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SUDX Programable Indexer - i

1. Remote Cycle Start M Code 1 Determine first where your M code is outputting If you re lucky the M code has been wired out to a terminal strip If you are very lucky your CNC machine may also have included a relay for the M code output 2 If you are one of the extemely lucky people that have a relay already installed simply hook wires 2 and 3 of our remote cable to the normally open contacts on the relay or to a terminal strip if there are already wires running from the relay 3 If your machine does not have this indexer M code relay you may need to install one On most machines the M code output acts as a switch for a completed circuit but some output voltage either 24V DC or 110V AC 4 When adding the relay you must first determine whether you need a 24V DC or 110V AC check your machine electrical drawings Then make sure you have the correct type of relay as some machines already have a receptacle in place 5 If your machines M code outputs voltage say 24V then run a wire from the M code output either from a terminal point or sometimes from a pin on a connector like a Honda plug to one side of the coil on the relay normally pin 7 and 8 but check with your meter Hook another wire from the other side of the relay coil to ground Ay 6 If the M code output is a switch type like most machines Run a wire from the M code to one side of the coil and voltage normally 24V DC to the other side
2. 7 Then always connect wires 2 and 3 of the remote cable to the normally open contacts of the relay again check with your meter Note To simplify this Our machine requires a contact closure on wires 2 amp 3 DO NOT APPLY VOLTAGE Parameter i32 is programmable to the type of handshaking that most machine require Remote Cycle Finish The way most machines work once the M start is initiated the rotary table controller will execute the next step in the program driving the table to the desired position Once in position the rotary encoder verifies location and either a contact closure will occur if using normally open contacts or a contact open will occur if using normally closed contacts Most CNC machines utilize normally open contacts and operate with a momentary close either 0 5 sec or 1 0 sec or a Full Handshake M Code stays active until we return a finish signal Again it is imperative that you consult your electrical drawings for confirmation but if your machine is looking for open contacts on the return signal you would hook wire 4 on our remote cable to 24V DC and line 5 to the M Finish on your CNC machine There may be a number of different configurations to this formula If your machine needs normally closed contacts on the return signal Please correctly set up i parameter 32 Please verify all connections with the electrical drawings or contact your machine builder Note 1 To simplify this Our mach
3. B or X for the movement For a reverse direction move simply input a minus sign i e B 180 would be 180 degree move in the counterclockwise direction F Feedrate Setting The F setting in the program acts as a percentage of feed based on the value setting of parameter i06 For example F100 sets the feedrate to 10 of the maximum feedrate value of i06 F1000 would set the feedrate to 100 of i06 Think of the last 0 as a sign The F command is modal and will remain in effect until changed T Time Mode Programming 16 Where NNNNNNN is 1 to 8388607 in millisecs This command may be used whenever a specified move time is desired rather than a feedrate Its primary use in the controller is if a timed programming is used on multiple axis regardless of the move sizes on each axis all moves will terminate simultaneously thereby providing an 8 axis linear interpolation capability Feedrate F programming which is modal can be used interchangeably with time programming T in any program Care must be taken to re specify the desired feedrate by placing an F command in the program immediately after the last T move In T mode the automatic backlash M38 M39 is not permitted The time round off error for very small and slow moves is traded in favor of velocity round off error This permits multiple controller systems to remain synchronized throughout the full dynamic range of the co
4. G04 command except that the command will alter the dwell time See G04 for further details The T time dwell should be used in synchronized motion applications since it is more accurate than the G04 C Circular Move In conjunction with the GG2RNNNNNNN which specifies the radius and the GG2CNNNNNNN which specifies the starting angle the C command causes the controller to execute a motion with sinusoidal velocity profile For example the following program AO addresses the card Z sets current position to zero zorE clears buffer F1000 sets the feedrate to 100 of the i06 value G92R10000 sets the radius to 10000 G92C0 sets the starting angle to zero degrees M30 end of program Send a Rub or an S or an R to execute the program Will move the servo motor from 0 position to 20000 encoder counts with velocity reaching maximum peak at 10000 Having reached 20000 the motor will reverse and return to zero position To make the motor go to 20000 and back to 0 specify a starting angle of 180 degrees by changing G92C0 to G92C 180000 The range of G92R is from 0 to 262139 encoder lines and G92C is from 0 to 360000 in increments of 001 degrees or 3 6 arc seconds of resolution Both the radius and the starting angle are initialized to zero on power turn on or reset Once specified the radius will remain at its specified value until changed However the starting angle wi
5. Step Finish is synchronous with motion start and resets the step finish when the Remote CYCLE START resets Note 132 is a motion program buffer command It can be put into a motion program to change the Step Finish Type signal during the program The type must be the same for the step finish 1 amp step finish 2 Polarity Chart Value Step Finish Step Finish Note 2 1 1 Close to open to close 0 0 0 0 Open to close to open 1 0 1 2 1 0 3 1 1 The polarity can be independent for step finish 1 and step finish 2 One can be set to 1 and the other to 0 Allow a remote step via an RS232 terminal A Proceed as follows for using your moves 1 Go to MDI mode i22 1 i221 CR 2 Type the next move value with M18 B45 M18 to disable the step finish 1 signal 3 Type the next move value with M19 B90 M19 to re enable the step finish 1 signal 4 Turn off MDI mode i22 0 i220 CR B Proceed as follows for using the current control cards buffer moves 1 To go into MDI turn off step finish 1 and step by typing i221 M18 S CR 2 Typing S will step through remaining moves without step finish 1 signal 3 To re enable step finish 1 type i221 M19 S CR The block number will be incorrect because M18 and M19 commands were added 30 Diagnostic Analysis This controller has a number of failure alarms designed to troubleshoot problems or just inform if you entered an invalid input c
6. YUASA SUDX Programable Indexer Operations and Service Manual Version 2 01 MANDATORY READ THIS Introduction Thank you for choosing the SUDX Programmable Table These precision tables have been designed and manufactured for the highest possible durability accuracy and flexibility that is required for today diverse machining needs To make sure that you get the most out of your new unit please completely read the aspects of programming and operating these units before actual setup and operation Special Cautions 1 Power Source 105 128 VAC 2 Never apply voltages to lines 2 amp 3 Step Start or 8 amp 9 Emergency Stop on our remote Cable We require an isolated relay to provide a contact closure only 3 Place controller in a place free from oils coolants chips and other foreign elements Do not allow filters to become clogged or blocked Air must be able to circulate freely else damage to the circuitry occur 4 Always use a Filtered Regulated Lubricated air supply to these units Failure will create rust and corrosion that will damage and foul these units air cylinders and braking systems 5 Periodically check motor cabling for splits breaks and punctures that can allow coolants and other fluids to enter cabling or motor housing If damage is found please repair immediately to prevent possible motor controller amp or wiring damage Failure to do so can lead to very costly non warranty repairs 6 Avoid
7. M30 End Program 22 Program sets feedrate to max i06 value calls subroutine 0 then subroutine 1 then subroutine 2 then subroutine 3 starts a 2 times loop to execute subroutine 3 end program This program if run with the Program Select switch in the M position would index as follows 90 0 180 90 0 30 180 90 0 270 30 180 90 0 270 30 180 90 0 270 30 180 90 0 End Subroutines can be treated as subprogram in that by using the G30 G39 jump command or the b beginning of program bO to b9 a subroutine can be selected and executed on a stand alone basis Subroutines can be called or jumped to conditionally or unconditionally A call will return to the main program when the G17 is seen A jump will not return but will instead treat a G17 as M30 or end of program Subroutines can be executed directly as a stand alone program by using the bn command return to program start where n can be used to specify the subroutine program to be run n can be 0 to 9 if no n is used the main program will be executed When G17 is executed the program pointer will return to the beginning of the main program Therefore to execute a subprogram again the b command must be sent A total of 10 subroutines subprogram may be stored as well as the main program Generally the main program should be used as a director or a selector of subprogram The front panel
8. please call the Yuasa Technical Support Dept at 800 421 9763 Note If your handheld gives a low battery warning do not ignore it if the batteries die or are removed the unit can only hold memory for about ten minutes Simple Hook Up to your CNC Milling Machine Machining Center Warning If you are not an electrician or have not interfaced an M function product before we strongly recommend having a qualified electrician do this installation It s like anything else it s easy if you know how and_very dangerous if you don t Supplied with your new rotary is what we classify as a remote cable On the back side of the controller is a 14 pin socket labeled REMOTE You will notice that on end of the cable is a plug this matches the stated socket and on the other end are 13 loose wires These wires have several functions as shown in the electrical schematic drawing but for this quick interface we will only concern ourselves with the two cycle start wires 2 and 3 which are black amp green and the two cycle finish wires 4 and 5 which are red white amp orange Unfortunately machine tool builders did not institute an industry standard when they were building their equipment and as such provided us with no commonality to develop a single interface drawing What can offer you here in addition to our electrical drawing are some hints on how to accomplish this task Warning When installing the Remote Cable pay very
9. 1 which equals 100 000 90 000 encoder counts per half second This is the maximum amount of encoder counts per half second that the CPU can count without causing a fault This setting will not take effect until the F program feedrate is read The T command generates its own feedrate and is not affected by i06 Please refer to the feedrate table for more information on this subject i07 Set Servo Loop Gain Factor 3 Digits Gain Control iO7 NNN Where NNN is 1 to 255 and controls the responsiveness of the servo loop in responding to a position error The larger the number the racier the servo loop becomes This parameter together with 26 the Accel Decel factor i08 can be used to critically damp the servo loop It is recommended that the gain be gradually increased or decreased until satisfactory response is obtained i07 is normally used to eliminate overshoots or slow position creep Once i07 is optimized then i08 can be used to set the desired acceleration time Factory setting is recommended Note 1 t is important that the servo amp and motor load combination be optimized before attempting to set i07 Note 2 i07 may be executed in the Program Buffer by using 107 i08 Set Accel Decel Factor Range 1 to 32767 with 1 being the shortest amount of time until indexer reaches full speed and 32767 being the greatest amount Average value should be 800 to 1200 Note Less than 400 may make the lock up or giv
10. BPS 9600 9600 Stop Bit 1 1 Bits 8 8 Parity Off Off Xon Off On On Rts Ctl Off Off Parity ISO On On RS232 Output Channel No 1or2 ISO EIA ISO Control Code ON Stop Bit 1 Baud 9600 Parity OFF 45 Section 6 Yuasa Terminal 1 0 YUASA TERMINAL VERSION 1 X YUASA TERMINAL V1 X is an all purpose programming tool for the UDNC 100 Controller It allows for on line terminal operations program editing uploading and downloading the UDNC 100 It is written in the C programming language SYSTEM REQUIREMENTS YUASA TERMINAL Version 1 X runs on an IBM PC PC AT 80286 or compatibles with at least 640K and one disk drive In addition one standard serial port is required COPYING THE SUPPLIED DISKETTE Making a backup copy of your diskette is essential for insuring that the programs are not destroyed if the original diskette is ever erased or damaged If you have two floppy disk drives you may backup the original YUASA diskette as follows Insert your DOS diskette into Drive A and a blank diskette into Drive B and reset the computer At the A gt prompt type FORMAT B and press lt ENTER gt After the disk in Drive B is formatted type COPY A B and press lt ENTER gt Remove the DOS diskette Place the YUASA diskette in Drive A and press lt ENTERP gt to the prompt After the original disk is copied store it in a safe place and use the backup copy as your working master If you have a hard disk drive you may back
11. and gender may vary 3 A spare accessible M Code The following is the procedure for interfacing an SUDX Programmable Rotary table for direct operation through the Fanuc controls via an RS232 connection Getting the SUDX Controller ready 1 Remove the controller cover and change dip switch 1 bit 5 to open This will change the data format to 7 bit even parity one stop Fanuc controls can only communicate in this format We normally ship the SUDX units with the 8 bit configuration however if you are just purchasing your unit we would be happy to change this switch prior to shipment 2 The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If you communicate with the FANUC control with other devises and are locked into a baud rate other than 9600 bps please refer to page 40 for specific dip switch changes for the baud rate you desire If 9600 is OK then no 37 change is needed at the SUDX controller side Getting the Fanuc Control ready The following is a series of steps in order to prepare the FANUC control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the FANUC OM Confirm parameter settings for your individual control Depress the Diagnos Param button Push the Page Down key once Turn
12. bit even parity FACTORY DEFAULT 8 bit none E Time Out Select the Communication Timeout that suits your computer Older computers 80286 386 may require higher numbers 486 and better will work with default setting DEFAULT 100 Type Y to save your new settings The program will then connect to the controller Note Check to make sure that MCC at AO address Yes is show when you are hooked up to the controller 5 via the RS232 cable If you are not connected check your Com port baud rate and make sure your timeout is appropriate 3 You are now in Terminal Mode depress F10 Edit Create Program the main program screen should appear 4 Lets write our first program Note Both YUASA TERMINAL and the controller are entirely case sensitive all input must be in the correct format type the following AOE F1000 G90B90 B180 B270 M40 BO M30 make sure you type the number zero not the letter O this addresses the card and clears the buffer this must always be your first entry This is the maximum feed rate F1000 100 Think of the last 0 as a sign G90 denotes an absolute movement and B90 is a 90 degree movement This movement is 180 absolute Once you have input a G90 the CPU maintains absolute movements unless you change it to incremental G91 270 degrees absolute This code allows the CPU to read the next movement in the program in this case BO and aut
13. data which will be displayed on the next line of the screen Note Upon entering terminal mode for the first time YUASA TERMINAL automatically addresses card AO Thus the position data displayed by the p or Y command will be the position of card AO To change the card being addressed type A and the card s number 0 9 or letter a f and press lt ENTER gt In addition to the on line commands described in the YUASA SUDX Manual the following function keys lt F1 gt EDIT I VARIABLE This function key retrieves up to 32 i parameters of the card currently addressed The parameters are divided into two screens To display the next screen press the lt Pg Dn gt key located on the numeric keypad To display the previous screen press the lt Pg Up gt key located on the numeric keypad Once the parameter you wish to modify is displayed on the current screen you may access it by positioning the cursor bar over the parameter To move the cursor bar use the Up Arrow and Down Arrow keys and to modify the parameter press lt ENTER gt After positioning the bar over the desired parameter and pressing lt ENTER gt the following message will appear in the right hand window CHANGE ixx Maximum XXXXXX Minimum XXXXXX Default XXXXXX Units XXXXXX Now XXXXXX ENTER NEW VALUE gt The values listed refer to the appropriate values of the parameter you selected You may enter a new value or press lt ESC gt to ca
14. extended 1 top of switch extended 36 Section 5 RS232 Interface Direct Operation of SUDX via RS232 port for CNC Controls Advantages for direct operation opposed to M Code use 1 You must only write a single CNC machine program including the rotary movements no need to have a separate program for the SUDX controller 2 In viewing the CNC machines CRT you always know the position of the rotary table relative to any other program line 3 When programming the SUDX in absolute G90 the SUDX will always be in the correct location even when re starting the machine program at another line see explanation of moves commands below G91 for more detailed information 4 lf you utilize a CAM CAD program for developing CNC machine files you may use this format for incorporating the SUDX moves 5 Macro programming permits the use of variables which are very useful for creating calls for various types of functions such as half indexes math functions etc 6 Sub Programs may also be used for ease of programming repeat moves The following information is only to be used as a guide CNC machine controls may need different machine parameters and pin configurations for the RS232 cable for each type and make of control Please confirm all information with your particular machine parameters guide The requirements for the FANUC control is as follows 1 You MUST HAVE MACRO B 2 An RS232 cable pin configuration
15. linear move with an interpolated circular move W_Proportional wait or dwell Even though the controller is equipped with a G04 dwell command and a delay time proportional to feedrate override when using the T time mode with a zero move it is desirable especially in multiple axis systems to provide a delay or wait time which is proportional to both the command and the machine feedrate which includes F feedrate and i06 machine feedrate parameter The W command accomplishes this W must be followed by a number from 0 to 8388607 Negative or positive number may be used which is handled as follows W2000 will generate a 2 second delay if is 1000 F is 1000 and i06 is 1000 Should any one of these values be reduced to 500 the delay will increase to 4 seconds In all cases the number following the W command will take the same amount if time to execute as a move of the same size W1500 will take the same amount of time as an B1500 regular move regardless of the F and i06 values In a multi axis system the W command can be used on the idling axis while the other axis is moving A program can then be executed continuously with all stops and moves blending accurately When specifying idle time on one axis when the other axis is making a circular move it is necessary to specify a W command size equal to the path of the other axis not just the net move Fo
16. of this button will cycle the rotary table one individual movement To initiate a Machine Zero Return M Z you must depress and hold the cycle start switch for 5 seconds This will begin the search for the C channel of the encoder which is classified as Machine Zero Note On 5C 5CA and 132 models you must first jog to within four degrees of home and then depress and hold the cycle start switch for 5 seconds This will begin the search for the C channel of the encoder which is classified as Machine Zero These units Home at every 4 degrees 7 W Z Set This Work Zero set button sets the current position of the rotary unit as work zero Once you have depressed this button any previous work zero settings will be lost and the controller will recognize this new position a work zero This switch is enabled only in the manual mode Typing Z in the terminal mode will perform the motion card s Z command 8 W Z Return One depression of this button will return you to the current work zero setting It will also cause the motion program to go to the beginning of the program selected by the program select switch This switch is enabled only in the manual mode 9 Feed Hold A single depression this button automatically sets the feedrate to zero stopping all table and motor movement Movement will resume by pushing the Cycle Start once 10 E Stop Emergency stop is used to totally stop all movement and shuts
17. off each end Twist 1 end of all 3 wires together and electrical tape or cap Insert 1 wire into the R socket of the UDNC Am phenol plug Place the 2 remaining wires in S and V respectively Apply power to UDNC and turn unit on watch the display read out If the AXIS LIMIT remains your amplifier is bad f the AXIS LIMIT is gone you may have a damaged motor Call the Yuasa Service Dept at 800 421 9763 EAROM EAROM has failed Call Yuasa Service Dept for repair POS FOLLOW Position Following Error Unit is binding Causes 1 Parameter i06 is set too high Do not exceed the recommended optimum stated in the SUDX Manual If workpiece is off center or overtly heavy decrease i06 or lower feed rate 2 Unfiltered air lines have allowed condensation into the brake cylinder Disconnect air lines and power to the indexer Remove the back plate thrust amp brake plates from the unit and examine for rust and or corrosion in the chamber If any corrosion is found remove using a wire wheel or light grit sand paper until all traces are removed Be careful not to scare or damage chamber Reassemble unit and attach a Filter Regulator Lubricator to the airline before reconnecting to SUDX 3 On smaller units 5C 130 132 5C the micro collar maybe off set and restricting rotation Loosen vernier ring and test unit 4 Tool crash has created unknown damage to unit Contact Yuasa Service Dept 5 Check the oil level thru t
18. parity and timeout setting which is proper for your controller setup Also refer to the Alt F1 Configure key description in Section 2 of this manual for detailed instructions akRWOND 46 YUASA TERMINAL proceeds to poll the available cards AO through A7 and determines which cards are connected to your system You will then be placed into Terminal Mode If no cards are connected or the communication port in your computer is not properly configured you will get a message No Cards found Pressing the Escape Key allows you to exit YUASA TERMINAL and return to DOS If you wish to try to specify the interface configuration again use the ALT lt F1 gt Key YUASA TERMINAL will enter its normal terminal mode regardless of whether any Controller cards are connected to the computer 2 0 YUASA TERMINAL MODE After YUASA TERMINAL successfully determines that one or more cards are connected you may proceed to communicate with the cards The left hand window will act as a direct terminal to the card Anything you type will be sent to the card once you press lt ENTER3 gt and anything sent from the card will be promptly displayed on the screen EXAMPLE Typing the letter J and pressing lt ENTER gt will cause the motor attached to the card to jog in the positive direction Type another J or Q to stop the motion Typing the lowercase letter p or Y will cause the Controller Card to send its position
19. proportional to velocity Note i14 may be executed in the Program Buffer by using 114 i15 Binary data mode Factory set do not change i16 Pulse Generator handwheel 1 digit This parameter is factory set to 0 to enable the pulse train to change desired as well as actual position For example rotating the pulse generator 1600 encoder lines would cause the rotary to move one degree In this mode the pulse generator is automatically disabled by a programmed movement i116 set to 1 causes the generator input to change actual position only and does not disturb the desired position For example if the handwheel encoder is rotated 1600 lines and the table position is zero the control will move the motor 1600 lines but the controller s position will remain at zero This function is mainly used for setting offsets When i16 is set to 2 or 8 27 it creates a special handwheel mode where the handwheel pulse generator input is used to create a time base for the control card The result is that the handwheel can now be used to control the motor velocity as a function of the generator rate and where the move distances can be used to change these rates This mode can be used to generate nonlinear lead screw patterns or any other arbitrary motion patterns Also if a common handwheel input is used on any number of controllers they will execute their programs in precise synchronization i17 Veloci
20. single controller is 0 Port lt 1 gt COM1 lt 2 gt COM2 48 where selections 1 and 2 refer to the standard RS 232 ports on your PC When you select the RS 232 interface you will select the baud rate of 9600 from a menu of choices The rate you choose must match the setting on the DIP switch on the Controllers card s and in general the longer the cable is the lower the baud rate should be Note 3 Factory default is 9600 baud see Trouble Shooting if you need to change ASCII Type lt 0 gt 8 bit no parity lt 1 gt 7 bit even parity Note 4 Factory default is 8 bit no parity call for information if you need to change Enter Communication Timeout msec _ MINIMUM 35 Recommended 60 This puts a limit on the time the program waits for a handshake bit for reading or writing Alt lt F2 gt DISK ON OFF This key will toggle the DISK ON option With DISK ON most data received from the card will be echoed to the default disk drive under the filename TERMDATA MCC This file may be examined by loading it through the file editor When YUASA TERMINAL is first run if the file TERMDATA MCC already exists it will be erased However all subsequent uses of DISK ON will append all incoming data to the file When in the POS FOLLOW TIME mode the data displayed will also be sent to disk To view this file you must turn off DISK ON This will close the file so you can view it with the file editor Alt lt F3 gt PRINT ON OFF Th
21. that is needed to index the rotary table Another MACRO program could be written for incremental moves if desired MACRO program 09998 is set for absolute G90 movements as this is strongly recommended should the user need to re start his machine program in the middle of the program ABSOLUTE enables this feature as the rotary table will always move to actual desired position regardless of it s previous move This MACRO and TEST program is now included on all program disks sent out with each SUDX unit The FADAL user need only load these programs into the FADAL control see page 1 of the ADDENDUM and they are ready to go Prior to shipment of the SUDX we can if requested set the communication PROTOCOL correctly 7 data bit even parity one stop and the customer requested baud rate we normally ship at 9600 BPS MORI SEIKI TV 30 amp 40 41 Parameters 7201 100 G CODE Numbers 7202 1 G65P 7203 any Sub Program Sub Program List 00001 100 4003 POPEN DPRNT A1A0EF1000G4 20 B 2 33 M30A1 PCLOS M21 M99 Note 1 The above is only meant as a guide or reference Please check your actual machine parameters and Macro program for verification Note 2 The A1 at the beginning and end of the program line may not be needed on your UDNC 100 controller Note 3 For set up and communication parameters please see the general Mori TV 30 and 40 set up page OKUMA control is as follows 1 You MUST HAVE USE
22. the FANUC control is being opened for communication POPEN then the control is being told to send the characters inside the square brackets out through the port DPRNT in ASCII format Once the SUDX controller receives this data the CNC machine M Code will automatically execute a move RS232 Interface to FANUC Controls Addendum The following is a method of placing the Macro DPRNT command line in a variable This allows the programmer to use a simple program line to execute any SUDX rotary movement CNC Machine Macro Program sample 9010 POPEN DPRNT AOEF1000G90B 2 33 M30 PCLOS M21 example of Machine M Code M99 Explanation Programs beginning with a 9 are considered Macro program numbers Some of these programs are called with G Codes and others are called with M Codes please refer to your control manual In the DPRNT line note the B 2 this requests the program to look the B index movement in the main machine program line The 33 states that the index degrees will be 3 digits maximum for example 180 degrees and to look 3 digits left of the decimal If you need to use fractional degrees like 180 5025 degrees then you may wish to input 73 7 total digits with 3 digits left of the decimal Also note the M21 after the PCLOS This is a sample of the M Code needed to execute the DPRNT command line This M Code will change depending on the brand of CNC machine This M Code will be the spar
23. the function switch to MDI mode Change PWE to equal 1 then INPUT At this point an ALARM will show 5 Depress the Diagnos Param button 6 Page Up once to the I O page use cursor to make sure I O 0 7 Page Down to change parameters ROD Change the following parameters 0002 Bit 2 0 sets data format Bit 0 0 0057 Bit 4 1 gives carriage return line feed 0552 11 sets to 9600 bps 8 Page up to PWE 1 setting 2 9 INPUT 0 PWE 0 10 Depress PROG button and RESET FANUC 20 amp 21M CONTROL PROTOCOL AND SET UP PARAMETERS FOR DPRNT Note Please use the following parameter settings only as a guide Check you actual machine parameter listing for confirmation Param Setting Description 0000 00001110 ASCII Code 0020 Chanel 0 I O Channel 0100 10000000 LF CR 0101 10000000 Stop Bit 0102 4 0103 11 9600 bps 6001 00010000 CR LF after DPRNT Since all FANUC controls only work with 7 DATA BITS it will be nessessary to OPEN DIP SWITCH 1 PIN 5 in the SUDX controller This will set the SUDX controller to 7 DATA BITS EVEN PARITY 1 STOP BIT 38 You are now ready to write a TEST program on the FANUC control PROGRAM program POPEN DPRNT AOEF1000G91B90M30 J PCLOS M21 example of CNC machine M Code M30 Once you execute this program the rotary table should move incrementally 90 degrees Essentially what is happening here is that the RS232 port on
24. tool and work pieces crashing into these units 7 When mounting jigs trunnions and other fixtures never use unnecessarily long set bolts They will cause vibrations during rotation which can cause oil leaks tool breakage etc 8 When using trunnions and long work pieces please use tailstocks with live centers or if you are using A frame supports use bearings and not grease alone else undue stress and tension may cause damage to the motor gears or circuitry NEGLECTING THE ABOVE PRECAUTIONS WILL VOID OUR WARRANTY POLICY CREDIT POLICY 1 All returned goods must have prior authorization The MRA Merchandise Return Authorization Number must appear prominently on the shipping label Please refer to your original invoice number when requesting MRA s Merchandise sent in without a MRA will be refused by our shipping department All returns must be sent back pre paid 2 Defective goods will be replaced repaired or credited to you after the item has been inspected by our Service Department unless prior authorization has been made 3 Merchandise will not receive credit if itis no longer under warranty has been misused or has been altered or damaged by end user 4 If a unit is deemed defective and not repairable credit will be issued Should part s be missing from the returned unit s the part s price will be deducted from the customer s credit 5 Any warranty merchandise that is repairable will be repaired a
25. up the original YUASA diskette as follows 1 At the C gt prompt type MD YUASA and press lt ENTER gt 2 Type CD YUASA and press lt ENTER gt 3 Insert the supplied YUASA disk in the correct drive amp Type INSTALL then press lt ENTER gt Note The supplied diskette operates under DOS Version 5 0 or greater INSTALLING YUASA TERMINAL ON YOUR C drive To install YUASA TERMINAL to your hard disk insert the backup copy of the provided disk go to the appropriate floppy drive then type INSTALL and press lt ENTER gt RUNNING YUASA TERMINAL To run YUASA TERMINAL from your hard disk type CD YUASA and press lt ENTER gt Then type YUASA and press lt ENTER gt After the two windows appear on the screen and a listing of the function keys appears in the right hand window you will be prompted with a question such as the following System Configured as Card Number 0 Port COM1 Baudrate 9600 ASCII Type 8 bit no parity Communication timeout milliseconds 100 Do you want to change it y n Note All UDNC 100 controllers are factory set to the above settings unless otherwise requested before shipping If your Controller Card is configured for this setting simply press lt N gt or lt ENTER gt If you press lt Y gt you will be allowed to configure YUASA TERMINAL to the proper card address 0 7 port type com 1 or com 2 baudrate 19200 9600 4800 2400 1200 600 300 ASCII type 8 bit no parity 7 bit even
26. 240000 i120 288000 i20 288000 i20 360000 i120 720000 i21 0 i21 0 i21 0 i21 0 i21 0 122 0 122 0 122 0 122 0 122 0 123 0 0 123 0 0 123 0 0 123 0 0 123 0 0 124 2000 3 i124 800 1 i124 800 1 i124 1000 1 124 2000 1 125 1 125 1 125 1 125 1 125 1 126 0 126 0 126 0 126 0 126 0 127 3 127 3 127 3 127 3 127 3 128 Factory Set 128 Factory Set 128 Factory Set 128 Factory Set 128 Factory Set 129 32 129 0 129 32 129 32 129 32 130 32 130 32 130 32 130 32 130 32 131 32 i31 32 i31 32 i31 32 i31 32 132 2 0 132 2 0 132 2 0 132 2 0 132 2 0 Note On i29 i31 amp i32 you may need to change these values depending upon your Finish signal requirements 52
27. 30 when you access the file If so push ENTER to place an end of line statement 4 Mistyped command was input Examine input line for and inaccuracies Dip Switch Configuration With the cover removed from the UDNC and the control panel facing toward you you will see 2 windows on the Blue Amplifier Board Behind these 2 windows reside 2 banks of dip switches The bank on the left BANK 1 is for adjusting bit transfer rate 7 or 8 bit There are 8 dip switches on this bank Switches 1 amp 8 are set in the same direction where as 2 7 are opposed This is our default setting of 8 bit To change this to 7 bit set switch 5 to match switches 1 amp 8 The bank closest to the center of the board BANK 2 is used to set the baud rate and specify card address Card Address Switches 1 2 amp 3 control the address selection Our default setting is for AO in which case all 3 switches are facing the same direction top of each switch pushed in This position is refered to as 0 with the bottom pushed in the position is referred to as 1 SW1 SW2 SW3 CARD ADDRESS 0 0 0 AQ 1 0 0 Al 35 0 1 0 A2 1 1 0 A3 0 0 1 A4 1 0 1 A5 0 1 1 A6 1 1 1 A7 Switches 4 5 amp 6 control the baud rate of the transmission line Our default setting is for 9600 baud other bauds may be changed by setting the switches below SW4 SW5 SW6 BAUD RATE 0 1 0 9600 1 1 0 4800 0 0 1 2400 1 0 1 1200 0 1 1 600 1 1 1 300 0 bottom of switch
28. Programs 3 Jog Jog the jog feedrate is controlled either by using the Feedrate Override or changing the value of i09 4 Feedrate Override controls both the jog feed and the program feed This function operates in 10 settings based on the value in i06 5 Manual Remote Manual Mode is used for operating the front panel switches and for use of the pulse generator In this mode the brake will be disabled and no remote I O will be accepted In addition the auto stepping function will be enabled either to a block number or through the program A Cycle Start will cause the program to step through the each programmed move for each Cycle Start input Note To use the brake while in manual mode set i12 to 1 on then the pressing of Cycle Start will turn off the brake index the machine re enable the brake All other buttons will act as if in Remote mode Pulse Generator must be disconnected if you select this option or severe damage to brake and motor will occur Remote Mode the following front panel switches W Z set W Z return Jog and Jog Cycle start and Feed hold will be disabled and the remote I O will be enabled The homing function from the front panel will be disabled Remote requires a remote cycle start to execute each program block Going from manual to remote will cause the program to stop at the next program block 6 Cycle Start M Z Return The cycle start button initiates a step start Each depression
29. R TASK II 2 An RS232 cable pin configuration and gender described below 3 A spare accessible M Code if you require a step finish signal Getting the SUDX Controller ready 1 The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If you communicate with the Okuma control with other devises and are locked into a baud rate other than 9600 bps give us a call 1 800 421 9763 and we will let you know the specific dip switch changes for the baud rate you desire If 9600 is OK then no change is needed at the SUDX controller side Getting the Okuma Control ready The following is a series of steps in order to prepare the Okuma control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the Okuma OSP 7000 5020 and 5000 Confirm parameter settings for your individual control Change the following parameters 42 Optional Parameter Word 39 9600 Optional Parameter Bit 1 01010011 12 00111011 You are now ready to write a TEST program on the Okuma control PUT AOEF1000G91 PUT B180M30 PUT 0A0D WRITE 0 M181 M2 Once you execute this program the rotary table should move incrementally 180 degrees with the M181 output Essentially what is happening here is that the RS232 port on the Okuma control is
30. a special cable that has pins 2 and 3 crossed to form a null modem cable if you use this null modem cable you will need a null modem adapter Never plug or unplug the RS232 cable when UDNC or computer is on RS232 cables use 12v transmit amp receive lines which will cause harm to circuitry of both programmer and controller if these lines are active 1 Loading program Insert Yuasa Terminal diskette into drive A then type INSTALL This will automatically begin to load the YUASA TERMINAL Note Not all of the programs contained on the diskette will be transferred only those required for Yuasa Terminal Other programs are for separate operations and require you to enter separate INSTALL commands or for you to copy them directly to your hard drive or work diskette 2 Configure Screen Confirm that the Terminal program is properly configured for your computer A Com Port Is the correct COM port selected You have the choice of using either Com 1 or Com 2 Com 1 is most often the 9 pin port whereas Com 2 is the 25 pin port Unless you are using a PS 2 style mouse you probably have a mouse plugged into Com 1 DEFAULT Com 2 B Card Address You have the choice of Card Address 0 7 Unless Specified prior to shipping Card Address is AO FACTORY DEFAULT 0 C Baud Rate As stated you can communicate at baud rates between 300 and 9600 FACTORY DEFAULT 9600 BAUD D Data Bits Again you have the choice of 8 bit none or 7
31. an F1000 M30 is an adequate dummy program i Send Parameter Values nn Where nn represents a value from 00 to 99 and is used to cause the controller to send the specified parameter value The control will send the appropriate value 1 to 7 characters followed by a lt CR gt and lt LF gt character e g i32 ENTER This function can be used in either the hand terminal or a computer but most NC controllers do not have the ability to transmit lowercase letters AO to A07 Control Card Address Up to 8 controllers can be programmed from our custom software package Whenever you begin a program you must address the particular controller which you re are writing a program to If you only have one controller than the card address would be AO It is also strongly recommended to clear the card buffer every time you download a program A program must always begin with an AOE address card clear buffer and end with an M30 end of program Note You must address the card by typing an AO in terminal mode prior to writing your program 21 L Functions LO to L9 defines one of ten possible subroutines to be invoked by G80 to G89 or by G30 to G39 Using a b on line command which executes the subroutines LO to L9 with a bn value n 0 to 9 for bO to b9 Note When writing a program all subroutines if any are used must be entered first followed by the program itself General rules fo
32. be in the Yuasa Menu You will find the following list of options OFF Turns HCT off File Manager Takes you to files that are stored in your hand held or lets you write files Note Files marked with P X are parameter files and P are program files If you choose the parameter files that do not match your unit your table will not run correctly New File Create files to run your index and store them in the HCT Terminal Menu Diagnostic and MDI operations See HCT manual for further explanation Preferences Lets you configure your HCT for special applications Note the factory default is A0 9600 8bit none Card Status Used for checking status of controllers MCC functions Select Create File by using the arrow keys to highlight the name press OK You will now be at a completely blank screen Press the a key located beneath the ENTER bar The a should now be seen in the top center of the screen if not push button again During programming this button must be active Push the ENTER bar after each line entry Lets write your first program AOE F1000 G90B90 B180 B270 M40 BO M30 AO Card Address Zero E Clear Buffer This must always start every program This is the maximum feed rate F1000 100 Think of the last 0 as a sign G90 denotes an absolute movement and B90 is a 90 degree movement This movement is 180 absolute Once you have input a G90 the CPU maintains absolute m
33. being opened for communication PUT then the control is being told to send the characters inside the quotes out through the port in ASCII format Once the SUDX controller receives this data the M181 command will automatically execute a move Then the RS232 port on the Okuma is closed the control will automatically continue to the next line 43 Yasnac 80 amp MX 3 Control via RS232 Port 180 1 Go to the maintenance screen depress soft key ALLPARA then softkey 5 select RS232 2 Next a set up screen will appear input data as follows 3 Make sure that the pin configuration for the RS323 cable between the UDNC controller and the 80 control are correct Please refer to our config diagram for the UDNC pin out and the machine diagram Most likely you will need a NULL MODEM adapter switching pins 2 and 3 In addition note that the DB 25 connector on the UDNC 100 is female and the DB 25 on the CNC machine is usually female You will need male ends for both sides of your RS232 cable 4 To test a program go to MDI mode on the Yasnac and input the following 3100 A0EF1000G90B90M30 M21 example of machine M Code This will initiate a movement of 90 degrees Note Make sure that the Manual Remote switch is on Remote Make sure that you input A the number zero E and not the letter O If it does not work at this point re check your RS232 connection this is most likely where the problem is MX 3 The
34. ble speed Note With this example your minimum positioning increment resolution would be 0 00125 deg EXAMPLE 2 220 Assumes an F value of 1000 2000 X 2 4000 divided by 300 000 01333 divided into 60 4500RPM motor max divided by 90 50 00 RPM table speed EXAMPLE 3 280 320 400 Assumes an F value of 1000 2000 X 2 4000 divided by 180 000 0200 divided into 60 3000RPM motor max divided by 180 16 66 RPM table speed Note The speed of movement and resolution are very closely tied together Keep in mind the maximum amount of encoder counts per second the CPU can count is 300 000 The faster the motor rotates the more encoder counts it generates per second Given this 300 000 maximum the slower you rotate the finer the resolution As you go faster you lose a little resolution Your rotary unit is shipped with the times 2 multiplier If you desire the times 4 multiplier it is easily changed A couple of i parameter settings and a simple jumper switch You can do it in the field but give us a call and we will work you through the first time over the phone Just as your new rotary can move very fast it can also move very slow Again it s a matter of changing the F value in your program and altering i06 The same formula above still applies just input smaller numbers First let me confirm to you the minimum settings for the F and i06 For more info on these
35. close attention to the colors of the wire as some of the colors appear to be similar Red may look very much like Red White Connecting these wires incorrectly can create a very expensive amp extensive repair Note Before beginning this interface compare our electrical schematic with your CNC machine s electrical drawings for actual signal information All machines are dissimilar and may need to be installed differently Wiring Diagram for UDNC Remote Cable CNC MACHINE 24VDC M code Start Ss cde 24VDC 6 MW 24VDC 7 Bu M Code Finish 2 Tio ClarDa naiser Pmergeney Stop 8 0 11 Wht Bik __ Feed Hold N C Blu Wh or other circuit No Voltage can ever be applied to these lines without damaging the internal circuitry 6 Step Finish Types Based on Step start types Type 0 No Step Finish Remote step ire oe pres Rotation sal eens pene eee Remote finish Type 1 No Handshake Remote step aaa eas Rotation E a ee ee O enter eee Poo Remote finish one ee Remote step poster rere ce ee id jeeeeReeeeese seen aanss e Rotation NE eas Tenens Pte Remote finish panes Tae L Type 3 Handshake by second remote step input going passive Remote step Ta Rotation Sec pe sere aes RS oa ae Remote finish in lance m Type 4 Synchronous Start Remote step o aral Rotation Remote finish Ll
36. de of Information Interchange such as Fanuc s Macro B or Okuma s User Task II It is imperative that your CNC has this capability or you cannot communicate with the UDNC 4 Confirm that the CNC protocols are properly configured and that you have used Carriage Returns lt CR gt Refer to your CNC manual for more information 5 lve tried everything and still no communications Unplug the power cord and remove the cover from the UDNC Check the ribbon cables coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 and ask for technical assistance with the UDNC C My HCT does not communicate with the UDNC 1 Confirm that the TIC Terminal Interface Cable is securely plugged into both the HCT and the UDNC Take care that you did not bend any of the 4 pins on the HCT 2 Confirm that the batteries are not low and or dying 3 Confirm that the preferences are correctly set on the HCT Turn on the HCT confirm NO HOST and press the ENTER bar Scroll down the menu using the DOWN ARROW key until you highlight Preferences push F key F OK The next screen will have your choices in th
37. different ways by the UDNC 1 If the program consists of less than 448 blocks the M30 will reset all M functions and feedrate instructions to their default values It also sets the program execution pointer to the beginning of the program that is stored in the buffer 2 If the program is larger than 448 blocks the M30 will reset and purge all functions including the program buffer This requires that the host computer retransmit the program before program execution can be started again The initialize M G and Feedrate instructions are not reset and need not be reloaded M30 Rules Rule 1 A program without an M30 cannot be saved in the EAROM permanent memory Rule 2 When a program is written and terminated with the M30 instruction a new program cannot be written unless the buffer is cleared using the z or E command Rule 3 An M30 requires a cycle start unless the move or moves before it have a M40 preceding See M40 M36 Enable Serial Pulse Channel This code will enable use of the optional pulse generator SPG 100 or LPG 200 The pulse generator hand wheel port will automatically be activated and able to be accessed once the Manual Remote front panel switch is positioned in the manual setting This will also disable the brake allowing for instant use of the pulse generator Factory Default M37 Disable Serial Pulse Channel This code will deactivate the handwheel port on the back panel o
38. down the controller As before work zero settings programs and i variable s are stored in EAROM M and G Codes The programming of this controller utilizes standard M and G codes found in common CNC Machine Tool controls Below is a listing of these codes and their meaning A more detailed description follows G Codes G04 Dwell G17 Terminate Sub Routine G28 Machine Zero G30 to G39 Jump to Subroutine G70 Start Loop G71 End Loop G72 Auto Divide G80 to G89 Call Subroutines or conditional call with G90 Absolute Positioning G91 Incremental Positioning G92 Circular Interpolation Radius for use with linear table G93 Zero Referenced Moves from second coordinate M Codes Moo Program Stop M18 Disable step finish relay 1 M19 Enable step finish relay 1 M20 Disable step finish relay 2 M21 Enable step finish relay 2 M Codes Continued M22 Disable brake on 10 M23 Enable brake on M30 End of Program M36 Enable pulse generator M37 Disable pulse generator M38 Enable backlash M39 Disable backlash M40 Enable continuous motion M41 Disable continuous M42 Enable mirror image M43 Disable mirror image G Code Description G04 Dwell 7 digits 1 to 8388607 millisecs A G04X1000 would cause the axis to remain in position one second before being ready to execute the next block A G04 requires a step or rub command to be executed It is a block of data that causes the In posit
39. e M Code accessed via the REMOTE cable 39 Additional Parameter Settings 220 15 for G15 10 Bit4 1 Macro Protect Main CNC Program Line Example G15 B180 This line in the main program would provide an absolute move of 180 degrees Note You may wish to write another Macro program changing only the G90 to G91 In this case you would use a G16 instead of a G15 and parameter 221 16 The program would be 9011 Special Note This is only an example the parameter settings and codes may be different for every control Please refer to your program manual FADAL control is as follows 1 You MUST Have Macro Capability CNC 88HS 1992 or new controls 2 An RS232 cable pin configuration and gender described below Getting the SUDX Controller ready 1 Remove the controller cover and change dip switch 1 bit 5 to open This will change the data format to 7 bit even parity one stop Fadal controls can only communicate in this format We normally ship the SUDX units with the 8 bit configuration however if you are just purchasing your unit we would be happy to change this switch prior to shipment 2 The baud rate setting of the SUDX controller is 9600 bps This can be changed by dip switch alterations inside the controller from 300 bps to 19 200 bps If you communicate with the Fadal control with other devises and are locked into a baud rate other than 9600 bps give us a call 1 800 421 9763 and we will let
40. e a Pos Follow error i09 Jog Feedrate Set Similar function as i06 except controls jog feedrate instead of program feed The maximum setting must never exceed i06 Recommended setting 1500 to 15000 i10 Set maximum positive travel limit 7 digits Measured in encoder counts This parameter will prevent the servo from moving beyond the specified positive direction limit even if it is commanded or instructed to do so If the travel limit is exceeded the control will output an error signal and stop motion Moves in the opposite direction remain active Setting i10 to 288 000 would set the limit at the 180 degree position 72 1 Default 1 off Note To use this feature i20 should be set to 0 i11 Set maximum negative travel limit 7 digits Same as above except controls travel in the negative direction Default 1 off i12 Enable Disable Cycle start button in Remote Mode i12 set at 1 will enable the cycle start in the remote mode allowing the brake to be used from the front panel Setting this to 0 will disable this feature i13 Automatic position bias generator time constant From 0 to 127 Factory set 90 Sets the rate at which the servo loop examines the system s position and following error drift and generates a bias term for compensating it O off 1 minimum compensation 127 maximum compensation i14 Velocity feedback gain Factory set 20 Range 0 to 255 0 off Controls the amount of negative feedback
41. e black Boxes on the bottom of the screen Each box corresponds with the button below it A F Select default setting 9600 8 bit Even AO Using the NXT key changes the screen and options in the Boxes Push ENTER to complete the selection sequence and return to the main menu Highlight OFF ENTER ON to see if you have established communications 33 4 I ve tried everything and still no communications Unplug the power cord and remove the cover from the UDNC Check the ribbon cables coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 and ask for technical assistance with the UDNC Error Code Definitions AXIS LIMIT Motor is restricted or has failed Causes 1 Am phenol cable is not properly connected to UDNC Make sure motor cable is properly snugged 2 Stress to internal wires ie broken motor cable coolant seepage have caused lines R S or V to break or short Perform a continuity test on these lines 3 Possible bad amplifier Unplug the UDNC Remove the Am phenol cable from the UDNC Take 3 4 solid core copper wires and strip 1 4 of insulation
42. elay range 0 255 16msec default 0 This is the pause time between automatic steps in the Manual mode The second value is the block_number which will be auto stepped to The block_number range is 0 65535 default 0 The format is i23delay block_number This is an excellent parameter for recovering to a particular block number after say braking a drill or a machine crash It allows you to enter a block number say 49 and auto step to that block without having to cycle every step to get there The procedure would be as follows first W Z return then enter in terminal mode i2316 49 CR This would identify i23 set the delay time then auto step to block 49 and stop If i23 is zero there will be no automatic stepping of the program If i23 block number is zero the program will auto step to the end of the program 28 i23 is zeroed when a Q quit command is executed i24 Entry and display scale factor Factory set for gear ratio to encoder value See chart below to match your unit Gear Ratio i24 Value 60 1 2000 3 72 1 800 1 90 1 1000 1 180 1 2000 1 i25 Feed hold decel mode control Factory setting 1 do not change i26 Prompt mode control Factory setting do not change i27 Gain multiplication factor Factory setting 3 do not change i28 Work Zero set position DO NOT CHANGE THIS PARAMETER SEE i PARAMETER LIST Units are in encoder lines with a range of 7 digits For example a
43. es per minute you want the workpiece to travel i e 6 This is IPM 5 T R D 1 M 3 1415926536 180 6 y X l 7 120840 1 IPM 17 Using the examples stated we will figure the Formula as follows 3 1415926536 X 3 5 X 45 180 2 74889 2 74889 12 12 310824 12 310824 X 120840 6 247939 98 or 247940 Your programed T value would look like this T247940B45 For helical timing of axes set i32 to 4 0 or in the program insert 1324 0 after AOE Note 1 In T mode the servo computes a feedrate based on the specified time and the size of the move for each block of data Note 2 The T mode is a modal command and takes effect in the block where it appears and remains in effect until another T or F command is given Note 3 Care must be taken to specify a T time which will result in a feedrate within the machine s capability Otherwise a Position Following error will be generated Note 4 The accel and decel parameter i08 remain in effect during T moves Note 5 The T time specified is the time from beginning of acceleration to the beginning of deceleration therefore in some applications it is necessary to make allowances for the decel time which is not included in the T move To calculate decel time please refer to i08 parameter description Note 6 If a T time is specified without a net motion occurring it will be treated as a dwell
44. f the controller By default the hand wheel port is set as active M38 M39 Enable Disable Backlash As specified in the i05 backlash parameter Default is 1600 giving you approx 1 degree of backlash To activate the backlash feature the M38 must directly follow the AO line at the beginning of the main motion program If Backlash is desired for all of the desired program there is no need to add the M39 statement if will be automatically disabled by the M30 command at the end of the program 14 M40 M41 Enable Disable Continuous Motion This code must be used when it is desired to automatically execute an M30 command without the need for a separate cycle input or to perform Helical operations EXAMPLE AOE F1000 G90B90 B180 M40 BO M30 With this program the controller would know that after the BO work zero block was executed to immediately read the M30 without the need for an additional cycle input MOO and M30 are the only two M codes which require a cycle or rub command for execution therefore the need to utilize the M40 prior to the last program move before the M30 Another use of this function is for generating unusual motion profiles such as hyperbolic parabolic or arbitrary curves This command provides a continuous motion string blending different programmed moves and feedrates with one simple step start command This is extemely useful if you are attempting to develop a helical move synchronizing an X axis move with a
45. haracter The front panel display will indicate a numerical or letter type of alarm code as well as a brief worded description Alarm Code Failure Description AXIS LIMIT Motor or Cable defective or disconnected 8032 CPU Internal RAM or CPU Failure PRG BUF RAM EXTERNAL RAM fault EAROM EAROM failure CMD FORMAT a Invalid command or more than 80 characters input b No lt CR gt after M30 c Tried to s ave while in Remote POS FOLLOW Position Following Error PROG LIMIT Motion limit failure RS232 XMT Transmission error check cable type amp verify lines 2 amp 3 EAROM XFER EAROM save or load failure U MOVE U move failure BRAKE CLAMP Brake clamp did not release Check if airlines are crimped amp or solenoid wires 31 Section 4 Trouble Shooting the SUDX amp UDNC Communication Problems A My computer does not communicate with the UDNC 1 Confirm what type of cable you are using Standard or Null and that communication cables are plugged into proper ports On most computers the 9 pin port is configured as COM 1 If this is true on your computer use a standard 9 pin to 25 pin cable and connect to the 25 pin RS232c port on the UDNC Note If you have a 9 pin to 9 pin Null Modem cable connect to the 9 pin RS232c port on the UDNC If this is not true on your computer identify which port it is ie COM 2 When you first access the Yuasa Terminal it will ask you to confirm your Port Setti
46. he sight glass on your unit If oil is low add until sight glass reads full On 5c 130 132 5c remove the upper grease fitting and add some oil to the unit and replace fitting BRAKE CLAMP Brake solenoid did not release and or brake is binding 34 Causes 1 Unfiltered air lines have allowed condensation into the brake cylinder Disconnect air lines and power to the indexer Remove the back plate thrust amp brake plates from the unit and examine for rust and or corrosion in the chamber If any corrosion is found remove using a wire wheel or light grit sand paper until all traces are removed Be careful not to scare or damage chamber Reassemble unit and attach a Filter Regulator Lubricator to the airline before reconnecting to SUDX 2 Exhaust line has a kink in it and will not allow the air to pass Remove the triangular plate that holds the air fittings from the SUDX Examine the lines for constriction If constricted use electrical tape to reinforce tube or trim if tube length is excessive 3 Air solenoid is malfunctioning Push the Remote Manual switch on the UDNC off and on and listen to the solenoid fore triggering If no trigger is heard solenoid is bad Contact Yuasa Service Dept CMD FORMAT Unrecognized command statement Cause 1 Does the program downloaded have a M30 end of program statement at the end 2 Command line is longer than 80 characters 3 Is the cursor flashing behind the M
47. ine gives a contact closure on wires 4 amp 5 Note 2 For the finish type contact polarity please check i parameter 32 For the delay time check i parameter 31 Default for i32 is 2 0 Section 2 UDNC Panel Controls Front Panel Switches 1 On and Off be sure to check incoming voltage prior to powering up The off switch totally shuts off the entire system Program memory and work zero position are stored in EAROM Never connect or disconnect any of the cables while UDNC is on 2 Program Select is used to access both the Main Program M and the seven additional sub programs 0 6 These programs are recognized when either the M30 W Z set or W Z return switches are seen or by simply changing the selector switch to another number setting You must be in Manual Mode when you change selector switch Selector switch M performs a go to the beginning of the main buffer program Program selector switch 0 6 does a go to the beginning of subprogram LO L6 It is read and used when the W Z set W Z return Machine home Power on and the M30 commands are executed It is also read when the program block number is zero If no subprogram exists for the program selector switch then the main buffer program will be run Note To simplify this The process for storing more than one set of indexer commands is to write one main program that contains up to 7 subprogram which will fill the 8 positions on the selector switch See Sub
48. ion register to report false during G04 execution Note 1 G04 dwells are not affected by The dwell period starts at the beginning of decel If decel is very long the dwell time may go to zero Note 2 For multiple axis use when a dwell is proportional to a move size and a feedrate is required use the W command G17 Terminate a Group of Subroutine Blocks Started with LO through L9 and terminated by G17 See L command For example LO G04X500 M19 G04X1000 G17 is a subroutine that dwells a 1 2 second turns relay 1 on waits 1 second and continues at the program step after the G80 that called the subroutine G28 Go to Home Position M Z Return Under program control and as specified by initialize parameters i02 03 and 04 f i04 is zero home command is disregarded When G28 is issued and i04 is non zero the servo will move in the direction specified by i02 until the home switch is seen It then looks for the encoder C channel When the C channel is detected the control executes the i03 move terminating the homing procedure Note On 5C 5CA and 132 the rotary table does not have home limit switches it will be necessary to first jog the table to vernier zero prior to executing G28 or the M Z function on the control panel This position is automatically Machine zero position G30 to G39 Jump to Subroutine This command is similar to G80 Call except that it branches to subroutines LO
49. is key will toggle the PRINTER ON option With PRINTER ON all data received from the card will be echoed to any standard line printer as well as to the screen Make sure that the line printer has paper and is On Line Alt lt F4 gt DISPLAY OFF This key stops data from being displayed on the terminal screen This allows you to send data to the printer or disk at a faster rate Alt lt F5 gt SAV PRGR amp I VAR This key will save the current Program Buffer and Variables currently in the RAM to the EPROM Alt lt F6 gt PRINT SCREEN Will print the current screen to your printer Alt lt F10 gt HELP FILE lt 1 gt Load Help File Allows the user to view a Help File HLP lt 2 gt Reformat Help File Reformats the Help File for easier viewing lt ESC gt EXIT EXIT the Help Menu 3 0 YUASA EDITOR The editor is a word processor for Controller programs of up to 65000 characters In this section of the program lines typed in the left window are not sent to the Controller but instead entered into the editor buffer The line number corresponding to the line of the editor buffer to which the cursor is currently pointing is displayed in the right window Movement of the cursor is possible with the four Arrow Keys The following editing keys also apply PgUp Displays the previous page 23 lines of the current program PgDn Displays the next page 23 lines of the current program Home Displays the first page 23 lines of
50. limited to only the exact items repaired or replaced 6 All merchandise must be sent in Prepaid All repairs covered as warranty will have freight charges credited back to their account Table of Contents Section 1 Lets get Started Un crating Preliminary Setup Simple Basic Programming Computer Programming Loading Yuasa Terminal Program Hand Held Terminal Programing Hand Held Lock up Simple Hook Up to CNC UDNC Remote Wiring Diagram Step Finish Types Remote Cycle Start Remote Cycle Finish Section 2 UDNC Panel Controls Front Panel Switches G Codes M Codes G Code Description M Code Description Non Motion Buffer Command Input Data Commands Characters Special and Non Motion Command Descriptions Section 3 i Parameters and Alarm Descriptions P Parameters Alarm Codes Section 4 Trouble Shooting My Computer does not communicate to the UDNC My CNC does not Communicate to the UDNC My Hand Held does not Communicate with the UDNC Error Code Definitions Dip Switch Configuration Section 5 Direct Operations through the RS 232 Fanuc to UDNC Fadal to UDNC Mori Seki to UDNC Okuma to UDNC Yasnac to UDNC Section 6 Yuasa Terminal Program System Requirements Installing Yuasa Terminal to Computer Running Yuasa Terminal Terminal Mode Yuasa Editor Section 7 Maintenance Service i Parameters and Table Dimensions ONNDODOORNMNH HH Section 1 Lets Get Started Un crating This is a fair
51. ll change incrementally as moves are executed For example if G92CO is specified and a CQ90000 move 90 degrees is executed the starting angle will now be G92C90000 for the next move If a different value is required it must be entered into the program 18 The C command s range is from 0 to 8388607 and therefore allows up to 23 3 revolutions to be executed in a command line The use of a loop G70 command allows execution of continuous rotations It is possible and sometimes desirable to blend a linear and a circular motion together For example AO addresses the card Z sets current position to zero ZorE clears buffer F1000 sets feedrate to maximum of i06 value G92R500 sets radius to 500 M40 enables continuous motion C90000 Circular move 90 degrees to 500 B9500 Move to 9500 M41 Disable continuous run C90000 Move circular to 90 deg to 10000 Motion stops at 10000 G92 is now 180000 M40 Enable continuous run C90000 Move circular 90 degrees B500 Move to 500 M41 Disable continuous motion C90000 Move 90 degrees M30 End of program Motor is at 0 and G92 is at 0 The first step command will move the motor from 0 to 10000 by sinusoidally accelerating from 0 to 500 running continuously to 9500 and decelerating sinusoidally to 10000 The next step command will return the motor to zero following an identical path and accel decel behavior Note i08 accel and decel parameters should not be used when blending a
52. llowing tasks lt 1 gt Load File Allows you to bring a file in from disk to the editor buffer Any program currently in the editor buffer will be erased lt 2 gt Save File Allows you to save the program currently in the editor buffer to disk Note Filenames are limited to eight standard characters and unless you specify your own extension the extension MCC is automatically added to any filename Disk and subdirectory specifiers can be entered in front of a filename up to a total of 40 characters The default filename for a newly created program in the editor buffer is NONAME MCC lt 3 gt Insert File Allows you to bring a file in from disk and insert it into the program currently in the editor buffer at the present cursor location lt 4 gt Delete File Allows you to delete a disk file lt 5 gt Print Current File Allows you to print the file currently in the editor buffer to the standard printer for the system lt 6 gt Print Disk File Allows you to print a file on disk to the standard file for the system lt 9 gt DOS Commands Allows you to perform DOS commands lt F3 gt DWNLD amp SAVE FILE This key downloads the current buffer file to the controller and then saves the data to its internal EAROM lt F4 gt UPLOAD PROG BUF This function key uploads the program buffer from any card and appends it to the program currently in the editor s buffer 50 lt F5 gt DOWNLOAD FILE This key do
53. ly minor task yet an important one Please make sure you maintain the warranty card test report and manual enclosed in your informational packet You will notice that the warranty card provides you with center height specifications of your table and the serial number Save this data as it provides us with important information about your particular table or indexer As a precaution we strongly recommend that you maintain the original crate for at least 30 days Preliminary Set up After carefully removing both the controller and table body place them both on a clean table First thread the motor cable connector from the rotary table to the flange marked motor on the controller Make sure that this and all connections are threaded in all the way Then hook up the power cable to an AC power source 105V to 125V If you have the 5CA model locate a clean Filtered Regulated Lubricated air line and affix it to the small air hose leading from the air collet closer piston If you have an air brake attach the air hose W FRL to the fitting You are now ready to begin Simple Basic Programming This section will only focus on simple programs 90 deg 60 deg 45 deg indexing etc There are three ways to write a program 1 Use your computer with the software supplied by Yuasa 2 Use our Hand held Computer Terminal model HCT 001 or HCT 002 3 The newest way is to make use of the RS232 port on your computerized machining center A
54. ncel the change If you enter a value which exceeds the critical values of the parameter a warning message will flash and you will be prompted to try again When you finish reviewing the i parameters press lt Esc gt to return to Terminal Mode or s to save the parameters lt F2 gt DISPLAY I O STAT 47 This key displays the current I O status lt F3 gt DISPLAY CARD STAT This function key displays the current card status lt F4 gt LIST PROG BUF This key will display the buffer of the card currently addressed You are prompted for the starting line number after which each carriage return keystroke will display a page full of consecutive program lines The axis data will be displayed in user units set by the i24 variable To return back to Terminal Mode press lt ESC gt lt F5 gt MDI MODE ON OFF This function key allows you to enter the Manual Data Input Mode In this mode motion commands will be executed as they are entered MDI On will be displayed in the lower right window when MDI is active lt F6 gt OPEN LOOP MODE This mode allows the user to test the motor and encoder in an open loop mode The arrow keys allow the user to adjust the motor output in 0 1 and 0 01 volt increments By changing this output the user can drive the motor and determine if the encoder position feedback direction is correct before closing the servo loop The lt ESC gt key will exit this mode and gradually return the
55. nd sent back to the customer therefore no credit will be issued 6 There will be a 15 restocking charge on any and all items not returned in their original packaging amp or not covered by warranty 7 No other policy other than the foregoing will be authorized or accepted by Yuasa International SERVICE POLICY 1 Warranty cards must be on file within 30 days of invoice date for a warranty repair If warranty card is not on file proof of purchase must be submitted when requesting service If neither is supplied all repairs will be charged to the customer 2 There will be a minimum charge of 120 00 for handling and inspection fee on all items sent in for inspection if no defect is found warranty or if customer declines service on unit s non warranty All such shipments will be sent back to customer Freight Collect 3 Units must not be previously altered repaired or serviced by anyone other than an Authorized Yuasa Service Center Any and all misuse of an item will void warranty 4 Before any item will be repaired the customer will receive a written estimate which must be returned within 15 days signed Approve Disapprove repair If after 30 days we have not received authorization either way there will be a 120 00 fee charged to the customer and merchandise will be shipped back Freight Collect 5 All repairs preformed a the Yuasa International Service Center California carry a 30 day warranty warranty
56. ngs choose the appropriate port and confirm your changes If the 9 pin is COM 1 and it is being used by a mouse use the 25 pin RS232c port on your computer confirm its port numbers and specify this port when you first access the Yuasa Terminal If the 25 pin is also in use you must terminate one of the devices occupying a port 2 Confirm that you are in DOS and not in Windows 3 1 95 or NT The Yuasa Terminal will not work properly in a multi tasking environment Do not use a Windows DOS prompt You must be completely exited into DOS and have no other applications running 3 My computer communicates with my CNC but not to the UDNC Your CNC may require lines 2 and 3 of the cable to be crossed Null Modem Use a Standard cable or attach a Null Modem adapter to the end of the cable 4 don t understand how to use the Yuasa Terminal Configure Menu a Confirm COM 1 or COM 2 see 1 b Confirm BAUD rate The default is 9600 This is an industry standard for most 286 and better computers If you are unsure of what baud rate to use leave it at 9600 c 8 bit or 7 bit Our default is 8 bit If you need to use a 7 bit rate you will also need to configure the dip switches inside the UDNC See Dip Switch Configure d Millisecond time out 35 default will work with 386 486x20Mhrz or better processors If you are using a 286 or slower than 20Mhrz 386 486 increase the time out to 50ms 50ms is a good starting point your true time
57. ns where the part reference zero may vary but the tool change position is always the same relative to the initial home zero M Codes description MOO Program Stop This function causes the control to stop executing the buffer program much like the Feed Hold button on the UDNC front panel Use a Start Run Step or Rub Out command to resume motion M18 Step Finish 1 Disable Writing this code into a program block will disable the step finish signal on relay 1 M19 Step Finish 1 Enable Writing this will enable the finish signal on relay 1 if M18 has been used It is not necessary to put this statement in a program the relay is turned on by factory default M20 Step Finish 2 Disable This command will disable the step finish signal on relay 2 M21 Step Finish 2 Enable This command will enable the step finish signal on relay 2 if a M20 has been used ie M22 Brake Function Disable This command will disable the Brake On function in Remote mode Default Brake On in Remote Mode M23 Brake Function Enable This command will enable the Brake On function in Remote mode Default Brake On in Remote Mode Note To enable brake function in Manual Mode parameter i12 needs to be set to a value of 1 This command will not function in Manual Mode unless the above criteria is met M30 End of program All written programs must be terminated by an M30 command and carriage return The M30 instruction is interpreted two
58. ntrolled operation The velocity round off is small approximately equivalent to 200 encoder counts for a 2 hour move i e if you tell the controller to move 2 000 000 counts in two hours it will terminate the move exactly on time but may make a 100 to 150 encoder count move at the very end of the time period instead of equally spreading the move thus creating a small velocity jerk Time and position remain accurate This error rapidly diminishes as the move times become shorter The same move made in 20 seconds would have an undetectable velocity error of 1 2 of an encoder count Time Constant 1 second is equal to a T value of 2014 If you wanted to move 360 degrees in 1 minutes you would first multiply 60 seconds and 2014 which equals 120840 Your T value would appear as T120840B360 Helical Time Feed Formula To figure out what T value to use for a helical cut use the formula below or use the TIMEMODE program located on the Yuasa Diskette 1 Determine the Radius of the Workpiece Radius is equal to the distance from the center of the workpiece to it s outer edge minus the depth of the cut f you measure your workpiece to be 4 in Radius and you are doing a 1 2 cut your Radius 3 5 This is R 2 Determine how far you want the workpiece to rotate i e 45 degrees This is D 3 Determine how far the X axis cut across the workpiece is going to be i e 12 This is X 4 Determine how many inch
59. o pre jog position Send status Purge buffer prepare to accept new program Feed hold stop Inn send motion parameter Jog Output DAC value Stop Run Step Send current position Zero set NNO DOOSTIMSSI Qe 15 oO Go to beginning of This function is similar to the bn command go to the beginning of program Copy RAM to EAROM Download EAROM to RAM Send error code Send following error Home Inn send stored parameter Jog Kill servo Learn position Send current position Send memory data Save program and parameters in EAROM Must be entered in terminal mode Self test Write memory data Send time click Purge buffer prepare to accept new program OTD TAT TST Sr oOoOaOo NXZ Tt Input Data Command Characters Backspace Back line pointer one character CR End of line character lt CNTRL gt X Cancel input line Space Separation character Comma Separation character conditional jump value delimiter Period Conditional jump bit delimiter Slash Comment delimiter Colon U command delimiter i Value delimiter Special and Motion Commands B or X Single AXIS Motion This command is used as an axis identifier For most applications our use will be for rotary movements but this controller can also be used for linear moves For either axis movement i e B180 180 degrees or B2 5000 2 1 2 linear move using T instead of F we utilize the
60. omatically see the M30 resetting the program and Block Machine or Work zero position End of program If you would like to save this program on the disk drive of your computer depress the F2 button select the save file choice 2 name the file and enter Note The Remote Manual switch must be in manual mode or the program will not be stored Now download your program to the controller using the F3 key download to card buffer and save Note Dwnld amp Save File F3 will save your program and all i parameters to the card Download File F5 will automatically take you from editor mode to terminal mode where the small s can be entered to save the file if desired This program format can be duplicated substituting different B movements for example B60 B120 B180 B240 B300 BO would be 60 degree movements By simply inserting a minus sign in front of the B movement you can move counter clockwise using G91 Incremental or stay in absolute and write the program in reverse B300 B240 B180 etc There are a number of other ways of accomplishing these simple index movements like using the loop G70 function but for a quick start this is the easiest way to begin Hand Held Computer Terminal Programing With the HCT connected to the UDNC controller push the ON button The screen should say HOST FOUND Push the OK button which corresponds to the F key and you will
61. out may be slightly higher or lower e Confirm the setting are correct and enter Y to save Your next screen will list the cards addressed A0 A7 and confirmation of communication Yes or NO If everything is correct AO should say YES 32 5 ve tried everything and still no communications Unplug the power cord and remove the cover from the UDNC Check the ribbon cables coming from the RS232c ports They should both connect to a 3 x 3 circuit board On the back of the board they will connect to the inner green circuit board of the 2 large boards in the center of the controller Confirm that they are securely in their perspective socket If these are fine and you still cannot communicate with the UDNC call the Yuasa Service Dept at 800 421 9763 for assistance with the UDNC B My CNC Machine does not communicate with UDNC 1 Confirm what type of cable you are using Standard or Null and that communication cables are plugged into proper ports Your CNC may require lines 2 and 3 of the cable to be crossed Null Modem Use a Null Modem adapter to the end of the cable Some machines may have a Null modem port in which case a Null Modem cable will be converted to a Standard cable 2 Confirm whether you are transmitting at 4800 or 9600 baud rate The UDNC has a default setting of 9600 If you need 4800 baud rate see Dip Switch Configure 3 Confirm that your CNC has the ability to send and receive ASCII American Standard Co
62. output to zero Warning Do not exceed 4 00 volts as it may damage the Rotary Table and or the Controller s Amp Board Resulting in a costly non warranty repair lt F7 gt POS FOLLOW TIME This function key displays the position following error and time for the card connected to your system lt F9 gt DOS COMMANDS This key exits you to DOS allowing you to perform DOS commands Typing lt exit gt will return you to the YUASA program lt F10 gt FILE EDITOR This key allows you to create edit download and upload programs See section 3 0 below for detailed instructions The following functions are activated by holding down the lt Alt gt key and pressing the appropriate function key The alternate function key selections can be viewed on the right hand screen by holding down the lt Alt gt key and pressing lt Q gt Alt lt F1 gt COMM SET UP This function key allows you to re configure and re poll your system You may change the communication parameters port baudrate etc and re poll the available cards Note This function is automatically invoked when YUASA TERMINAL is first run The current interface configuration is shown and you are asked if you wish to change it If you answer Y or y you will be asked which of the following interfaces you wish to configure Card Number 0 7 This is used to address controllers that have been Daisy Chained Together via a serial cable Note 1 Factory default for a
63. ovements unless you change it to incremental G91 270 degrees absolute This code allows the CPU to read the next movement in the program in this case BO and automatically see the M30 resetting the program and Block Machine or Work zero position End of program Now push the a key again and the ENTER bar You will now be at a screen that has the cursor flashing behind the letter P Note P Program files Files that have P X2 are Parameters Type the name of the file we have just created four and press ENTER You should now be at a screen that says EDIT Download Dwnld amp Save and Previous If you are still connected to the UDNC and the unit is on select Dwnld amp Save to transfer file and save it in the UDNC Note The Remote Manual switch must be in manual mode or the program will not be stored Hand held Lock up or No Yuasa Screen If you are no longer in the Yuasa Program or your hand held stops reacting here s what you need to do to restore the program 1 Push the ON amp C buttons at the same time 2 Confirm that the screen now looks like this HOME in the upper left of screen with the s 4 3 2 1 running down the screen beneath it And the black boxes contain Real Vector Base etc 3 Push the VAR key and the boxes will now contain YUASA MCC1 TIME etc Push the button that is directly under the box that reads YUASA 4 The NO HOST screen should now appear If not
64. please see the F command and i06 parameter F1 is the minimum setting which 1 of the value in i06 i06 set at 1 would one encoder count per half second My recommended lowest setting would be 250 EXAMPLE of above 2000 X 4 8 000 div by 500 16 div into 60 3 75 motor rpm X by 01 F setting 1 of i06 0 0375 div by 72 Gear Ratio 0 0005 rpm 25 SECTION 3 i PARAMETERS AND ALARM CODES GGRII l Parameters The initialize or set up parameters are used to tailor the operating characteristics of the control to the system in which it is being used The EAROM will save any parameter changes regardless of power shut down provided the s ave is entered Don t forget you must be in the program terminal mode with the Manual Remote switch set to manual i00 Set Following Error Factory setting 250 This allows a maximum deflection of 25 before sending a Pos Follow error alarm Changing this may cause your unit to not properly function The factory setting is appropriate for 99 7 of all users needs i01 Set in Position Band Factory setting 2 This is reflective to the motor encoder accuracy and is preset to our motor specifications Do Not Change Incorrect values will seriously damage the encoder and or controller voiding your warranty i02 Set Home Direction One digit 0 or 1 Specifies direction in which home will take place 0 is negati
65. program selector switch automatically identifies either the M main program or the 7 subprogram 0 6 Program EXAMPLES In this first example we have first set the feedrate to 100 of the value of i06 then moved incrementally 90 deg from zero then incr minus 180 degrees Then we switched to absolute G90 and moved to the 170 deg position relative to zero Then back to incr G91 minus 95 3025 deg then home You will note that we used a G90B0 for work zero you must be in ABS G90 mode for a work zero return AOE F1000 G91B90 B 180 G90B170 G91B 95 3025 M40 G90BO M30 In this second example we wanted to rotate 360 continually without stopping at a 50 feed again based on the value in i06 AOE F500 M40 G70X0 G91B360 G71 M30 23 In this third example we are positioning in 15 degree increments AOE G70X0 F1000 G91B15 G71 M30 This example illustrates how to use the auto divide G72 dividing 360 degrees into 10 equal parts AOE F1000 G72X10 G91B360 M30 Feedrate Table The F value when entered into a program block represents a percentage of the value in i parameter 06 For example F1000 100 F100 10 F10 1 and so on In addition the feedrate override switch on the front of the controller will also affect the feed in percentages of 10 increments For example if you set i06 at its maximum setting and used an F value of 1000 but set the feedrate o
66. r example if an axis is making a 90 degree circular move with a radius of 5000 the specified W wait time should be 5000 X 2 PI R divided by 4 7854 R Radius Set G92R 19 Unlike the R Run command which starts the control executing blocks consecutively without a stop and can be used as a stand alone on line non buffer command the R command when used with the G92 command is used to set the radius for a circular interpolation move G92RNNNNN specifies the radius of the move and can be from 0 to 262139 encoder counts This means that if the system is using 1000 encoder counts per inch the largest circle can be 524 278 inches in diameter The G92R command is modal and will remain in effect until changed n__No Operation This command when entered in a program will have no effect on operation it occupies one block of storage in the buffer Feedrate This command can be executed from the controller card buffer It is exactly equivalent to the on line non buffer command and is used to change the control s velocity on the fly zor E Purge Motion Buffer Allowed only in stop Clear buffer for new program data Should always be used before new program is entered Also clears all M functions and I parameters Z Zero set Allowed only in stop When received by the control card will cause current position to be 0 0000 position Note After zero set if p or Y command send po
67. r subroutines and loops are 1 Subroutines must be entered first but their order can be random 2 Subroutines used inside other subroutines must be entered before the user subroutine is entered Subroutines may be inside subroutines up to 4 levels deep Loops may be used inside subroutines Subroutines may be used inside loops 3 4 5 Loops may not be used inside loops 6 7 Subroutines are defined by the LO to L9 commands and terminated by the G17 command 8 Loops are started with the G70 XN command and terminated by the G71 command 9 Subroutines are invoked in the program by the G80 to G89 commands which respectively call the appropriate routines or the G30 to G39 commands which respectively jump to the specified routine EXAMPLE AOE Address card AO and clear the buffer LO Subroutine 0 G90B90 Absolute index to 90 BO Return to Work Zero G17 Terminate Subroutine L1 Subroutine 1 G90B180 Absolute index to 180 G80 Go to Subroutine 0 G17 Terminate Subroutine L2 Subroutine 2 G90B30 Absolute index to 30 G81 Go to Subroutine 1 G17 Terminate Subroutine L3 Subroutine 3 G90B270 Absolute index to 270 G82 Go to Subroutine 2 G17 Terminate Subroutine F1000 Set Feedrate to 100 G80 Go to Subroutine 0 G81 Go to Subroutine 1 G82 Go to Subroutine 2 G83 Go to Subroutine 3 G70X2 Start Loop 2 times G83 Go to Subroutine 3 G71 End Loop
68. ransmission is terminated with a carriage return and a line feed This command can be used with certain CNC for requesting Current Index Position when used with Macro RS232 direct operations e g If during a slow rotary move of 20 33 degrees you send YYYYY lt CR gt lt LF gt the MCC will pole the encoder and send back the current position 23 2333 to your CNC or computer Note 15 1 or 115 2 parameter will place the control in a mode where the f and p or Y commands will transmit data as a 2 s complement binary data instead of standard ASCII characters See i15 for details s Save Program in EAROM Permanent Memory This command is used to save a program into the EAROM permanent memory The i parameters are saved together with the program Upon power turn on or initialize the EAROM program along with its parameters are automatically loaded and ready for execution Rules for s aving Rule 1 You must be in terminal program mode and the function switch must be in Manual for the program and or i parameters to be saved Rule 2 s is active only in the stop mode Rule 3 Each program block requires approximately 50 millisecs to be saved Rule 4 Save operation stops when M30 is encountered Rule 5 f only set up parameters are to be saved a program must be written or in the buffer containing an M30 in order to allow the save to be successful For example
69. rotational move Many times the lead or pitch of a particular part cut will change necessitating the need to alter the rotary feedrate and movement without stopping for another step start command The movements and feeds entered between M40 and M41 will execute in a continuous fashion permitting this type of move EXAMPLE AOE M40 F500 B90 F250 B45 F100 B30 M41 M30 A common use of the M40 41 commands is to generate a delay before a move begins as follows Note The M41 does not have to be there program will finish at M30 and reset without M41 If you want to give a second start command to reset program then use as above M42 M43 Mirror Image Enable Disable This code will cause all program buffer moves to occur in reverse direction The controller will output a negative signal for every positive move it executes On a two axis machine this feature TH permits a part to be duplicated in all four quadrants Note that all i parameters will execute independently of M42 Home direction offset and backlash are not affected by M42 Only motion buffer moves are mirrored including G92 C U and other move commands Circular moves are also mirror imaged Non Motion Buffer Control Commands Q X on turns on RS232C transmission S X off turns off RS232C transmission U Unfreeze position following error time click no addressing V Freeze position following error time click no addressing Reset Feedrate Override Return t
70. s each manufacturer is different in their design and macro needs we can only state that our controller requires the ability to send and receive ASCII code under the following conditions A Minimum of 300 to a maximum of 19200 baud rate B Either 8 bit no parity or 7 bit even parity Data Transfer Note Data strings cannot contain extra characters ie lt gt C A Carriage Return lt CR gt must be used at the end of each Data string Line Feeds lt LF gt are ignored by the UDNC Computer Programing Since our controller accepts a standard ASCII string of commands you can actually use any program software you have that can generate a program and download through the RS232 port However if you are using the YUASA TERMINAL software the following will apply Note You must use a 80286 16 Mhz with 640k Ram or better computer with an operating system of DOS 5 0 of higher The Yuasa Terminal must be ran in DOS mode You cannot run from a Windows NT DOS SHELL or XTGold environments nor from these programs DOS PROMPT features Note Windows 95B 95C amp 98 can run the Yuasa Terminal from their desktop Microsoft fixed their comm port redirect functions but only on these 3 versions of Windows 95 amp 95A must restart into DOS Loading Program If you haven t already hook up your RS232 cable from your PC to the RS232 port on the controller Note This controller uses a standard RS232 cable Some CNC machines use
71. set up for this control is very similar to the I 80 The command 3100 and program data is the same also The following is a step procedure for communication protocol 1 Depress the PRM switch 2 Push the soft key RS232 This should bring you to the setting page 3 Depress PROG then go to either MDI mode or write a program to test Again check pin configuration of the RS232 cable and make sure you are connected to the correct port on the CNC machine The requirements for the Yasnac control is as follows 1 You MUST HAVE MACRO B this should be a standard control feature but check to be sure 2 An RS232 cable pin configuration and gender described below 3 A spare accessible M Code if you require a Step Finish signal Getting the Yasnac Control ready The following is a series of steps in order to prepare the Yasnac control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control The settings below are for the Yasnac 180 amp MX 3 Confirm parameter settings for your individual control 1 Go to maintenance screen depress the soft key ALLPARA then softkey 5 select RS232C 2 Next a set up screen will appear input the data as follows 44 You are now ready to write a TEST program on the Yasnac control PROGRAM program 3100 AOEF1000G91B90M30 M21 example of Machine M Code M30 IN OUT Units RS232C RS232C
72. setting of 144 000 in this parameter would retain the work zero set position at 90 degrees from zero 8 000 encoder counts per rev X 72 gear ratio 576 000 div by 4 144 000 The work zero position is saved after power shut down in the EAROM i29 Brake off delay before step Range 0 255 LSB 16 msec default is 32 512 msec 0 defines a system with no brake The servo integrator gain will never be zeroed if i29 0 Factory Set Do not change i30 Brake on and remote step finish delay Range 0 255 LSB 16 msec default 32 512 msec This i variable allows the delay of turning on the brake and remote step finish signals In order for the i30 time to be used in determining the delay of the step finish signals i29 must be a non zero value at least 1 i31 Step complete delay Range 0 255 LSB 16 msec default 32 512 msec Allows the pulse length adjustment of the remote step complete signal for the i32 types 1 amp 3 i32 Step type and polarity The format is i32 type polarity Type 0 No Step Finish To see a visual representation of i32 types refer to page 7 of this manual 1 No handshake with a delay set by i31 2 Handshake by remote step input going low 3 Handshake by second remote step input going high The remote step should stay set until it sees the remote step finish change state or remain set for at least the time set in i29 29 4
73. sition is used the position may not necessarily be 0 due to amplifier offset and other reasons Adjust amplifier balance or activate the i13 parameter bias compensation to eliminate offset h__Home Allowed only in stop Go to home position will take place as specified by i02 i03 and i04 parameters for direction speed and offset If i04 is zero homing will not take place Note 1 To recover from feed hold during home or jog functions repeat home or jog command Note 2 To recover from or machine limit switch during home or jog commands clear limit switch by jogging then repeat command Note 3 A home command may also be generated by using an external switch to ground jog and jog inputs simultaneously b Go to Beginning of Program bn n 0 to 9 Resets all M functions and I parameters but leaves all set up parameters i undisturbed Allowed only in stop the b command with a number of zero following is used to return to main program Specifying a number from 0 to 9 sets the program pointer to one of ten subroutines and allows them to be executed on a stand alone basis as if they were a complete independent program The G17 end of subroutine is then interpreted as an M30 end of program p or Y Send Current Position The control sends a sign and 7 digit position data to host Data is in ASCII with sign first or followed by 7 digits that represents the units current position Data t
74. the SUDX to move to a desired position via an RS232 cable between the SUDX controller and the FADAL control Using the FADAL MACRO function 4SPRINT we are now able to eliminate the need for the M20 from the FADAL for position confirmation The REMOTE cable is not even connected between the FADAL and the SUDX controller Commanded position and the verification of position is all accomplished via the RS232 cable The theory for this is as follows Please refer to N5 of the MACRO program First the ASCII data is output from the FADAL control to the SUDX controller commanding the rotary table to move to position Once the move is complete refer to N7 of the MACRO program a Y send current position is sent in ASCII to the SUDX controller Position i e 90 000 for 90 degrees is sent from the SUDX controller to the FADAL control Once the FADAL sees this data to a variable refer to N13 and 14 of the MACRO program the VMC proceeds to the next block in the main machine program If the position data sent is not correct i e 85 000 for 85 degrees when the actual position should be 90 degrees then the FADAL will go to ERROR see N15 of the MACRO program This entire sequence is all placed into a MACRO program which is CALLED in the main program see N3 of the TEST program The actual data that the customer would need to input into the FADAL main program is quite simple see N4 amp N11 of the TEST program These simple commands are all
75. the current program End Displays the last page 23 lines of the current program Alt Inserts a blank line at the current cursor position All subsequent lines are moved down Alt D Deletes the line at the current cursor position All subsequent lines are moved up 49 Alt C Clears the current buffer and filename Ins Toggles between the INSERT ON and INSERT OFF modes of the editor Insert Off allows you to type over previously entered text while Insert Off will move any previously entered text to the right of the cursor Note Each line is limited to fifty two characters and the editor is limited to 65000 characters The editor will signal you when the last line is reached In addition the following function keys may be used lt F1 gt UPLOAD I VARIABLES This key uploads the current I Variables into the displayed buffer file shown at the bottom of the screen lt F2 gt FILE UTILITIES This key allows you to load save insert or delete a program on the current disk In addition you may print the file currently in the editor or a file saved on a diskette You will be presented with the following selection menu in the left window lt i gt Load File lt 4 gt Delete File lt 2 gt Save File lt 5 gt Print Current File lt 3 gt Insert File lt 6 gt Print Disk File lt 9 gt DOS Commands lt ESC gt EXIT Enter the number of your selection at the prompt The selections perform the fo
76. through L9 When a G17 or M30 is encountered the program is terminated and the program pointer is returned to the beginning of the subprogram G30 jumps to subroutine LO G31 jumps to L1 etc In addition both G30 and G80 commands can be made conditional by using the conditional command Refer to command description for details The form of the conditional Jump and Call are respectively GJO A B and G80 A B Where A is an address or port 0 to 65535 and B is a bit 0 to 7 These commands allow the Jump or Call to be made based on the condition of an input at the specified address G70 G71 Start and End Loop G70XNNNNN 5 digits 0 to 65535 0 infinite 11 All blocks between G70 and G71 commands are executed as many times as specified in G70 command EXAMPLE a AOE G70X15 F1000 G91B180 G71 M30 Unit will incrementally move 180 degrees 15 times EXAMPLE b AOE G70X0 F1000 G91B90 G71 M30 Unit will move in increments of 90 degrees without an additional start signal at the end for the M30 command Note A looping command may not be used inside a loop The first loop will reject the statement of secondary loop command See LO to L9 for rules governing loops and subroutines G72 Automatic Divide G72XNNNNN 5 digits 2 to 65535 This command will instruct the unit to divide the next movement command into the number of equal divisions you require The division takes care of residual encoder counts and ins
77. ty feed forward gain Note Should match i14 i18 Automatic bias generator mode control Factory setting do not change i19 Pulse generator handwheel scale factor 5 digits Factory set Controls the multiplication factor applied to the handwheel input Note The handwheel model LPG 200 will automatically adjust the scale factor i20 Linear Circular position range Factory set for unit gear ratio Gear Ratio Encoder 60 1 240000 72 1 288000 90 1 360000 180 1 720000 i21 Torque limit control Factory set do not change i22 MDI mode control One digit 0 is for standard operating mode and 1 places the control card in a manual data input mode where it is capable of executing all buffer commands directly and immediately upon reception The MDI mode can be invoked at any time and does not place any data into the buffer This is considered an on line command feature To enter MDI mode type i221 CR the control is now ready to accept any move G amp M commands are executed upon reception of the CR command Make certain that the feedrate is not zero by typing an F1000 This mode can be used by a host computer at any time without using the buffer To exit MDI mode use the S step or the R run command or type i220 CR This function is also used to Allow a remote step via RS232 terminal see this for more details i23 Automatic step delay amp step to block number First value the d
78. ures that no cumulative error occurs during incrementation and that the last movement will execute correctly EXAMPLE AOE F1000 G72X10 G91B360 M30 This program would evenly divide 360 degrees 10 times producing individual movements of 36 degrees In this case one additional start command will be required at the end of the M30 To eliminate the need for an extra start command write in an infinite loop EXAMPLE AOE G70X0 F1000 G72X10 G91B360 G17 M30 G80 through G89 Call Subroutines Will execute up to 10 possible subroutines as defined by LO through L9 see L command When encountered the program pointer will jump to specified sub routine and then returns to the normal program flow when a G17 is executed G90 Selects Absolute Data Positioning Default Setting This command is seen as a default if G91 incremental is not initiated An absolute movement that is relative to zero EXAMPLE AOE F1000 B180 B270 M30 Move the rotary table first to 180 degrees then to 270 degrees all referenced from zero G91 Selects Incremental Data Positioning An incremental move is one that is relative to the current position not the zero location EXAMPLE AOE F1000 G91B90 B180 M30 First we would move 90 degrees then an additional 180 degrees from the 90 degree position a total 270 degrees Note G90 and G91 are modal commands will remain in effect until changed G92 Circular Interpolation For linear applications When used
79. ve and 1 is positive direction i03 Set Home Offset Factory Set 3000 During the homing operation immediately after the encoder C channel is detected this parameter will cause the axis to make a move by the specified amount and direction The final position will be interpreted as the axis zero position For homing instructions please see G28 and M Z instructions i04 Set Home Feedrate Three digits where NNN is 0 to 999 and represents the of maximum feedrate of i06 the axis will be moving during the homing operation An i04 value of 500 would be 50 such as a value of 250 would be 25 of the maximum value set in i06 i05 Set Backlash Compensation Five digits based on encoder lines and specifies the direction in which and the number of encoder lines the axis will overshoot the desired position and return Approaching position always from the same direction eliminates the effects mechanical looseness on positioning accuracy A number causes the axis to overshoot position and return when the axis motion is in the direction A number will cause the axis to overshoot when the axis is in the direction The sign of the backlash number indicates the direction in which backlash take up will occur An i05 value of 1600 72 1 G R would overshoot by one degree then return i06 Feedrate Set The maximum setting is 100 000 60 1 72 1 amp 90 1 90 000 on 180
80. verride at 90 your feed would be 90 of the maximum feed capabilities If you set the F value at 500 and the feedrate switch at 50 your resulting feed would be half of the maximum halved again 25 This control offers tremendous flexibility specially in the feed department permitting extemely slow speeds up to fast rapids even continuous movements at rapid speeds if you like There are two formulas for calculating the feedrate One is easy and reasonably accurate the other is more difficult but extemely precise 1 Easy Formula RPMs X Multiplying Factor MF i06 setting For 60 1 gear ratio 130 MF 2000 For 72 1 gear ratio 5C 5CA 132 140 170 MF 2400 For 90 1 gear ratio 220 MF 3000 For 180 1 gear ratio 280 320 400 MF 6000 EXAMPLES Assume an F value of 1000 GEAR REQUIRED MULTIPLYING SET 106 RATIO RPM S FACTOR PARAMETER TO 72 5 2400 12000 72 26 2400 62400 72 33 2400 79200 72 62 2400 148000 90 2 3000 6000 90 18 3000 53999 90 25 3000 75000 90 30 3000 90000 180 2 6000 12000 180 7 6000 42000 180 10 6000 60000 180 15 6000 90000 24 EXACT Formula Number of encoder lines times the encoder multiplier divided by the encoder counts per second divided into 60 Motor RPM divided by the gear ratio table RPM EXAMPLE 1 For 5C 132 140 170 Assumes an F value of 1000 2000 X 2 4000 divided by 300 000 01333 divided into 60 4500RPM motor max divided by 72 62 5 RPM ta
81. with an X 58H presets present position registers to values selected in this block G92X NNNNNNN 0 to 8888607 encoder lines G92X1000 sets current position 10000 Encoder Counts G92X0 sets current position 0 zero set 12 When used with an R 52H sets the circular interpolation radius GQ2RNNNNNN Where NNNNN is 0 to 262139 encoder lines When used with a C 43H sets the starting angle at which circular interpolation will be made G92CNNNNN Where NNNNN is 0 to 360000 in increments of 001 degrees G93 Command This buffer command executes moves relative to initial O or home position regardless of whether G92 or Z zero set was executed The format is G93 NNNNNNN where N is 0 to 8388607 This function permits the user to command the servo to go to a position relative to zero power turn on position or home position after h or G28 rather than a position relative to Z or G92 EXAMPLE After power turn on position is Zero If a move is executed to position 2000 then a Z command is sent position will be set to zero again Now if a G93 is commanded the servo will go to position 1500 which is displayed relative to where the Z was issued but 500 counts from where power was turned on If the displayed position needs to match the actual position relative to zero then send a G93500 followed by a G92500 This command is useful for tool changing applicatio
82. wnloads the current buffer file to the UDNC controller Before downloading you will be asked if you want the program buffer cleared before download This is necessary if your file has motion program data and no z or E clear the buffer command After the download you will be returned to Terminal Mode Note The editor s buffer is not erased you may access it again by pressing lt F10 gt If there are any errors hitting any key will return you to the file edit buffer 51 7 Parameters List for the SUDX Series Indexers SUDX 130 SUDX 5C A SUDX 132 140 170 SUDX 220 SUDX 280 320 400 60 1 Gear Ratio 72 1 Gear Ratio 72 1 Gear Ratio 90 1 Gear Ratio 180 1 Gear Ratio 100 250 100 250 100 250 100 250 100 250 i01 2 i101 2 i01 2 i01 2 i01 2 102 0 102 0 102 0 102 0 102 0 103 3000 103 3000 103 3000 103 3000 103 3000 104 250 104 250 104 250 104 250 104 250 105 1600 105 1600 105 1600 105 1600 105 1600 106 100000 106 100000 106 100000 106 100000 106 80000 i107 30 107 35 107 40 107 45 107 50 108 800 108 800 108 800 108 1000 108 1200 109 1500 109 1500 109 1500 109 1500 109 1500 i10 1 i10 1 i10 1 i10 1 i10 1 ill 1 ill 1 ill 1 ill 1 ill 1 i12 0 i12 0 i12 0 i12 0 i12 0 i13 90 i113 90 i13 90 i113 90 i113 90 i14 20 i14 20 i14 20 i14 20 i14 20 il5 0 i15 0 i15 0 i15 0 i15 0 i116 0 i16 0 i16 0 i16 0 i16 0 il7 20 i17 20 i17 20 i17 20 i17 20 i18 12 i18 12 i18 12 i18 12 i18 12 i19 1024 i19 1024 i19 1024 i19 1024 i19 1024 i20
83. you know the specific dip switch changes for the baud rate you desire If 9600 is OK then no change is needed at the SUDX controller side Getting the Fadal Control ready The following is a series of steps in order to prepare the FADAL control to communicate with the SUDX controller Be advised that some of the parameter settings may change depending on the particular control Confirm parameter settings for your individual control Using the baud rate parameter set the Fadal control to communicate at 9600BPS Using an RS232 cable connect the Fadal control to the SUDX controller using the DB25 serial connector on both For the pin configuration see below 40 You are now ready to write a TEST program on the FADAL control PROGRAM program WAIT SPRINT AOEF1000G91B90M30 M20 example of machine M Code Once you execute this program the rotary table should move incrementally 90 degrees Essentially what is happening here is that the RS232 port on the FADAL control is being opened for communication then the control is being told to send the characters inside the double quotes out through the port SPRINT in ASCII format Once the SUDX controller receives this data the CNC machine M Code will automatically execute a move Then the RS232 port on the FADAL is closed and the control will automatically continue to the next line Explanation for FADAL Addendum The attached sheets explain a new method of commanding

SUDX Programable Indexer - i

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