 i L os po u i OB fo ob eosto une decedece A A A D 2 po to nt decadas decescccscccecce D D 00 on om nw 005 Of OM 005 OM 01 ire sex Figure 68 Mechanical compensation amount vs time E This parameter is used to define the maximum allowed error between motor encoder and ruler s optical encoder feedback signal in static state Js roe o ar mener 2001 meGamscaimgfacior 10 2000 M Set the MPG 4 of pulse to the LIU E The min unit of LIU the unit will be controlled by mode of metric or inch es ronse nt tat ETS 100 MPG resolution Pulse rev 100 reset 2500000 999999999 a E 999999999 1 Software travel limit 999999999 999999999 FATEK Automation Corporation 150 FBs 30GM User Manual E After homing control us
148. ting times But it is enabled only in the block with G65 Example G65 P10 L20 X10 0 Y10 0 Call sub program O0010 continuously 20 times and set X 10 0 and Y 10 0 into sub program G66 MACRO CALL G66 G67 MACRO CALL CANCEL G67 Command form G66 P_L_ macro call G67 macro call cancel P number of the program to call L repetition count Description After G66 is called P__ is called to execute and L__ indicates repeating times If there is a moving block G66 block will be executed again after moving block ends until using G67 to cancel it FATEK Automation Corporation 75 FBs 30GM User Manual Example NOO1 G91 NOO2 G66 P10 L2 X10 0 Y10 0 Repeat twice calling sub program O0010 and set X 10 0 and Y 10 0 into sub program Move to position X 20 0 After moving call G66 P10 L2 X10 0 Y10 0 NO04 Y20 0 Move to position Y 20 0 After moving call G66 P10 L2 X10 0 Y10 0 NOO5 G67 Cancel macro call mode G70 UNIT SETTING OF INCH SYSTEM G70 G71 UNIT SETTING OF METRIC SYSTEM G71 Command form G70 G71 Description G70 inch system G71 metric system After change inch metric system origin offset value of workpiece coordinate tool data system parameter and reference point all of that is still correct System will deal the change of unit automatically After change inch metric system item below will change as follow M Coordinate unit of s
149. tting interpolation plane 70 ANTAS aa 71 G28 return to reference position example 72 G30 reference position return example ooooooococccncncconononocnnononcnnnonnnnnnnnnnnoos 74 G90 G91 absolute increment commend example 77 Program coordinate system setting example 78 G92 1 rotating program coordinate system setting example 79 G92 1 rotating program coordinate system setting example cont 80 G161 linear interpolation compensation example 81 G162 vector compensation example 82 SEU Re DR Re AR A TRE ees 109 Multi speed Control intentions 110 Sensor triggered incremental displacement cccceesesssseceeeeeeesseseaees 113 VO board distales 130 Speed time before interpolation ccccccessssscececeesssessssaeseeeeeeesssseaees 138 Reference radius and velocity 140 Home Offset Action EE TN ondes 145 Home Offset Action conti 145 Backslash amount Vs feedrate sisi 149 Mechanical compensation amount VS time cccoconoccocnncnnnnnnonononnnnnnnnnnnnnnos 150 Static dual feedback error timeout issus 152 FATEK Automation Corporation FBs 30GM User Manual FBs 30GM Motion Controller User s Manual 1 Overview of FBs 30GM FBs 30GM is the 3 Axis Motion Control Module designed for FBs PLC series With FBs 30GM FBs PLC series can achieve circular interpolation helical interpolation and other advanced motion control Besides FBs 30GM supports incremental rotary encoders
150. xact Stop wait too long 5 FATEK Automation Corporation 141 FBs 30GM User Manual 501 503 Axis rapid travel GOO FO 0 15000 PESA feedrate M Set each axis under GOO mode this parameter represent the max allowable feedrate when GOO override is FO mm min M Set each axis under JOG mode this parameter represent each axis maximum feedrate E On MPG mode if Pr661 Pr663 are zero then MPG movement maximum feedrate also dominated by Pr521 Pr523 Axis cutting acceleration 541 543 0 60000 ms 50 reset time E Set each axis under G01 mode Pr541 Pr543 are the spending time on compound feedrate accelerate to Pr621 Pr623 respectively In other words Pr541 Pr543 and Pr621 Pr623 will determine each axis maximum jerk Pr621 leo Amax Pr541 aa 672 50 5617563 XS loss pulse check BLU 100 reset window 300000 M After system stop sending command over 1second system will check the difference between command and motor feedback If it is over the range system alarm Lost position y Axis velocity feed forward 10000 581 583 reset percentage 1000 FATEK Automation Corporation 142 FBs 30GM User Manual E FBs 30GM use the following formula to adjust command Then this method will change Kp and improve servo lag phenomenon When bigger Pr581 Pr583 servo lag amounts are smaller but user need to notice that it will cause machine vibration T Pr181 p 7 _Pr581 Le Ant Axis corn
151. y in the opposite direction by MPG or JOG Table 29 Special registers of FBs PLC for FBs 30GM Register No Function Description Remark D3426 Mode selection This register can be used to Write only select the operation mode of FBs 30GM 0 default Auto 2 Auto 4 JOG 6 MPG 7 HOME D3427 MPG Override MPG step percentage speed Write only 0 x100 default 1 x1 2 x10 3 x100 4 Set to the value of Pr2001 D3428 Feedrate Override G01 G02 and G03 feedrate Write only override percentage 0 default 10 FATEK Automation Corporation 118 FBs 30GM User Manual 1 10 2 20 20 200 When Pr3207 2 the percentage is set as the above specifications Example D3428 5 means 50 When Pr3207 1 the percentage is equal to the value of this Register Example D3428 5 means 5 D3429 JOG Override JOG override percentage Write only 0 default 10 1 10 2 20 20 200 When Pr3207 2 the percentage is set as the above specifications Example D3428 5 means 50 When Pr3207 1 the percentage is equal to the value of this Register Example D3428 5 means 5 D3430 Rapid Traverse GOO rapid traverse override Write only Override percentage 0 100 1 0 equal to Pr501 Pr503 2 25 3 50 FATEK Automation Corporation 119 FBs 30GM User Manual 4 100 When Pr3207 2 the percentage is set as the above specifications Example D3430

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