The document below was downloaded several years ago from the now defunct website www.machinetoolinfo.com.
This post is not Tree specific.
There are a few items that I will add
1. Power supplies are the major point of failure. You must check the voltages and ripple. Ripple should be measured in the AC range with either a true RMS meter or an oscilloscope. The switch frequency on a switching power supply can be in the 100Khz range, if a bad cap is present your meter may not be able to detect it. I will add, if the meter will not settle on a value there is significant ripple. The only way you can produce tangible results is with an oscilloscope.
Dynapath specifies maximum no load ripple at 30mv. I had to recap my J325 PS when it was in the 100's of mv ripple.
2. The Tach ohms setting never needs adjustment. If however you believe it has been changed you can transpose the ohms value from another unaffected axis. Tach values I've encountered 4.4K(Tree J325), 7K(Hurco), 7.4K(Tree J425/Hurco).
3. In order to tune the servo drives as described below you must show Axis Lag. Go to mode select 5 (setup), key in TM4, Enter (servo adjust)
On Servo Dynamics FET Modules model number SDF1525-12, the "vol" LED comes
on for a bus over voltage condition. It will illuminate when the voltage
is over 145 vdc. On models with a shunt regulator, the regulator could be
at fault. Check the bus voltage at the large capacitor. Also may illuminate
when the +/- 15 volt power supply is faulty. The voltage differential
between the positive and negative supply should not be more than .5 volts.
For example if the positive supply is +14.5 vdc the negative supply must be
no more than -15.0 vdc. A voltage of -15.2, for instance, would represent
a fault condition. When the LED illuminates a fault signal is sent to the
control.
On the Delta 20 control the power supply outputs +5vdc,+15vdc,-15vdc,and
+24vdc. The CRT uses the +15vdc. The controls with the older Baldor motors
have encoders on the motor shaft which are fragile but can be serviced and
if needed replaced. On the newer motors, the encoder is sealed and
will likely be damaged if service is attempted.
On the old 10M and 20M controls a RAM error will be generated in the event
of a loss of voltage at the power supply. The power supply outputs +5, +15,
-15 and +24 vdc.
The shunt regulator is the board below the +/-15 volt power supply and to
the left of the four diodes which make up the bridge that rectifies the
incoming AC. This AC should be about 72 volts. The transformer supplying
this AC should be an isolation type. In any case, the 0v side of this
transformer should not be grounded. The reason for this is that many of the
components have live heat sinks. A common problem is for the insulators to
become damaged and the diode bases and/or transistor bases to short to the
chassis. When this happens there is a 1 amp fuse that may blow. This fuse
is located in an in-line fuse holder and is tucked up inside of the power
supply section. It may or may not be visible without removing one or more
modules. When the fuse blows the Ground Fault indicators on all three cards
will illuminate and they will be inoperative. When replacing this fuse be
sure to use a fast blow. A defective shunt regulator will also blow this
fuse. Another cause is a shorted TO-3 transistor on the servo cards
themselves. The important thing to know about the Ground Fault(GF) indicator
on the servo card is that it will illuminate whenever 1 amp of current is
detected flowing to the chassis. The DC bus voltage measured at the large
capacitor should be about 100 vdc. You should be able to measure about ten
ohms of resistance from the negative terminal of the cap to the chassis. If
you cannot read this resistance, either the 1 amp fuse is blown or the ten
ohm five watt resistor is open. This resistor may be found rectifier module
which has the terminal strip mounted to it. The top six terminals on this
strip are the axis motor leads on a three axis system. The four diodes on
this module rectify the 72 vac. Sometimes one of the screws connecting the
AC lines to the heat sink will get loose causing arcing especially at power
up. The axis motors use an encoder for positioning and a tach for velocity
control. The encoder signal is tied directly to the control input so you
won't find it on the chassis. The tach signal does go the chassis. If the
tach fails or a wire becomes loose or broken the motor will tend to run
away. If a motor oscillates you should look for a problem with the tach in
combination with a servo card failure. In most cases, you will need the
motor attached to a load in order to adjust it. It is nearly impossible to
do without some load on the motor. You can check the encoder by being in Jog
mode and turning the motor shaft. The position display should indicate
the motion.
The Shunt Regulator turns on when the Bus voltage reaches 129 vdc.
BEFORE ADJUSTING A SERVO DYNAMICS CARD YOU MUST FIRST CHECK FOR PROPER TACH
FEEDBACK. DO THIS BY ADJUSTING THE CMP POT FULLY CCW THEN CW UNTIL THE MOTOR
OSCILLATES THEN CCW UNTIL IT STOPS. IF THE MOTOR DOES NOT OSCILLATE, THERE
IS LIKELY SOMETHING WRONG WITH THE TACHOMETER FEEDBACK SUCH AS A CABLE, ETC.
On a Dynapath control the Lag display should be zero while the axis is at
rest but when in motion it should equal the value set in parameter KV1 and
KV2 (first and second gain constants).
In order to make good circles on a Servo Dynamics controlled machine, the
Lag values for the X and Y axes must be equal.
The Lag is adjusted by turning the SIG pot. If you suspect that the pots of
a servo card have been moved unnecessarily you can return them to their
initial states (factory settings):
AUX - Fully CCW
SIG - 10 turns from fully CCW
TACH - 5 turns from fully CCW
CMP - 10 turns from fully CCW
CL - Fully CCW
BAL - Fully CCW
R44 - This pot sets the continuous current output for the drive. When fully
clockwise the drive outputs the full rated current of the drive to the
motor. In the case of the SD1525, this is 15 amps. To adjust, check
the nameplate rating of the motor to find the continuous current
rating. Use the table below to set R44 as close as possible to this
value. The resistance measurements are taken with one meter lead on the
chassis ground and the other on the left side of R19.
RMS Current (Motor) Resistance in Kohms
15A 9.4
12.5 8.2
10 6.3
7.5 4.5
5 3.0
To check the +/- 15 volt supply after a drive board:
J1 Pin 10 - +15vdc
J1 Pin 11 - Common
J1 Pin 12 - -15vdc
A quick setup method is:
1.Set TAC pot for 7kohms then leave alone.
2.Turn the CMP pot clockwise until the motor oscillates.
3.Turn the CMP pot CCW until oscillation stops then 1 1/2 turns.
When checking the tach pot, make sure your meter is set for the 20 kohm range
or for auto ranging.
You should try to avoid adjusting the TAC pot, but sometimes an axis will
not settle down after making a move or it may bounce back and forth before
it stops. When this happens, you need to turn the TAC pot a little clockwise.
For an axis that stops too abruptly, turn the pot a little counter clockwise.
When the TAC pot is too far CCW, the axis may oscillate uncontrollably after
making a movement. Do not confuse this with oscillation caused by the CMP
pot which occurs when the axis is at rest. When this occurs, the CMP pot
needs to be adjusted a little CCW. Adjust it just far enough to stop the
oscillation and then 1 1/2 turns.
To check if the tachometer leads are phased correctly, turn the current limit
pot CW with no signal applied. The motor should either turn slowly or stay at
rest. If it tries to run away, reverse the motor leads. If the tach circuit
is open the motor will run away at maximum rpm as soon as the amplifier power
is applied, with or without a signal input.
If a motor runs rough, try adjusting the CMP pot CCW.
The adjusting information above also applies to the SD1-3060 amplifier. This
amplifier is a single axis drive normally used on boring mill retrofits. The
following information is specific to this drive:
The A/B jumper should be set for A if the reference signal is single ended.
Set for be if the signal is differential type.
Connector J2:
Pin 1 - SIGNAL
Pin 2 - COMMON
If you suspect a problem with the tach you can eliminate the tach from the
circuit by disconnecting the tach leads and placing jumper between pins 1 and
2 of J3. This puts the drive into open loop control, it will run based on the
speed reference only. The gain will be almost non-existent so the motor will
have very little torque. You can try putting different value resistors across
the pins instead of shorting them to get more gain. If this works you will
probably need to use a large value such as 10k to 100k.
Check how many amps the drive is outputting by checking the voltage at J1-5
and TP1. The DC voltage across these two pins is proportional to the amount
of current being pulled. The voltage is 0-10 vdc, it corresponds to 0-60 amps
The reference signal comes in on pin 2 of J1. Pin 3 is the tach input. Pin 4
is the common for both. Pin 10 is +15vdc supplied by the drive, pin 12 is -15
vdc. Pins 9 and 11 are the power supply common for the 15 volts. If you want
to run the drive manually you connect a 2k ohm pot to terminals 2,4 and 10 or
12. Connect the two fixed leads to 4 and either 10 or 15 (depending on which
direction you want the motor to run when you apply the signal) and connect
the wiper to pin 2. You can install a high value resistor (10k, etc.) between
12 and the pot to keep from overdriving the input (0-10vdc). Also be sure you
don't short pin 2 or pin 10/12 to pin 4. Pin 8 is the Remote Shut Down.
Grounding this pin will disable the output of the drive. Pins 14 and 15 are
for using over travel limit switches with the drive. When these pins are
grounded the amplifier is able to operate in both directions. When using these
pins with switches, use normally closed contacts. The drive comes from the
factory with these pins tied to ground so that the amp is always enabled. To
use switches you must cut the links that tie them to ground. These links look
like resistors and are located below and to the right of J1 Pin 15. They are
labeled X and Y.
Pins 6 and 7 of J1 perform the same function as pins 14 and 15.
J4 pin 1 is the +15 volt input from the Bias Power Supply. Pin 2 is the Bias
Power Supply Common. Pin 3 is the -15 volt input from the Bias Power Supply.
J5 terminal 1 is the Positive Bus voltage ( 30-160 vdc). Terminal 2 is the
Bus voltage Return. Terminals 3 and 4 are the DC output to the motor armature.
TEST POINTS
TP1 COMMON
TP2 AUX potentiometer wiper
TP3 SIG potentiometer wiper
TP4 TAC potentiometer wiper
TP5 CMP potentiometer wiper
TP6 Tach signal directly from J1 pin 3 with no resistor divider
TP7 Current feedback from current feedback amplifier
TP8 Low Bus monitor
TP9 Clock output
If the motor tends to drift in manual mode after the signal has been removed,
try adjusting the TAC pot ccw.
If the machine overshoots the desired position, try adjusting the TAC pot cw.
There is a Reset button on the front of the drive for clearing faults.
This amplifier requires two power sources. The main source is 120 VAC three
phase. The other is 120 VAC single phase. The main three phase supply is
rectified and filter to become the Bus voltage of 160 vdc. The single phase
supply is for the cooling fans and the +/- 15 vdc. On many applications of
this drive you will see an inductor connected to the output of the amplifier.
This is necessary if the inductance of the motor is less than what is recomm-
ended for the drive. Even in cases where the motor inductance is correct, an
inductor should be used in case a motor winding shorts out. An intermittent
shorting condition can cause the output transistors to heat up.
When using test equipment on these amplifiers make sure it is ungrounded.
If the ambient temperature of the amplifier exceeds 50 degrees celsius, there
can be a problem with nuisance tripping.
FAULT LEDs
VOLTAGE Turns on if the bus voltage exceeds 195 vdc. This can be caused by
a blown shunt regulator fuse or if the inertia of the system is high
during deceleration causing a high regenerative motor current. Also,
if the sum of the +/- 15 volt Bias supply is less than 28 volts DC.
This can occur as a result of a line transient causing the bias supply
to dip momentarily or if the bias power supply has failed.
GROUND Turns on if the motor leads short to ground.
FAULT
OVER Turns on if the temperature of the heat sink sensor exceeds 75-80 C.
TEMP/
RMS
SURGE Turns on if an excessive current flows through the power transistors
CURRENT in the output bridge.
If a control faults while trying to run a program and no alarms are given
check the axis lag. If the lag is too great on an axis, the control will
stop axis movement but not generate an alarm. In that case you will need to
adjust the SIG pot. This pot varies the amount of signal going into the
amplifier. Normal lag, also called following error, should be .0100 when the
feed rate is 10 inches per minute. The speed selections on the control 0-4
have the following meanings at 100% override:
0-Slow 1 inch/minute
1-Medium 10 inch/minute
2-Fast 100 inch/minute
4-Rapid Whatever is defined by parameter as the rapid feed rate
( This Parameter is 110 for X, 190 for Y, 210 for Z )
1. Go to SETUP mode and select TM4. (to view Lag display)
2. Go to JOG mode and select MEDIUM.
3. Turn FEEDRATE OVERIDE pot to 100%.
4. Jog the axis back and forth.
When adjusting the lag you must be sure of the override setting. On some
machines the override is 100% when the pot is fully CW. On others it is not.
This percentage is defined by parameter 023 and 024. To define the maximum
override as 100%:
023 = 10
024 = 0F
If you select Medium speed, turn the pot fully CW and adjust the lag for
.0100 it may be wrong even if the override is defined as 100%. To be sure of
your adjustment check the Feed Rate on the CRT while moving the axis. It
may be necessary to do this in Auto mode. Program a simple linear move at
a given feed rate. Adjust the override pot until this feed rate is displayed
during the move. When it is, the override is at 100%. If for some reason, it
is necessary or convenient to make the lag adjustment at a different override
setting, the lag value changes is proportion. For example:
Lag Display Speed Selection Override Setting
.0100 Medium 100%
.0150 Medium 150%
.0175 Medium 175%
etc...
The formula for calculating axis lag is:
Lag = .001 x Feed rate
All of this assumes a Gain Break of 1.00. This value is defined by parameter
and is almost always 1.00, but occasionally will be found to be otherwise.
The status of the Feed rate Override pot can be monitored at Word Address
045. The Word Addresses are roughly equivalent to the Diagnostic Table of
other controls. Address 045 is located in the CNC-PLC table. To access a
Word Address:
1. Press the FAULT DISPLAY button.
2. Press the I/O soft key.
3. Use the left and right arrow keys to shift between tables.
4. Use the SCROLL FORWARD and SCROLL REVERSE soft keys to move to addresses.
In the case of Word 045, bits 8-F should change when the pot is turned. When
the pot is fully CW, the bits should all be ones.
F E D C B A 9 8 7 6 5 4 3 2 1 0
1 1 1 1 1 1 1 1 ------- -------
Sometimes they may not all be ones but will be close enough for proper
operation. When the pot is clicked to the OFF position, they should all be
zeros.
If the lag is too great, turn the SIG pot clockwise to decrease lag. If the
lag is too low, turn the pot counter clockwise to increase the lag.
The Lag display for each axis should be as close as possible to .0000 when
the axis is at rest. If it is not, adjust the BAL pot for each axis not at
zero. Adjustment in one direction will cause display to change negative, the
other direction will cause a positive change.
If a motor hesitates when given a speed signal you may need to adjust the
Comp pot.
*** Delta 50MPLC3 ***
SRAM Board DIP switch settings are normally:
1 - On
2 - Off
3 - Off
4 - On
5 - On
6 - Off
7 - Off
8 - Off
9 - Off
10 - On
If number 10 is OFF, the control will not boot up. The control boots from
the floppy. the hard drive is for storage only.
During a reference return, the control decelerates the axis as soon as the
decel dog makes the switch. Once the switch has been made, the motor turns
one revolution and stops at the next marker on the motor encoder. When an
automatic reference is done, the following occurs in this order:
1- The Z axis moves to the reference switch and stops.
2- The X axis moves to the reference switch and stops.
3- The Y axis moves to the reference switch and stops.
4- The Z axis moves off the switch approximately one revolution.
5- The X axis moves off the switch approximately one revolution.
6- The Y axis moves off the switch approximately one revolution.
7- The Z axis moves back in to the switch, picks up the next marker, zeros.
8- The X axis moves back in to the switch, picks up the next marker, zeros.
9- The Y axis moves back in to the switch, picks up the next marker, zeros.
When an axis is told to go Home it goes to the reference switch, picks up
the next marker and zeros. To send an axis home:
1- Go to Jog mode.
2- Type H (Home will become highlighted)
3- Turn the desired axis switch to positive (+) and release.
The Autocon Delta controls consist of a PC mother board with a PLC board, an
I/O board, a Memory board and a Video card plugged into expansion slots.
The video card is a standard SVGA board so if there is a CRT problem you can
try a new board or another monitor can be plugged into the video port.
When G-Code programming, the control will allow only one G code per line.
In order to access the G-code programming you must:
1- Select PROGRAM mode (1)
2- Select NEXT EVENT
3- Select EIA
TERMINAL mode is for connecting two or more controls together using RS-232
protocols. The cables are connected to Com Port 2.
Com 1 is for uploading and downloading parameters and part programs.
The procedure for loading the control's parameters to a PC is:
1- Cycle power on the control.
2- At the Start-up screen, type PAR.
3- Press the Transmit/Receive soft key.
4- Select the source device as MTB Parameters (S4).
5- Press the Source Edit Parameters soft key.
6- Select the range of parameters you want to send.(F0000,L3BFF sends all).
7- Select the Target device T1 (control's serial port).
8- Press the Start Operation soft key.
In most cases it will be necessary to select the Target Edit Parameters to
set the communications protocol and in some cases to name the file.
Parameter filenames must follow DOS conventions and MUST end with the .PAR
extension. To send the parameters to the control's floppy disk, the procedure
is the same except for step 8 in which you would choose T2 (control's floppy)
To receive files from the PC or floppy, the procedure is basically reversed.
To load Part Programs and Tool Tables to and from the control, use the
Transmit/Receive option at the main menu.
Part program filenames should end with the extension .OB
The Operators Panel Interface is located behind the keypad. The green LED
should blink about every 5 seconds to indicate proper serial communication
with the CPU (CANBUS). Whenever any button or pot changes states on the panel
the LED should flash at a high rate.
************
The following data was compiled for the 6BVS retrofit of 9/97 (s/n 962250).
Some of the data is pertinent only to this machine while some may apply to
Autocon and Servo Dynamics in general.
I/O:
For inputs we use only Word 000, Word 001, and word 015.
For outputs we use only Word 016 and Word 017.
DIP SWITCHES:
MTB SW1 - All 8 switches are on.
SW2 - 1,2,and 3 are on. 4,5,6,7, and 8 are off.
I/O Board 1,4,5, and 10 are on. 2,3,6,7,8, and 9 are off.
FUSES:
MTB FU1 - 5 amp, 250 volt, glass
FU2 - 2 amp, 250 volt, glass
Servo Dynamics Power Supply 6 amp, 250 volt
10 amp, 250 volt
LED's: (Under normal conditions, machine at rest.)
Servo Dynamics Boards Green (run) always on.
32X32 I/O Board Green (ACT) blinking every 5 seconds.
JUMPERS:
J2 (Canbus/PLC) Pins 1, 14, and 25 jumpered together.
Pins 10, 23, and 24 jumpered together.
J6 (MTB) Terminals 5, 9, and 12 jumpered together.
Control Power Supply M GND jumpered to GND
M VOLT jumpered to +24v
The DC Buss voltage measured at The capacitor is 163 vdc. When an E-Stop
occurs, the Buss voltage is turned off.
The O.T. Release lamp is on whenever the E-Stop string is closed.
If the inverter faults while in the MDI mode, the spindle will restart on
it's own when the fault is cleared. In AUTO, the program must be restarted.
In 1/98 the encoders were disconnected and Acu-Rite 2um(.0001) scales were
fitted on all three axes. The procedure for doing this is outlined later in
this file. It was necessary to change some parameters. The parameters and
their new values are:
Parameter Value
130 12
131 70
132 0F
133 01
134 FF
1B0 12
1B1 70
1B2 0F
1B3 01
1B4 FF
230 12
231 70
232 0F
233 01
234 FF
*** Parameters ***
In order to change a parameter, you must call it by it's address. The
procedure is:
1. Turn the control on.
2. Without touching any other keys, type "PAR".
3. Type "A" followed by the number of the parameter. Press Enter.
4. The parameter will be displayed, make your changes. Press Enter.
5. Press "Save Edits".
6. Turn the control off and back on.
Remember that whenever the control is turned off or on, the E-stop needs to
engaged. This prevents charges stored in the servo capacitor from causing
premature movement of the motors.
If a parameter is changed by mistake and you do not remember what the
original value was, simply cycle control power without saving the edits. all
changes will be dumped.
When working with Dynapath parameters keep in mind that you are working in
Hex. When entering data, an "E" represents a decimal point and an "F" tells
the control that this is the END of this string.
(i.e.) 130 80
131 00
132 FF
This tells the control to set the X axis resolution at 8000 pulses.
A decimal cannot be entered into some parameters, most notably the axis
resolution.
Autocon motor encoders have 1000 lines. each line generates 4 pulses for a
total of 4000 pulses per revolution. The formula for determining what value
to enter for axis resolution is: Encoder Lines x 4 x Pulley Ratio.
1000 x 4 = 4000
4000 x 2 = 8000
In this case 8000 would be entered into the resolution parameter. The pulley
ratio is relative to the motor. If the ball screw pulley is twice the size
of the motor pulley , the ratio is 2:1. If the motor pulley is twice the
size of the ball screw pulley, the ratio is .5:1. Then,
1000 x 4 = 4000
4000 x .5 = 2000
The pitch of the ball screw is entered into parameter 133 for X, 1B3 for Y
and 233 for Z. If the pitch of the screw is English 5, the setting would
be:
133 05 for X
1B3 05 for Y
233 05 for Z
These parameters are known as the resolution converter.
The important thing to remember about setting the resolution parameters is
that if you know the number of pulses generated per inch (millimeter for
metric applications) you can simply enter this number into the first three
parameters and enter a 01 for the resolution converter. If you are using a
rotary encoder, whether it is on the motor or the ball screw, you cannot
avoid a certain amount of math. If you are using a linear encoder such as a
glass scale, all you need is the number of pulses output per inch of linear
motion. In some cases, this number can be obtain from the manufacturer but
in most cases you will have to calculate it for yourself or use a frequency
counter. If you are using an Acu-Rite 2um(.0001) mini scale, the pulse
output is 12,700 pulses per inch. So, the parameters for the X axis would be:
130 12
131 70
132 0F
133 01
134 FF
The important point to remember is that all the control cares about is pulses
per inch.
When working with cogged pulleys, the ratio can be found by counting the
number of teeth on each pulley.
The numbers stored in the Reversal Compensation setting are in actual units
of measurement (inches, millimeters, etc.). To set the reversal comp. go to
the Setup screen and enter what you think is the correct backlash for the
axis. Go to Jog mode and with an indicator on the axis move the axis one
increment (.0001", .01mm, etc.) at a time back and forth (+/-). Change the
values of RX, RY, or RZ (depending on which axis you are trying to set) until
the axis moves in step with the display. When you have the proper value, the
result will be:
A display change of .0001" will result in an indicated change of.0001". If
you are able to see the pulley or ball screw you note that when the command
is given to reverse direction by .0001", the screw will actual turn an
amount equal to the reversal comp. setting, then will move the .0001".
All of this assumes that the measurement parameters (axis resolution) are set
properly. Once correct settings have been determined and entered into Setup,
they must be entered into the Reversal Compensation parameter.
*** Test Modes ***
TM5 will shut off servos
TM1 use for setting reversal comp. to see the distance moved.
Glass scales can be used with a Dynapath control but it must be used instead
of the motor encoder. They cannot both be used at once. The scale selected
must be the approximate format of Acu-Rite.
-Square wave output operating in quadrature.
-FTO marker.
The resolution of the Dynapath motor encoders on a 5 pitch screw is roughly
50 millionths so a comparable glass scale should be used.
When using glass scales, you should either get a pigtail from the scale
manufacturer or make one yourself. You will need a connector that will mate
with the scale's reader with a long enough tail to reach the top three ports
on the control. The connector on the control is a 15 pin D subminiature so
you will need enough of these pins to make all of your connections. You
will disassemble the Dynapath encoder connector and remove all of the pins
that go to the encoder leaving the pins for Servo Out, Servo Common, and
Servo shield. These are in a separate three conductor cable so you won't
have any trouble identifying them. Insert the scale's pins in the appropriate
holes. If the scale counts in the wrong direction, you must switch the A
and B channels at the connector or turn the reader around.
Pin outs for the Dynapath encoder connector is:
Pin Assignment Wire Color
1 A+ Green
2 B+ Black
3 Marker+ Orange
4 Encoder +5v Brown
5 Ground White
6 Chassis Ground(Shield for Encoder) May be Clear or Black
7 Chassis Ground(Shield for Servo Cable) Bare
8 Servo Out Clear
9 A- Yellow
10 B- Blue
11 Marker- Red
12 Encoder +5v No connection
13 Ground No Connection
14 Unassigned No Connection
15 Servo Out Common Black
Connector Configuration:
1
9
2
10
3
11
4
12
5
13
6
14
7
15
8
On most Dynapath controls when the control is executing a commanded movement,
an asterisk appears beside the axis position display once the commanded point
has been reached.
When the servo won't hold, increase the current limit potentiometer until it
does. Normally is set about 10 turns from fully clockwise. If the motor
starts to oscillate, adjust the signal counterclockwise.
If a servo oscillates, adjust the compensation potentiometer until it stops.
If an axis will not stop at it's reference point, make sure the switch
closure is being registered in the word data. Once the control sees this bit
go high it looks for marker pulse. If it does not see this pulse it will keep
going. Sometimes an encoder will fail in such a way that it counts fine but
does not issue a marker pulse. This pulse can be read with a meter. It is a
5 volt pulse but what you will see is the voltage go from about .2 - .3 volts
to about .6 volts very quickly. When the encoder fails, you will normally
not see even the .2 - .3 volts.
On the Delta 50 control it is normal for the EST (red) LED to be on while the
control is booting up. It will also come on if the CANBUS system stops comm-
unicating. It should not come on if the machine is in an E-STOP condition.
One thing to check for when this light is on is that all of the boards are
seated properly in the backplane. Normally, under these conditions there will
be no display of the CRT. Another thing to check is the power supply output.
There are five test points in the upper left hand corner of the control. You
have to remove the front cover to access the test points. The top test point
is the ground which is common to the other four points. The first test point
from the top is -12vdc, the next one is +5vdc, the third is +12vdc and the
bottom test point is +24vdc. According to Dynapath, if you measure an AC
component of more that 30 millivolts ac on either of these points the power supply
must be replaced but I have known at least one control to function normally
with over 40 mvac. In addition, some representatives of Dynapath say that the
ripple can not be more than 20ma...
One condition to be aware of is when the CRT goes blank and the Cycle Start
light and the Motion Stop light blink every few seconds. It is possible that
an excessive amount of AC noise or ripple on the DC power (particularly the
5 volt supply) can cause the control to continually boot over and over. In
this case the screen may be blank because the control starts to re-boot be-
fore the video gets a chance to be displayed. It is normal for the lights to
flash when the CANBUS re-boots. In the case of the Delta 50 control, there is
a jumper (shorting pin) below the DC voltage test points which if removed
will disable the detection circuit which causes the control to re-boot.
To access the machine parameters on a 10/20 control:
1.Press the Parameter programming switch down. This switch is on front of the
control chassis.
2.Press the letter P.
3.Press the ENTER button.
4.Press the A button.
5.Press the address you want to change. For example, if you want to change
the value of address 0E, Press the letter E, then the ENTER button. The
address and it's assigned value will be displayed.
6.Type in the new value.
7.Press the ENTER button.
If you try to change the value of the stored stroke limits on the Setup page
using THX, TLX, THY, etc., and the machines stroke does not change, check the
value of address 0E. If this address is set for 02 you cannot change the soft
limits from the Setup page, that is, they cannot be used to increase the
stroke beyond the PROM setting. Making this parameter 0 should allow you to
change soft limit.
When troubleshooting CRT problems on the Dynapath control you can disconnect
it from the control and plug a computer monitor into the video card. It uses
a standard 15 pin plug.
Dynapath controls are PC controls, most of the operating data is stored on a
hard drive, there is a port to plug in a keyboard at the bottom of the cont-
rol. The hard drive (C:) should have two directories, AUTOCON and MILL. The
MILL directory contains all of the fixed cycles. Each fixed cycle has a file-
name which is the same as the name of it's function.
When the Delta 50 is operating normally the EST (red led) should be off, the
ACTIVE (green led on the PLC board) and the ACT (green led on the I/O board)
should flash simultaneously every five seconds.
According to Autocon, the hard drive of the Delta 50 is only used for storing
Graphics information (fixed cycles, etc.) and part programs. The hard drive
of the Delta 50MPLC3 on the machine s/n 962250 (6BVS) has 2 directories. One
directory, AUTOCON appears to be empty. The other directory, MILL contains one
file under the root called CONVERSE.MLL along with 19 subdirectories. The
subdirectories all have names indicative of the fixed cycle they control such
as FRAME, CAVITY, etc. Also under the root directory of C: are all of the
part programs. What appears to be a normal condition for the control is that
if you press the EXIT TO DOS soft key, the control will basically re-boot but
it will display NON SYSTEM DISK OR DISK ERROR and the TIMEOUT (red led) on the
PLC board will come on along with the EST (red led) on the I/O board. Also,
the ACTIVE (green led) on the PLC board will blink about once per second. If
you power on with a system boot disk in the floppy drive, it boots to it's
normal screen. If you press the EXIT TO DOS soft key, it re-boots to the A:
prompt. At this time the EST (red led) on the I/O board will be on as well as
the TIMEOUT and the ERROR (red leds) on the PLC board. The ACTIVE(green led)
will be flashing about once per second. If the control is booted up normally
then a bootable floppy is installed in A: then the EXIT TO DOS soft key is
pressed it will re-boot to A: prompt and the TIMEOUT and EST leds will be on
and the ACTIVE will blink about once per second.
When using a keyboard with the control it will normally access the floppy
drive when either A: or B: is specified.
If a Delta 50 control comes up with a blank screen, the drives don't power
up and the EST led is on try unseating all of the cards except the video card
then powering up the control. Once you get some sort of display, power up the
control several times adding a card to the rack until all cards are re-inst-
alled. Don't forget to include the I/O card when doing this. The I/O card has
the two large connectors J1 and J2.
The Parameters and the PLC are stored in Flash memory. To save the parameters
to a floppy disk:
1. Turn the control power on.
2. Insert disk into floppy drive.
3. Without pressing ANY buttons, type PAR.
(The control will access machine parameters)
4. Press the TRANSMIT/RECEIVE soft key.
5. Type S4 (MTB PARAMETERS). This is the SOURCE.
6. Press the ENTER button.
The first and last address of parameters to be sent/rcvd will be displayed.
7. Type T2 (FLOPPY DRIVE A:) This is the TARGET.
8. Press the ENTER button.
9. Press the TARGET PARAMETER EDIT soft key.
10.Type the name you want for the filename of the parameters. This can be
anything but should be something easily recognized as the machine paramet-
ers for this specific control. (i.e. machine s/n with .par extension).
11.Press the ENTER BUTTON.
12.Press the EXIT EDIT PARAMETER soft key.
13.Check the TARGET file and the SOURCE file, make sure you are sending what
you want to send where you want to send it.
14.Press the START OPERATION soft key. The display should show BUSY TRANSMITT-
ING MTB PARAMETERS. When complete should display DONE.
To save the PLC perform the above steps except when first powered up, type
PLC instead of PAR. S4 will be PLC USER PROGRAM and T2 will be same as before
For step 10 above in the case of saving the PLC type PLC.OB for the filename,
you can name it anything you want but Dynapath calls this type of file an OB
file so in the interest of being on the same page with them... just make sure
you identify this file with a serial number either of the machine or the
control so you don't confuse with other Dynapath files.
Power has to be cycled to exit this function:
When a successful boot is accomplished under normal circumstances the MOTION
STOP light will be on, all red leds will be off and the green leds (ACTIVE
and ACT) will flash together every five seconds.
A Dynapath will always come up in E-Stop, you must push the FAULT STATUS
button then the RESET button.
The Dynapath control on the 6BVS s/n 962250 is Delta 50MPLC3 s/n 22225.
If you have a problem with this control not booting up and displays the mess-
age NON SYSTEM DISK OR DISK ERROR. First check that there is no disk in the
floppy. The control normally boots by loading information from the Flash ICs
to DRAM on the motherboard. The Flash Memory Board holds the Executive Soft-
ware. The boot sequence is controlled by the DIP switches on the Flash Mem-
ory Board. Switches 1,4,5 and 10 should be ON. 2,3,6,7,8 and 9 should be OFF.
If switch number three is set to ON, the control will follow the boot up seq-
uence as layed out in SETUP (A:, c:, etc.) instead of booting from Flash mem-
ory. Of course, with this control, the hard drive is not bootable so the A:
drive should be set up as the boot drive. A bad Flash Memory Card will cause
the same condition. For this problem you can try turning switch number three
off and on several times. The Flash Memory board and the Video card are half-
boards.
The spindle actual speed relative to commanded speed on the Delta 50M is set
by adjusting the parameters 840 through 86B. These parameters are for setting
the RPM of the first four gear ranges. The control is capable of handling 8
gear ranges but 4 is usually enough (LOW/LOW, LOW/HIGH, HIGH/LOW, HIGH/HIGH).
Parameters 840-84A are for the first gear range, 84B-855 are for the second,
856-860 third and 861-86B the fourth. The following description is for gear
range one but is typical for the other three ranges. Parameters 840, 841 and
842 set the minimum rpm for the gear range. Parameters 843, 844 and 845 set
the maximum rpm for the range. Parameter 846 determines if the control uses
rpm per volt or volt per rpm (00 equals rpm per volt, 01 equals volt per rpm)
Parameters 847, 848 and 849 set the scaling factor (rpm/volt or volt/rpm).
Normally a machine will have a plate or some documentation to indicate the
rpm range for each gear range. This information tells you what to plug into
each minimum and maximum field for each gear range. In most cases you will
want to use rpm per volt so this parameter should be 00. The output of the
control is typically 0-10 vdc so the scaling factor is normally the maximum
rpm for the range divided by 10 and entered as a whole number. In some cases
when a gear range is selected the commanded speed will not equal the actual
speed. A method which will put it in the ballpark very easily is to command
a maximum rpm for a given gear range, measure the actual rpm of the spindle,
divide this measurement by 10 and enter this number into the scaling factor
parameter. In the case of the 6BVS s/n 962250 the four gear ranges are deriv-
ed from a high/low gear box and a two speed motor. The machine is originally
equipped with a variable speed pot and a rpm meter so the spindle can be
adjusted as needed. When the Dynapath control was fitted to the machine,
gear ranges 1 and 3 were off with regard to actual rpm versus commanded rpm.
What follows are the parameter setting which are required to bring the two
values within about 10-20 rpm of one another.
840 55 84B 13 856 50 861 11
841 FF 84C 1F 857 0F 862 16
842 FF 84D FF 858 FF 863 FF
843 13 84E 42 859 11 864 36
844 0F 84F 0F 85A 15 865 50
845 FF 850 FF 85B FF 866 FF
846 00 851 00 85C 00 867 00
847 20 852 42 85D 18 868 37
848 FF 853 FF 85E 1E 869 7E
849 FF 854 FF 85F 5F 86A FF
84A FF 855 FF 860 FF 86B FF
The four gear ranges for this machine are:
Gear 1 55-130 rpm
Gear 2 135-420 rpm
Gear 3 500-1115 rpm
Gear 4 1116-3650 rpm
To transmit parameters on the Delta 50 control:
1. Turn the control on.
2. Without pressing any other buttons, type PAR.
3. Press the ENTER button.
4. Press the TRANSMIT/RECEIVE soft key.
5. Type S4 (MTB PARAMETERS).
6. Press the ENTER button.
7. Type T2 (FLOPPY DRIVE A:) or T1 (SERIAL PORT COM 1).
8. Press the ENTER button.
10.Press the START OPERATION soft key.
To receive parameters, reverse the procedure.
To monitor input and output bits (word data) in any mode, press the
FAULT/STATUS button then the I/O TABLES soft key.
When doing a reference return (R in JOG mode), if you use the Jog switches
to zero return the axes individually the servo will go to the reference
switch, find the marker pulse then stop. If you use the Cycle Start button
to reference al axes at once, the servo will go the switch, back off, go
back then find the marker pulse and stop.
On the 6BVS with the Dynapath 50M references about .300 further than it
should, move the reference return (ZRN) switch in away from the direction of
movement enough to keep the servo from missing the marker pulse.
When the hard limit switch of an axis is contacted of the 6BVS with the
Delta 50M, the O.T. RELEASE lamp goes off and stays off even if the axis is
manually moved off of the switch. The over travel alarm has to be cleared
before the light will come back on. The screen displayed at this time will be
the same as the startup screen, it will show EMERGENCY STOP, ENTER RESET TO
CONTINUE, COOLANT SWITCH IS IN AUTO, MTB SWITCH NUMBER 23 IS PRESSED and a
cautionary message about operation of the machine.
DELTA 50M
If you try to transmit parameters or programs without specifying a filename,
the control will not access the target and will display DISK FAULT.
On the Delta 50MPLC, the chips on the Flash Memory Board are:
U1, U2 - EXECUTIVE SOFTWARE
U5 - PARAMETERS
U7, U8 - PART PROGRAMS
U1 and U2 are non-volatile, you can take these from an old board and put them
on a new one without losing any information. U5,7 and 8, on the other hand,
are SRAM chips. There is a battery onboard the card, if these are removed
from the board, all programs and parameters will be lost!!!!!
To access parameters on a Delta 20:
1.Place machine in E-Stop.
2.Move the PARAM/INIT switch down.
3.Press P on the operators panel.
If you suspect a problem with either the tach or the tach circuit on a motor
controlled by Servo Dynamics drive, you can test run the motor in open loop
by disconnecting the tach and shorting pins 1 and 2 of J3.
The parameters for In-Position width on a Dynapath control are 02B,02C and
02D. To set the in-position range for .0025", 02B=00 and 02C=25.
The com ports on the Delta 50 are normally configured such that COM1 is al-
ways designated RS-232 and COM2 is for Terminal mode (linking two controls
together) but in the event of a bad line driver, receiver, etc., you can
swap these two around. To do this, connect a keyboard to the control and boot
it up. Press the DELETE key to enter BIOS SETUP. Once in SETUP, go to and
select PERIPHERALS. COM1 should be addressed as 3F8H, COM2 should be address-
ed as 2F8H. In this case change COM1 to 2F8H and COM2 to 3F8H. In some cases
one or more of these will be set addresses as AUTO. In this case, if you use
the pull down menu you will see the above mentioned addresses and can set
them as described. Sometimes there will be damage to both com ports so that
the mother board may need replacing but one more thing you can try first is
to purchase a multi I/O board and install it in the empty ISA expansion slot.
This board should be a 16 bit with at least one 16550 serial port. The cont-
rol should recognize the new serial port and and override the old one. If the
I/O card has a floppy drive controller it can also be used in the event of a
bad controller on the mother board.
Some of the Delta 10/20 controls have a push button on the processor board,
labeled PARAM/INIT, that is used to access the parameters. To access the
parameters, power up the control, with the control on the initial screen,
before pressing any other buttons, press the PARAM/INIT button. At the oper-
ators panel type the letter P. Parameters can now be accessed.
When the Delta 40 control starts booting, the green led (ACTIVE) on the processor board should blink rapidly and the red led (EST) on the I/O board should be on solid. Once the boot process is complete the EST led should go off and the ACTIVE led should blink every 5 seconds. In addition, the green led (ACT) on the I/O board should blink in sympathy with the ACTIVE led. If the boot process hangs up, the ACTIVE led will continue to blink rapidly and the EST led will stay on solid. If the CRT is working an error message will be displayed by the BIOS but if not you will need the led indicators to determine boot status. This is important to note because if the boot sequence hangs up very early in the process no information will be sent to the CRT whether it is working or not so a defective CRT can easily be diagnosed as a bad mother board, etc.
