Endless Rotation User`s Manual
Contents
1. Endless function DIRE gt lt I gt lt RTE gt BDisablegg lt IDRA gt DEE Enable gt Traverse lt DE gt Servogun lt DE gt Jig DEE Enable gt Press SHIFT lt gt Key gt O Next In case of robot axis the R1 6 axis has a choice lt I MYE Enable gt and for additional axis the Jig axis only can be selected as a state of disable or enable Before set please carefully recheck the mechanism of hardware whether that can rotate or not to prevent serious malfunction Note Precautions 1 Check the interference of Gripper which is attached at R1 axis s flange with robot arm itself to prevent Damage 2 If the Jig axis is a kind of positioner as such Welding jig check the mechanical structure whether that can rotate or not 3 Completed all setting procedure controller need to reboot 4 11 AHYUNDA Endless Rotation 3 Teaching 3 1 Input the number of rotation If press CMD key at Manual Mode the soft key changes as below 13 02 12 MANUAL A 08 2 Select PF menu gt Cmd No NOMEN LO flowCtr REE Arc Weld ZR Press the soft key of PF1 to select IW ssn M0 13 02 12 ia MANUAL A 0 8 2 Secect Command gt Cmd No 1 PRINT Sig Ou 3 Change the selectable Command with up down direction key and then select Endless 13 02 12 MANUAL A 08 2 ENDLESS R1 10 Input Command Yes No gt Cmd No 162 SONA ENDLESS fea Ea Press Yes2. changed as target position as much as number of turns from the next step of the reference position after defining number of turn Therefore Endless function must be placed and recorded right before the reference step Example Namely if current the position of R1 is 30 deg and the following program is programmed target position is calculated in following format In order to assign step 1 as endless rotation Step place Endless function right before step 1 13 02 12 MANUAL A 08 2 ENDLESS R1 10 S1 MOVE P S 25 A 0 T 0 END Select PF menu gt Cmd No VOVA lowCtr EEA rc Weld Sty Target position of R1 axis in Step S1 and reset position Recoded position of R1 360 Number of turn 360 deg count 10 count 3630 deg 7 Recorded of R1 auto reset position after reaching step 30 deg 2 Reference step for endless rotation is only valid in interpolation OFF Motion version mv7 03 3 ENDLESS function is valid in single step and afterward step is not valid m1 AHYUNDA Endless Rotation 4 Playback 4 1 Operation method D Mode on the controller cabinet is switched to AUTO 2 Press start button on the controller cabinet 3 Press button on the cabinet 4 2 Continuity Step assigned as Endless function is always non continuous step Assigned step is the step at the right after Endless function command 4 3 Execution condition of ENDLESS function 1 Execute program in AUTO 2 Even though
3. Hi4 Function Manual Endless Rotation User s Manual Version 1 0 March 2002 AHYU HEAVY INDUSTRIES CO LTD Endless Rotation In advance using Endless rotation function 1 1 Available software version 1 2 Explanation of Endless rotation function for R1 6 amp JIG axes System setting Teaching 3 1 Input the number of rotation 3 2 Record of Step Playback 4 1 Operation method 4 2 Continuous treatment 4 3 Operation condition for Endless function 4 4 Stop of Endless step while in rotation 4 5 Restart after temporary stop Reset function of Endless axis 5 1 When the Endless rotation axis s reset function is valid 5 2 Description on Manual reset 5 3 Usage for Step recording method 5 4 Usage for R code input Error code 2 11 AHYUNDAI Endless Rotation 1 In advance using Endless rotation function 1 1 Available software version Necessary software versions to use Endless rotation function are as following chart Main S W V10 00 05 After 29 Nov 2001 Motion S W V7 03 After 29 Nov 2001 DSP SW va CSC Y Note The version of software can be checked at Service Menu System Version 1 2 Explanation of Endless rotation function for R1 6 amp JIG axes It is the function that can rotate the R1 6 axis of robot or Jig axis which is set as a additional axis over the software limitation When it activated the axis rotates within 100 turns in accordance with assigned numbe
4. I Endless Rotation 13 02 12 MANUAL A 0S 2 S1 MOVE P S 25 A 0 T 0 ENDLESS RESET Select PF menu gt Cmd No TOVA lowCtrl EEA rc Weld RS The way of recording is as upper example and reset is the axis which is endless enable and is over range from 180 deg to 180 deg Note 1 ENDLESS RESET command is the function that is executed after reaching to step 2 In the case of the step that ENDLESS function is recorded As reaching the step automatically reset function is activated so it is no necessary to use manual reset function 3 This function is used when software limit of axis is set over 180 180 step data is over the range so it is used if you want to reset within one turn 180 180 5 4 Usage for R350 Code Input R350 CODE that can be used in manual auto mode at the robot stop can be used in following cases 1 When operator intentionally and excessively rotates axis which is set as endless axis 2 When stop during endless rotation is pressed and Emergency STOP is activated This code is used in resetting number of turns with manual 13 02 12 MANUAL A 08 2 Enter axis number to reset 0 6 12 gt R350 0 System RENN Usage of R350 CODE Reset of all axes Basi 0 Resetofallaxes 6 12 Reset of proportional axis 10 11 AHYUNDAI Endless Rotation 6 Error Code The following errors might be occurred in using Endless rotation function Meaning of errors and
5. countermeasures are also illustrated in following E0108 E0172 E0173 E0193 O Axis Enc Err Encoder reset needed When Encoder value of axis is within area that is not internally calculated It is necessary to redo encoder offset calibration to the concerned axis OAxis Improper Endless rotation When encoder value difference between the moment of controller power off and power on is large This is actually caused when brake for axis using endless rotation function is released and overload rotation is carried out at the controller power off In order to resolve the problem it is necessary to redo encoder offset calibration to the concerned axis Endless rotation overflow Rotation is over the limit in the number of turns to software control Reference step in endless rotation is ranged within 180 180 Recorded position will be large as stop during endless rotation is pressed and a step is recorded Check step data of endless rotation reference step If step data is O K reduce the number of turns to be set in one turn for setting Improper Encoder for Endless For Endless function software only support encoders that has 1024 or 2048 or 4096 or 8192 pulse per one turn of motor Check encoder setting 11 11 AHYUNDAI
6. ess rotation function To use this function at the other step it need to record again at that step 4 The recorded position of Step is recorded position number of rotation 360 deg 2 When the number of rotation is over 100 It needs to record 2 times with same step 13 02 12 MANUAL A 08 2 ENDLESS R1 100 S1 MOVE P S 25 A 0 T 0 ENDLESS R1 100 S2 MOVE P S 25 A 0 T 0 Select PF menu gt Cmd No IOAN OF owr REA rc Weld The Endless rotation rangeis 100 100 That is why it cannot rotate over 100 turns repeatedly However if you record 2 times it can rotate over 100 turns That means that the range is not limitation for same direction but limitation for 1 time 6 11 AHYUNDAI Endless Rotation Note In case of setting 2 more times with same rotation axis In this case the last command only valid 13 02 12 MANUAL A 08 2 ENDLESS R1 10 ENDLESS R1 10 S1 MOVE P S 25 A 0 T 0 Select PF menu gt Cmd No NOMEN owce EA rc Weld iS For instance refer to above screen the target position is recorded position 10 turns position at S1 Step Even if the sum of both number of rotation is less than 100 the last line command only shall be executed Note 1 Function to activate Endless function must be placed and recorded before the step to be used in Endless function General function recorded in step is executed after reaching to Step However in Endless function and rotated position is
7. et function of Endless axis The case where reset function of endless rotation axis is performed is as follows In the case of axis rotate amount of endless axes are out of the range between 360 deg 360 deg on power ON the rotate amount of endless axes are reset to the value between 180 deg 180 deg when controller s initialization 2 In the case of reach of step after ENDLESS function recorded 3 Inthe case of ENDLESS RESET function is recorded in the program In the case of using R350 code to reset endless axes in manual auto mode rotation amount turns to the value between 180 deg 180 deg 5 2 Manual reset function If you stop the step of endless rotation during playback reset is not activated automatically So It might cause large rotation amount of endless axis Besides position of teaching point can be over turn without recording ENDLESS function In these case it is useful when a user want to modify the rotate amount of endless axes within one turn 180 180 without reverse rotating action However in the case of the step that ENDLESS function is recorded as reaching the step automatically reset function is activated so it is no necessary to use manual reset function 5 3 Usage in the step recording Find ENDLESS and RESET command using up down arrow key and enter the RESET command 13 02 12 MANUAL A 08 2 ENDLESS R1 10 Input axis name gt RESET __15__ e _RESET LF 9 11 AHYUNDA
8. in the manual mode except step back case Endless function can be executed 4 4 Stop of Endless step in rotation When operator activates stop in rotation of reaching to step assigned as endless step robot stops and current axis position is not reset automatically Select Monitoring 1 Axis data Service menu to check current turning number Note 1 If stop is activated during endless rotation turning number might be over much In this case be careful that current position can be recorded if step position modification and step record is carried out 2 In this case reset the value within one turn and record to clear the problem Refer to R350 CODE 4 5 Restart after stop Remaining turning will be carried out as restart is pressed after stop in step Number of turning is reset after reaching step 8 11 AHYUNDAI Endless Rotation 5 Reset function of Endless axis Reset of an endless rotation axis is the function that converts encoder value and number of turn in each axis to the value between 180 deg 180 deg When the next step is moved without resetting the number of turns the following problem will be resulted If the following step or the next step is either linear or circular interpolation step interpolation can not possibly anticipate the movement 2 If the following step is interpolation off step reverse rotation in number of turn must be carried out to return the concerned position 5 1 Implementation of Res
9. key to select ENDLESS command 13 02 12 MANUAL A 08 2 ENDLESS R1 10 Input axis name T M gt ha After move cursor at the Endless rotation axis with up down direction key and then select with PF key The command inputted The number of rotation can be modified and it can be selected within the range of 100 100 To rotate multi axes endlessly at same step multi Endless commands can be inputted as below screen 5 11 AHYUNDAI Endless Rotation 13 02 12 MANUAL A 0S 2 ENDLESS R1 10 ENDLESS T1 10 ENDLESS T3 20 S1 MOVE P S 25 A 0 T 0 END Select PF menu gt Cmd No TOA lowCtrl EA rc Weld RS It shows that goal of R1 axis position will be modified as many as 10 turns at Step1 the T1 axis will be modified as 10 turns in reverse direction at Step and T3 axis will be modified as 20 turns at Step1 3 2 Record of Step 1 When the number of rotation is less than 100 After move R1 axis and additional axis to target position record the Step as interpolation OFF status 13 02 12 MANUAL A 08 2 ENDLESS R1 10 ENDLESS T3 20 S1 MOVE P S 25 A 0 T 0 gt Cmd No OVE OINGO Etc rc Weld Assign Note Precaution 1 The interpolation of Endless rotation step must be selected P interpolation OFF status 2 If the interpolation selected as linear L or circular C at step the Endless rotation function shall not executed 3 Only the very next step effective after Endl
10. r of rotation at the pre appointed step Auto reset function conversion the position data to the value within the range of 1 turn when robot s motion is reached at appointed Endless rotation axis step Manual reset function conversion the position data to the value within the range of turn when the step proceeding stopped while in rotation Thus it is not necessary to rotate in counter direction after rotation by using those functions Keynote of this function Easy teaching can set the number of rotation as a type of assigned figure 2 Can rotate over the range of software limitation 3 Auto reset function Manual reset function after temporary stop A Endless Rotation of R1 6 axis Endless Rotation of JIG axis 3 11 AHYUNDAI Endless Rotation 2 System setting Set the axis which shall adopt Endless rotation function after set system format and Selecting type of the robot System format Menu screen of System setting is as below 13 02 12 System format A 0S 1 1 System format 2 Selecting type of the robot 4 Selecting usage of the robot 5 Positioner group setting 6 Endless axes setting se Number Up Down and press SET Next Zi If choose 6 the following screen shall be appeared It shows that all default values are Endless axis set A 0S 1 13 02 12 744 Axis Axis Axis Axis Axis Axis Axis Spec Robot Robot Robot Robot Robot Robot
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