User Manual Position Controller

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User Manual

Position Controller

T T H H E E S S I I 3 3 2 2 0 0

www.givimisure.it

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MT02_A41_A_TH320_GIVI_ENG rev. E Pag. 2/60

OPERATING INSTRUCTIONS

CONFIGURATION PARAMETERS p. 12

SETTING MACHINING PROGRAMS p. 40

MANUAL OPERATION p. 45

SEMI-AUTOMATIC OPERATION p. 46

AUTOMATIC OPERATION p. 49

INPUTS p. 51

OUTPUTS p. 52

ADDITIONAL INFORMATION

CONFIGURATION PARAMETERS: MEMO p. 54

TECHNICAL CHARACTERISTICS p. 55

WARRANTY TERMS p. 56

NOTES p. 57

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GIVI MISURE would like to thank you for purchasing the programmable position controller

MICROCOMPUTER

and confirms the excellent choice made.

Thanks to a powerful microcontroller, the instrument is completely programmable by keyboard.

PRELIMINARY REMARKS

Disposal of waste electrical and electronic equipment (WEEE) European Council Directive 2002/96/EC

The use of the WEEE symbol indicates that this product may not be treated as household waste. If this product is disposed correctly, you will help to protect the environment. For more detailed information about the recycling of this product, please contact your local authority, your household waste disposal service provider or the retailer where you purchased the product.

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W A R N I N G !

It is forbidden to switch on the instrument unless the machine on which it is installed conforms to 2006/42/EC Directive.

All of the equipments connected to the instrument must have insulation characteristics in compliance with the regulations in force.

The instrument can be installed only by specialized personnel, following the instructions provided by the Manufacturer.

It is strictly forbidden to intervene on the instrument while it is powered.

POWER SUPPLY From 90 Vac to 230 Vac ± 10% - 50/60 Hz or, alternatively, 24 Vac ± 10% - 50/60 Hz (by means of selector). We recommend the

use of a mains power supply provided with an input filter. The power distribution network to which the instrument is connected must be equipped with a sectioning device in compliance with the regulations in force, positioned closed to the instrument.

GROUNDING The instrument is connected to the ground through the power supply terminal block. To avoid discharges, we recommend the use of a socket with a grounding connection. In case of inadequate grounding connections, all the accessible parts, including those apparently protected, may generate electrical discharges.

FUSES Unplug or completely disconnect the power supply before changing the fuses connected to the terminal block in the rear panel. Use only delay fuses ø5x20 mm 500 mA 250 V.

PREVENTION To avoid fires or explosions, this instrument should not be used in the presence of inflammable gases, solvents, explosives, etc.

REAR PANEL It can be removed only by specialized personnel, after disconnecting the power supply.

INSTALLATION The measuring systems (optical scale, rotary encoder, etc.) must be installed following the instructions provided by the Manufacturer. Start connecting the inputs and outputs. At the end, proceed with the power supply connection.

CATEGORY Installation category II as per Standard EN 61010-1.

INSTALLATION

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CLEANING The front panel can be cleaned only after disconnecting power supply, using a moist cloth. The instrument is not protected against liquid penetration.

DO NOT USE SOLVENTS.

MAINTENANCE Not required.

DIMENSIONAL SPECIFICATIONS

DRILLING TEMPLATE: 186 x 92 mm

193 15,5 120

9,3

100

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LEGEND:

= Ground connection

V

~

= Power supply from 90 Vac to 230 Vac ± 10% - 50/60 Hz (or 24 Vac ± 10% - 50/60 Hz)

MACHINE INPUT

START = START input STOP = STOP input

INC.CYCLE = INCREASE CYCLE input AUX 1 = AUXILIARY input 1 AUX 2 = AUXILIARY input 2 AUX 3 = AUXILIARY input 3

COM + = Positive inputs common (12 Vdc) X / Y INPUT

V – = Encoder power supply output (0 V)

V + = Encoder power supply output (5 V or 12 V)

A = ENCODER channel A input

B = ENCODER channel B input

Z = ENCODER channel Z input (zero reference) PRESET = Position PRESET input

DEV = DEVIATION input

AUX = AUXILIARY input

COM + = Positive inputs common (12 Vdc)

REAR PANEL - CONNECTIONS

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MACHINE OUTPUT

M-S / A = MANUAL-SEMI-AUTOMATIC / AUTOMATIC contact OK.POS = OK POSITION contact

END PROG = END PROGRAM contact

AUX = AUXILIARY contact

X / Y OUTPUT

EN.MOV. = MOVEMENT ENABLE contact

SLOW / AV = SLOW (DI) contact or ± 10 V analog output (AN) COM FS / A0 = FAST/SLOW contacts common (DI)

or 0 V analog output (AN) FAST = FAST contact

FEED = FEED contact

COM FB = FEED/BACK contacts common BACK = BACK contact

AUX = AUXILIARY contact

W A R N I N G

!

Check the correct position of the power supply selector before powering the instrument.

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MT02_A41_A_TH320_GIVI_ENG rev. E Pag. 8/60 N.O. RELAY CONTACTS240 VacMAX - 1 AMAX - 120 VAMAX 60 VdcMAX-2 AMAX - 60 WMAX

CONNECTIONS

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The following keys and symbols are used in this manual, with the following meaning:

…. NUMERICAL KEYS FOR DIGIT ENTRY

KEYS USED ALSO FOR SLOW FEED / BACK MOVEMENTS IN MANUAL OPERATION

KEYS USED ALSO FOR FAST FEED / BACK MOVEMENTS IN MANUAL OPERATION

KEY USED TO SAVE MACHINING PROGRAMS

KEY USED TO ENABLE AUTOMATIC OPERATION

KEY USED TO STOP AXIS MOVEMENT

KEY USED TO SELECT THE OPTIONS DISPLAYED

ALSO USED TO SELECT THE ALGEBRAIC SIGN AND TO ENABLE DEVIATION

ENTER KEY, USED TO CONFIRM DATA

KEY USED TO ENABLE SEMI-AUTOMATIC OPERATION

KEY USED TO START AXIS MOVEMENT

DELETE KEY

PARAMETERS CONFIGURATION KEY

FUNCTION KEY

KEY – MESSAGES AND SIGNALING

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KEY USED TO SELECT X AXIS

KEY USED TO SELECT Y AXIS

*

FLASHING VALUE

y

STEADY VALUE

The instrument provides a series of visual signals to support the user during configuration and use.

Wrong operations are signaled with the following message:

E r r o r

that temporarily appears on the display to inform the operator that the entered key is not compatible with the current operation.

In case of “overflow” error, i.e. the number of digits displayed is greater than the instrument counting capacity, the error is shown on the display as:

_ _ _ _ _ _

To exit this situation, enter a compatible position in the “Position Preset” parameter.

In certain situations, the error message will be accompanied by a number, indicating the cause of the error. For example:

E r r 20

The list of possible errors is provided in the table below:

Error Number Description

20 Function not present 21 Axis in motion 22 Program unavailable 23 Out of memory

24 Outside measuring length limits 25 Value not allowed

26 No axis selected

90 Internal malfunctioning (request Technical Assistance) E0 Configuration Error (request Technical Assistance)

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When the mains power supply is disconnected, the instrument can retain in its memory all the data and programs set.

When powered off, the instrument can also store the last axis counting position.

)

The instrument cannot consider shifts of the carriage made whenever the mains power supply is disconnected (due to inertia, manual manoeuvres, or thermal expansion). Whenever any of the above occurs, the positions shown in the display are unreliable; they do not represent the new position of the carriage but the one it had prior to power disconnection.

DATA AND PROGRAMS RETENTION

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OPERATING INSTRUCTIONS

Some internal parameters are used for the instrument configuration.

To recall configuration, it is necessary to press the CONFIGURATION key for 2 seconds, enter the password and confirm with the ENTER key.

The desired parameter is selected with the +/- key.

To modify a parameter, select the desired axis (or axes) and press the ENTER key.

)

Access to parameters is possible only after entering a 6-digit password, programmable by the user.

The default password set by the Manufacturer is “000000”.

)

FOR SAFETY REASONS, THE INSTRUMENT DOES NOT PROCESS ANY PRESSED KEY, UNLESS THE STOP INPUT IS CLOSED.

The parameters currently available are:

Parameter 01 – POSITION PRESET

Parameter 02 – INVERSION OF COUNTING DIRECTION Parameter 03 – ENCODER PULSE CORRECTION

Parameter 04 – COUNTING MODE (x1, x2, x4)

Parameter 05 – DECIMAL POINT POSITION (0, 1, 2, 3) Parameter 06 – AXIS RESOLUTION

Parameter 07 – SETTING OF MINIMUM MEASURING LENGTH LIMIT Parameter 08 – SETTING OF MAXIMUM MEASURING LENGTH LIMIT Parameter 09 – SETTING OF PRESET POSITION

Parameter 10 – SETTING OF MECHANICAL BACKLASH RECOVERY VALUE Parameter 11 – SETTING OF SPEED CHANGE VALUE

Parameter 12 – SETTING OF NEGATIVE INERTIA VALUE Parameter 13 – SETTING OF POSITIVE INERTIA VALUE

Parameter 14 – SETTING OF POSITIONING TOLERANCE VALUE Parameter 15 – SETTING OF DEVIATION VALUE

Parameter 16 – SETTING OF WAITING TIME FOR DEVIATION

Parameter 17 – SETTING OF WAITING TIME FOR CHECKING POSITIONING Parameter 18 – SELECTING “POSITION IF WITHIN TOLERANCE” OPTION Parameter 19 – SELECTING “SPEED CHANGE WITHOUT STOPPING” OPTION Parameter 20 – SELECTING “AUTOMATIC INERTIA CALCULATION” OPTION Parameter 21 – SELECTING “REQUESTED POSITIONING DISPLAY” OPTION Parameter 22 – SETTING OF SLOW MOVEMENT ± 10 V OUTPUT PERCENTAGE

CONFIGURATION PARAMETERS

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Parameter 23 – SETTING OF FAST MOVEMENT ± 10 V OUTPUT PERCENTAGE Parameter 24 – MM/INCH CONVERSION

Parameter 25 – SELECTING “POSITION WITH ACC./DEC. RAMPS” OPTION Parameter 26 – SETTING OF ACCELERATION TIME

Parameter 27 – SETTING OF DECELERATION TIME

Parameter 80 – PARAMETERS’ ACCESS PASSWORD MODIFICATION Parameter 89 – INSTRUMENT DIAGNOSTICS

Parameter 90 – RESERVED

Example of parameter selection and mofication

0 0 0 0 0 0 *

Press for 2 seconds. The display will

show

P --

0 0 0 0 0 0 *

Press if the current password is the one

set by the Manufacturer

P --

or enter the selected password (see parameter 80).

4 0.0

Confirm with key

the display will show the value of

the first parameter, e.g.

1 2 0.0 P 01 d i r -

Press to select the desired parameter,

e.g.

d i r - P 02

Note: in this phase, it is possible to use also keys 2 and 4 to select parameters more easily.

d i r -

Press

and/or

to select the axes to

be modified

d i r - P 02

Note: it is possible to press the ENTER key without selecting any axis. In this case, the instrument will consider both axes to be modified.

d i r - *

Press to confirm the selection and

enter its settings

d i r - P 02

Set the configuration parameter (X axis) following the instructions provided below in the manual.

d i r -

Press to confirm the value

d i r - P 02

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If previously selected, the instrument goes automatically to the parameter setting for the Y axis. Set the parameter configuration, following the instructions provided below in the manual.

d i r -

Press to confirm the value and go back

to parameters selection

d i r - P 02 1.0 0 0 0 0

Press to select another parameter, e.g.

1.0 0 0 0 0 P 03 4 0.0

Or press to quit configuration and go back

to the positions display

1 2 0.0

)

AT ANY TIME, IT IS POSSIBLE TO QUIT THE PARAMETERS SETTING, BY PRESSING THE STOP KEY.

(15)

All the settings for the configuration of the position controller are described below:

Parameter 01 – POSITION PRESET

The parameter is used to set the real positions of the axes.

Example of value setting X= 50.0 mm Y= 200.0 mm

4 0.0

Press to select the parameter

(see PARAM. SELECTION)

1 2 0.0 P 01 4 0.0

Press

and to select both axes

1 2 0.0 P 01 0 0 0 0 0.0 *

enter the X axis setting

1 2 0.0 P 01

Enter the desired value and align it to the decimal point displayed.

5 0.0

Press to confirm the value and

enter the Y axis setting

0 0 0 0 0.0 * P 01

5 0.0

2 0 0.0 P 01 5 0.0

Press to quit configuration and go back

2 0 0.0

Parameter 02 – INVERSION OF COUNTING DIRECTION

With this parameter it is possible to invert the counting direction of the axis.

Example: inverting counting direction on Y axis

d i r -

d i r - P 02 d i r -

Press to select the axis

d i r - P 02

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d i r -

enter its settings

d i r - * P 02 d i r -

Press to invert the counting direction

- d i r * P 02 d i r -

Press to confirm and go back to

parameters selection

- d i r P 02 5 0.0

2 0 0.0

Parameter 03 – ENCODER PULSE CORRECTION

The correction factor CF is entered by the operator to adapt the machine linear shifting to the number of encoder pulses (PPR).

For instance, in a machine with linear shifting correlated to the screw pitch, the correction factor CF is calculated by the operator according to the formula:

SCREW PITCH (mm) CF = ---

(RES * PPR * CNT)

Where: RES = axis resolution (see parameter 06) PPR = encoder pulses per revolution CNT = counting mode (see parameter 04)

Suppose we have a 100 PPR encoder, a 0.01 mm resolution and a x4 counting mode.

Example A with 4 mm screw pitch, example B with 5 mm screw pitch:

in case A: CF = 4 / (0.01 * 100 * 4) = 1.00000 in case B: CF = 5 / (0.01 * 100 * 4) = 1.25000

To compensate shifting, a CF value has to be manually entered.

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Example: CF value setting = 1.25000 on X and Y axes

1.0 0 0 0 0

1.0 0 0 0 0 P 03 1.0 0 0 0 0

Press

1.0 0 0 0 0 P 03 0.0 0 0 0 0 *

1.0 0 0 0 0 P 03

1.2 5 0 0 0

0.0 0 0 0 0 * P 03

1.2 5 0 0 0

1.2 5 0 0 0 P 03 5 0.0

2 0 0.0

Parameter 04 – COUNTING MODE (x1, x2, x4)

This parameter allows to select the counting mode of the A and B channels of the encoder.

The counting mode can be direct, double or quadruple.

Note: the parameter setting will be applied on both axes.

Example: quadruple value setting

C n t n 1

P 04

C n t n 1 *

enter its settings

P 04

C n t n 4 *

Press to select the counting mode

P 04

(18)

C n t n 4

P 04

5 0.0

2 0 0.0

Parameter 05 – DECIMAL POINT POSITION (0, 1, 2, 3)

With this parameter, it is possible to select the number of decimals that will be shown on the axis display. Decimals can be 0, 1, 2 or 3.

Example: selecting 1 decimal on X and Y axes

0.0 0

0.0 0 P 05 0.0 0

Press

0.0 0 P 05 0.0 0 *

0.0 0 P 05 0.0 *

Press to select the desired number of

decimals

0.0 0 P 05

0.0 0.0 0 * P 05 0.0

Press to select the desired number of

decimals

0.0 * P 05

0.0 0.0 P 05 5 0.0

2 0 0.0

(19)

Parameter 06 – AXIS RESOLUTION

This parameter allows to select the axis resolution, based on the number of pulses of the encoder (PPR).

The resolutions that can be set are: 200 – 100 – 50 – 20 – 10 – 5 – 2 – 1 µm or: 0.01 – 0.005 – 0.002 – 0.001 – 0.0005 – 0.0002 – 0.0001 – 0.00005 inch Example: selecting 10 µm on X and Y axes

0.1 0.1 P 06 0.1

Press

0.1 P 06 0.1 *

0.1 P 06 0.0 1 *

Press to select the desired encoder

resolution

0.1 P 06

0.0 1

0.1 * P 06 0.0 1

Press to select the desired encoder

resolution

0.0 1 * P 06

0.0 1

0.0 1 P 06 5 0.0

2 0 0.0

Parameter 07 – SETTING OF MINIMUM MEASURING LENGTH LIMIT

With this parameter, it is possible to set the positions of the minimum measuring length limits, beyond which the machine will not execute movements.

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Example of value setting X axis = 0.0 mm Y axis = -50.0 mm

0.0 0.0 P 07 0.0

Press

0.0 P 07 0 0 0 0 0.0 *

0.0 P 07

0.0 0 0 0 0 0.0 * P 07 0.0

Press to set a value with negative sign

- 0 0 0 0 0.0 * ^{P 07}

0.0 - 5 0.0 P 07 5 0.0

2 0 0.0

Parameter 08 – SETTING OF MAXIMUM MEASURING LENGTH LIMIT

With this parameter, it is possible to set the positions of the maximum measuring length limits, beyond which the machine will not execute movements.

Example of value setting X axis = 300.0 mm Y axis = 2500.0 mm

0.0 0.0 P 08 0.0

Press

0.0 P 08

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0 0 0 0 0.0 *

0.0 P 08

3 0 0.0

0 0 0 0 0.0 * P 08

3 0 0.0

2 5 0 0.0 P 08 5 0.0

2 0 0.0

Parameter 09 – SETTING OF PRESET POSITION

The preset position is the value that is preset in the axis position, when the corresponding input is enabled.

0.0 0.0 P 09 0.0

Press

0.0 P 09 0 0 0 0 0.0 *

0.0 P 09

4.0 0 0 0 0 0.0 * P 09

(22)

4.0 1 5.0 P 09 5 0.0

2 0 0.0

Parameter 10 – SETTING OF MECHANICAL BACKLASH RECOVERY VALUE

If positive, the value of mechanical backlash recovery is executed in positive direction; if negative, it is executed in negative direction. Whenever backlash recovery is not required, enter a value of 0.

0.0 0.0 P 10 0.0

Press

0.0 P 10 0 0 0 0 0.0 *

0.0 P 10

0.0 0 0 0 0 0.0 * P 10

0.0 5.0 P 10 5 0.0

2 0 0.0

(23)

Parameter 11 – SETTING OF SPEED CHANGE VALUE

The speed change value is used to switch from fast to slow movement, during positioning.

If speed change is not required, enter a value of 0. In this case, positioning will be made only at slow speed.

)

For a correct positioning, set a speed change value higher than the system inertia at high speed.

0.0 0.0 P 11 0.0

Press

0.0 P 11 0 0 0 0 0.0 *

0.0 P 11

1 0.0

0 0 0 0 0.0 * P 11

1 0.0

1 0.0 P 11 5 0.0

2 0 0.0

Parameter 12 – SETTING OF NEGATIVE INERTIA VALUE

The negative inertia value is the value of the system inertia at low speed, in negative direction. If automatic inertia calculation is enabled (see parameter 20), the value is updated automatically.

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0.0 0.0 P 12 0.0

Press

0.0 P 12 0 0 0 0 0.0 *

0.0 P 12

0.8 0 0 0 0 0.0 * P 12

0.8 1.0 P 12 5 0.0

2 0 0.0

Parameter 13 – SETTING OF POSITIVE INERTIA VALUE

The positive inertia value is the value of the system inertia at low speed, in positive direction. If automatic inertia calculation is enabled (see parameter 20), the value is updated automatically.

0.0 0.0 P 13 0.0

Press

0.0 P 13 0 0 0 0 0.0 *

0.0 P 13

(25)

0.3 0 0 0 0 0.0 * P 13

0.3 0.4 P 13 5 0.0

2 0 0.0

Parameter 14 – SETTING OF POSITIONING TOLERANCE VALUE

With this parameter it is possible to set the tolerance value within which positioning is accepted.

0.0 0.0 P 14 0.0

Press

0.0 P 14 0 0 0 0 0.0 *

0.0 P 14

0.1 0 0 0 0 0.0 * P 14

0.1 0.1 P 14

(26)

5 0.0

2 0 0.0

Parameter 15 – SETTING OF DEVIATION VALUE

With this parameter, it is possible to set the position deviation value to be applied at the closure of the related input.

0.0 0.0 P 15 0.0

Press

0.0 P 15 0 0 0 0 0.0 *

0.0 P 15

3.0 0 0 0 0 0.0 * P 15

3.0 5.5 P 15 5 0.0

2 0 0.0

Parameter 16 – SETTING OF WAITING TIME FOR DEVIATION

With this parameter, it is possible to set the waiting time after the closure of the input, before deviation begins. The value is expressed in seconds.

Example of value setting X axis = 0.60 seconds Y axis = 0.60 seconds

0.0 0

0.0 0 P 16

(27)

0.0 0

Press

0.0 0 P 16 0 0 0 0.0 0 *

0.0 0 P 16

0.6 0

0 0 0 0.0 0 * P 16

0.6 0

0.6 0 P 16 5 0.0

2 0 0.0

Parameter 17 – SETTING OF WAITING TIME FOR CHECKING POSITIONING

With this parameter, it is possible to set the waiting time between a shift and the correct positioning check. The value is expressed in seconds.

0.0 0

0.0 0 P 17 0.0 0

Press

0.0 0 P 17 0 0 0 0.0 0 *

0.0 0 P 17

0.3 0

0 0 0 0.0 0 * P 17

(28)

0.3 0

0.5 0 P 17 5 0.0

2 0 0.0

Parameter 18 – SELECTING “POSITION IF WITHIN TOLERANCE” OPTION

This parameter allows to enable/disable the possibility of positioning again, even when the current position is within the tolerance range.

Example of selection: enabling

n o

P 18

n o *

enter its settings

P 18

y E S *

Press to choose the desired selection

P 18 y E S

P 18

5 0.0

2 0 0.0

Parameter 19 – SELECTING “SPEED CHANGE WITHOUT STOPPING” OPTION

This parameter allows to enable/disable the possibility of changing the speed from fast to slow without stopping the axis movement.

n o

P 19

(29)

n o *

enter its settings

P 19

y E S *

P 19

y E S

P 19

5 0.0

2 0 0.0

Parameter 20 – SELECTING “AUTOMATIC INERTIA CALCULATION” OPTION

This parameter allows to enable/disable the possibility of automatically calculating the system inertia at low speed, during positioning.

n o

P 20

n o *

enter its settings

P 20

y E S *

P 20 y E S

P 20

5 0.0

2 0 0.0

(30)

Parameter 21 – SELECTING “REQUESTED POSITIONING DISPLAY” OPTION

This parameter allows to enable/disable the displaying of the required position instead of the real position, at the end of a positioning within the tolerance range.

Example of selection: disabling

y E S

P 21

y E S *

enter its settings

P 21

n o *

P 21 n o

P 21

5 0.0

2 0 0.0

Parameter 22 – SETTING OF SLOW MOVEMENT ± 10 V OUTPUT PERCENTAGE With this parameter it is possible to set the percentage value to be applied on the ± 10 V output (optional) for the axis movement at low speed. The value is applied both in positive and negative direction.

Example of value setting X axis = 30% Y axis = 30%

5 0

5 0 P 22 5 0

Press

5 0 P 22 0 0 0 0 0 0 *

5 0 P 22

(31)

Enter the desired percentage value.

3 0

0 0 0 0 0 0 * P 22

3 0

3 0 P 22 5 0.0

2 0 0.0

Parameter 23 – SETTING OF FAST MOVEMENT ± 10 V OUTPUT PERCENTAGE

With this parameter it is possible to set the percentage value to be applied on the ± 10 V output (optional) for the axis movement at high speed. The value is applied both in positive and negative direction.

Example of value setting X axis = 100% Y axis = 100%

5 0

5 0 P 23 5 0

Press

5 0 P 23 0 0 0 0 0 0 *

5 0 P 23

1 0 0

0 0 0 0 0 0 * P 23

1 0 0

1 0 0 P 23

(32)

5 0.0

2 0 0.0

Parameter 24 – MM/INCH CONVERSION

With this parameter, it is possible to select the unit of measurement (mm or inches) with which the axes positions are displayed.

Example of inch setting

M i L L

P 24

M i L L *

enter its settings

P 24

I n c h *

P 24

I n c h

P 24

2.0

7.9

Parameter 25 – SELECTING “POSITION WITH ACC./DEC. RAMPS” OPTION

This parameter allows to enable/disable the possibility of positioning the axes (option:

instrument with ± 10 V analog output), using acceleration and deceleration ramps.

n o

P 25

n o *

enter its settings

P 25

(33)

y E S *

P 25 y E S

P 25

5 0.0

2 0 0.0

Note:

for a proper use of ramps, it is necessary to correctly set the following parameters:

P11 = speed change value.

This has to be adequately set to allow the complete execution of the deceleration ramp, based on the time set.

If the space set to change speed is too short, the deceleration ramp is interrupted and positioning occurs abruptly. If it is too long, positioning occurs smoothly, but much more slowly.

P19 = “speed change without stopping” option.

This has to be set on “Yes”, to allow the gradual switching from high speed to low speed, following the deceleration ramp.

P26 = acceleration time.

This determines the time necessary for the axis to pass from 0 speed to high speed.

P27 = deceleration time.

This determines the time necessary for the axis to pass from high speed to low speed. This has to be adequately set to allow the complete execution of the deceleration ramp, based on the space set to change speed.

The acceleration and deceleration ramps (see parameters 26 and 27) are depicted in the figure below:

t.acc t.dec

V

mm slow

fast

ok pos

speed change

(34)

Note:

setting at 0 the value of the time of parameter 27, it is possible to operate with a deceleration based only on the space available for changing speed.

In the figure below, it is possible to find a representation of the acceleration ramp and a deceleration in the space for changing speed:

Parameter 26 – SETTING OF ACCELERATION TIME

With this parameter it is possible to set the duration of the acceleration ramp, used to move the axis. The value is expressed in seconds.

The acceleration ramp starts from the output voltage value of 0 V, up to the voltage value corresponding to the axis movement at high speed (see parameter 23).

0.0 0

0.0 0 P 26 0.0 0

Press

0.0 0 P 26 0 0 0 0.0 0 *

0.0 0 P 26

0.6 0

0 0 0 0.0 0 * P 26

t.acc

mm slow

fast

ok pos

speed change

(35)

0.6 0

0.6 0 P 26 5 0.0

2 0 0.0

Parameter 27 – SETTING OF DECELERATION TIME

With this parameter it is possible to set the duration of the deceleration ramp, used to move the axis. The value is expressed in seconds.

The deceleration ramp starts from the output voltage value corresponding to the axis movement at high speed, up to the voltage value corresponding to the axis movement at low speed (see parameter 22). The final positioning will be executed at low speed.

0.0 0

0.0 0 P 27 0.0 0

Press

0.0 0 P 27 0 0 0 0.0 0 *

0.0 0 P 27

0.7 0

0 0 0 0.0 0 * P 27

0.7 0

0.7 0 P 27 5 0.0

2 0 0.0

(36)

Parameter 80 – PARAMETERS’ ACCESS PASSWORD MODIFICATION The default password set by the Manufacturer is “000000”.

The password can be modified, to make parameters’ configuration accessible only to authorized personnel.

Example of setting

0 0 0 0 0 0

P 80

0 0 0 0 0 0 *

enter its settings

P 80

Enter the current password.

S E t

Press after having entered the value.

The following message will be

displayed for 1 second.

P 80

Enter the new password to be used.

0 0 0 0 0 0

P 80

5 0.0

2 0 0.0

Parameter 89 – INSTRUMENT DIGNOSTICS

With this parameter, it is possible to perform some tests to verify the correct functioning of:

encoder, keyboard, axis display, led, inputs and outputs.

Example of instrument diagnostics

_ _ _ _ _ _

_ _ _ _ _ _ P 89

1) Encoder test

This test allows to check the reading of the encoder pulses.

1 2 3.4

1 2 3.4 P 89

(37)

2) Keyboard test

C o d E

Press the code of the pressed key will

be displayed

0 0 0 P 89

Press all the keys. To each key will correspond a code, as shown in the table below:

Key Code Key Code Key Code Key Code

1 001 4 301 P 601 conf 204

6 002 9 302 enter stop

2 101 5 401 semiaut. 701 X 404

7 102 0 402 F 702 Y 504

3 201 clr 501 autom. 004

8 202 sel 502 start 104

Example:

C o d E

be displayed

1 0 1 P 89

C o d E

be displayed

4 0 2 P 89

C o d E

be displayed

0 0 4 P 89

3) Led and segments switching on test

- 8.8.8.8.8.8.

Press to switch on all the led and

display segments

- 8.8.8.8.8.8. ^8.8.8.8.

4) Axis display test

4 5 6 7 8 9.

Press the values “0123456789” will be shown in sequence on the

displays

0 1 2 3 4 5 P 89

(38)

5) Led test

-

Press the axis and keyboard led will be

switched on in sequence

P 89

6) Inputs and auxiliary outputs test

0 0 0 0 0 0

Press to see the status of the inputs

(1 = active)

0 0 0 0 0 0 P 89

according to the following tables:

X axis Y axis

A U X X

D E V X

P R E S E T X

I N C C Y C L E

S T A R T

S T O P

A U X Y

D E V Y

P R E S E T Y

A U X I N

3 A U X I N 2

A U X I N 1

0 0 0 0 0 0 0 0 0 0 0 0

0 0 0 1 0 0

Example:

INCREASE CYCLE input active

0 0 0 0 0 0 P 89

(39)

In this phase, it is possible to test also the auxiliary outputs (AUX, END PROG, OK POS, etc.). To check the ON/OFF status of the outputs, press the corresponding key:

Press to switch the AUX output (MACHINE OUTPUT)

Press to switch the END PROG output (MACHINE OUTPUT)

Press to switch the OK POS output (MACHINE OUTPUT)

Press to switch the M-S/A output (MACHINE OUTPUT)

Press to switch the AUX output (X OUTPUT)

Press to switch the AUX output (Y OUTPUT)

Note: to check the outputs used to move the axes (EN MOV, SLOW, FAST, FEED, BACK), it is necessary to be in MANUAL operation.

_ _ _ _ _ _

Press to quit testing and go back to

_ _ _ _ _ _ P 89 5 0.0

2 0 0.0

(40)

position controller can store up to 99 machining programs, containing up to 20 positions of the axes each. To each position it is possible to link up to 99 repetitions. Each position and the related repetitions form a program cycle that can be executed in the semi-automatic operation mode. The execution of more than one program cycles in sequence can occur in the automatic operation mode.

Each closure of the cycle input corresponds to a repetition. At the end of the repetitions counting, the positioning terminates in semi-automatic operation, or the instrument proceeds to the execution of the next cycle, if automatic operation has been selected.

Example, storing program 02 composed by the following cycles:

cycle 1; position X= 50.0 mm, Y= 100.0 mm; repetitions 10 cycle 2; position X= 250.0 mm, Y= 300.0 mm; repetitions 8 cycle 3; position X= 450.0 mm, Y= 500.0 mm; repetitions 15

5 0.0

Press to enter program setting

2 0 0.0 **^{01 01*}**

Note: the led of the P key is flashing to indicate that the instrument is in “program edit” mode.

The number of the first available program will start flashing (e.g. program 01).

Enter the number of the program to be set (e.g. program 02).

0 0 0 0 0.0 *

Press to confirm the selected program

and enter its settings

0.0 01 02

The keys

and

can be used to select or deselect the axes during programming

Note: the led of the related axis indicates the state of selection (led on = axis selected).

)

If an axis is not selected, its position will not be stored and no movements will be performed during program execution.

0 0 0 5 0.0 *

Enter the value of the X axis position, aligning it to the

decimal point displayed

0.0 ^{01 02} 0 0 0 5 0.0 *

It is possible to press

to clear a value entered by mistake, and enter the correct

value

0.0 ^{01 02}

SETTING MACHINING PROGRAMS

(41)

5 0.0

Press to confirm the value and go on

setting the Y axis

0 0 0 0 0.0 * ^{01 02} 5 0.0

Enter the value of the Y axis position, aligning it to the

0 0 1 0 0.0 * ^{01 02} 0 1 *

setting the repetitions

01 02

Enter the number of repetitions (10).

Note:

at this point, it is possible to program also the status (ON/OFF) that the axes AUX outputs will have to assume during the various cycles of the program. The ON/OFF status has to be programmed on both AUX outputs, regardless of the axes activation.

If required, follow the instructions below, otherwise go on setting the second cycle (see point 1).

Example: cycle 1, AUX X axis = ON AUX Y axis = OFF

o F F *

Press to go on setting the AUX output

status

o F F 01 02

o n *

Press to program the ON status of the

X axis output

o F F ^{01 02} o n

Press to confirm and proceed with the

Y axis programming

o F F * ^{01 02}

POINT (1)

0 0 0 0 0.0 *

Press to confirm and go on setting the

second cycle

0.0 02 02

0 0 2 5 0.0 *

0.0 ^{02 02} 2 5 0.0

setting the Y axis

0 0 0 0 0.0 * ^{02 02}

(42)

2 5 0.0

0 0 3 0 0.0 * ^{02 02} 0 1 *

02 02

0 0 0 0 0.0 *

third cycle

0.0 03 02

0 0 4 5 0.0 *

0.0 ^{03 02} 4 5 0.0

setting the Y axis

0 0 0 0 0.0 * ^{03 02} 4 5 0.0

0 0 5 0 0.0 * ^{03 02} 0 1 *

03 02

0 0 0 0 0.0 *

fourth cycle

0.0 04 02

5 0.0

Press to end programming and display

the program’s cycles

1 0 0.0 ^{01 02}

Note: the led of the P key is on to indicate that the instrument is in “program view” mode.

5 0.0

Or press to quit and go back to program

setting

2 0 0.0 **^{01 01*}**

(43)

The number of the first available program will flash (e.g. program 01).

5 0.0

Press to quit machining program

setting

2 0 0.0

Notes:

1) To cancel an entire machining program, go on the first cycle in “program view” mode and press the CLR key for 4 seconds.

2) To cancel a part of the machining program, select the number of the cycle with which you want to start and press the CLR key for 4 seconds. All the cycles up to the end of the program will be cancelled.

3) In order to run a program correctly, make sure to program consecutively its cycles.

Example: displaying program 02 already stored

5 0.0

Press to enter program setting

2 0 0.0 **^{01 01*}**

Note: the led of the P key is flashing to indicate that the instrument is in “program edit” mode.

The number of the first available program will start flashing (e.g. program 01).

Enter the number of the program to be displayed (e.g. program 02).

5 0.0

Press to confirm the selected program

and enter its settings

1 0 0.0 01 02

Note: the led of the P key is on to indicate that the instrument is in “program view” mode.

2 5 0.0

Press to display all the program cycles

(1-20) in sequence

3 0 0.0 ^{02 02} 1 5

Press to display the repetitions of a

cycle, e.g. cycle 3

03 02

o F F

Press to display the programmed

status of the AUX outputs

o F F 03 02

5 0.0

Press to go back to the program cycles

display

User Manual Position Controller

User Manual

Position Controller

T T H H E E S S I I 3 3 2 2 0 0

TABLE OF CONTENTS

OPERATING INSTRUCTIONS

ADDITIONAL INFORMATION

PRELIMINARY REMARKS

INSTALLATION

DIMENSIONAL SPECIFICATIONS

DRILLING TEMPLATE: 186 x 92 mm

~

REAR PANEL - CONNECTIONS

!

CONNECTIONS

KEY – MESSAGES AND SIGNALING

*

y

E r r o r

_ _ _ _ _ _

E r r 20

)

DATA AND PROGRAMS RETENTION

OPERATING INSTRUCTIONS

)

)

CONFIGURATION PARAMETERS

0 0 0 0 0 0 *

P --

0 0 0 0 0 0 *

P --

4 0.0

1 2 0.0 P 01 d i r -

d i r - P 02

d i r -

d i r - P 02

d i r - *

d i r - P 02

d i r -

d i r - P 02

d i r -

d i r - P 02 1.0 0 0 0 0

1.0 0 0 0 0 P 03 4 0.0

1 2 0.0

)

4 0.0

1 2 0.0 P 01 4 0.0

1 2 0.0 P 01 0 0 0 0 0.0 *

1 2 0.0 P 01

5 0.0

0 0 0 0 0.0 * P 01

5 0.0

2 0 0.0 P 01 5 0.0

2 0 0.0

d i r -

d i r - P 02 d i r -

d i r - P 02

d i r -

d i r - * P 02 d i r -

- d i r * P 02 d i r -

- d i r P 02 5 0.0

2 0 0.0

1.0 0 0 0 0

1.0 0 0 0 0 P 03 1.0 0 0 0 0

1.0 0 0 0 0 P 03 0.0 0 0 0 0 *

1.0 0 0 0 0 P 03

1.2 5 0 0 0

0.0 0 0 0 0 * P 03

1.2 5 0 0 0

1.2 5 0 0 0 P 03 5 0.0

2 0 0.0

C n t n 1

P 04

C n t n 1 *

P 04

C n t n 4 *

P 04

C n t n 4

P 04

5 0.0

- 0 0 0 0 0.0 * ^{P 07}