Atrump M632

with Centroid M39 Control, Yaskawa Servos

Startup

  1. Press in the Emergency Stop button on the pendant
  2. Switch on the main power at the control cabinet
  3. Wait approximately one minute for the computer to start up
  4. Release the Emergency Stop button
  5. Press CYCLE START to start the machine homing sequence

Idle Periods

  1. Press in the Emergency Stop button on the console. This will remove motor power from the servo and spindle drives. The computer will remain on, and axis positions will continue to be maintained and tracked. The screen will automatically go blank after the screen blank time selected on the Control Configuration menu.
  2. To resume operation, release the Emergency Stop button.

Shutdown

  1. If desired, press F10/Shutdown, F1/Park, CYCLE START to move the Y and Z axes back near their home positions. This will save homing time when the machine is restarted.
  2. Press in the Emergency Stop button on the pendant
  3. Press F10/Shutdown
  4. Press F2/Poweroff
  5. Wait about 15 seconds for the display screen to go dark
  6. Switch off the main power at the control cabinet

Spindle Chiller Operation

The spindle chiller unit will be powered up automatically whenever you start the spindle motor. It will remain on for several minutes after the spindle stops.

You can set the number of minutes for the chiller to remain on in Machine Parameter 175. The default value is five minutes.

With the spindle stopped, you can also switch the chiller off and on by pressing the Aux3 key.

The Aux3 LED will be lit whenever the chiller is running.

Coolant-Through-Spindle

In Manual coolant mode, you can switch CTS coolant on and off using the "Aux11" key. This is the unlabeled Blue key immediately to the right of the Mist coolant key.

In Auto coolant mode, you can switch CTS coolant with the following M functions:

M88

CTS coolant on

M9

All coolant off

M89

CTS coolant off (flood and/or mist continue running)

Tool In/Out

With the spindle stopped, you can unclamp the tool by pressing the yellow button on the front of the machine head. It takes several seconds for the tool retention fingers to fully open and release the current tool or allow the new tool in.

Work Light

The work light will switch on automatically on power up. If needed, you can then switch it off and on by pressing the Aux7 key on the pendant.

Yaskawa Servo Drive Parameter Settings

Most servo drive parameters are set to factory defaults.

The following parameters are set to values other than factory defaults:

Parameter

Value

Meaning

Pn000

0020

Torque control mode

Pn001

0020

Active decel to stop on overtravel

Pn10B

0004

Disable mode switching

Pn110

0012

Disable online auto-tuning

Pn201

2048

Encoder output cycles/revolution

Pn400

50

Percent input for rated torque output

Pn407

2000

Maximum RPM during torque control

See the Yaskawa Sigma II series user manual for detailed information on these and other servo drive parameters.

Delta Spindle Drive Parameter Settings

Most spindle drive parameters are set to factory defaults.

The following parameters are set to values other than factory defaults, or are of particular interest:

Parameter

Value

Meaning

00-11

2

SVC (sensorless vector) mode

or 3

FOCPG (closed-loop) mode

00-20

2

Frequency reference 0-10V

00-21

1

Start/stop via terminals

01-00

151.0 Hz

Yields 2720 RPM max.

01-01

60 Hz

Motor base frequency

01-02

440 V

Motor rated voltage

01-12

4.0 s

Acceleration time

01-13

6.0 s

Deceleration time

02-05

5

Input Terminal MI5 = Reset

02-13

11

Output Relay #1 = Fault Indication

02-17

34

Output Terminal MO2 = Zero Speed

03-03

0%

Frequency reference bias

03-07

0

Bias mode none

03-11

100%

Frequency reference gain

05-01

33.0A

Motor full-load amperage

05-02

18.5kW

Motor rated power

05-03

1750RPM

Motor rated speed (at 60Hz base frequency)

05-04

4

Motor poles

05-05

10.0A

Motor no-load current (estimated)

06-01

760VDC

Overvoltage stall prevention level

07-00

740VDC

Dynamic braking level

10-00

1

ABZ Encoder installed

10-01

1024

Encoder pulse (line) count

10-02

2

Encoder direction: B leads A

10-04

60

Encoder ratio A1 (load turns)

10-05

100

Encoder ratio B1 (motor turns)

See the Delta C2000 Series User Manual for detailed information on setting drive parameters.

Errors and Faults

The PLC program can generate several custom fault messages, in addition to those listed in the Centroid operator's manual. The custom fault messages are listed below, with possible causes and resolutions.

You can use the PLC Diagnostic display on the console to view the PLC input and memory locations mentioned with some of the following fault conditions. At the control's main screen, press Alt-I to activate the PLC Diagnostic display. Press Alt-I again to dismiss it.

The Diagnostic display shows four rows of red and green dots: the first row shows PLC inputs 1 through 80; the second row PLC outputs 1 through 80; the third row PLC memory bits 1 through 80; and the fourth row PLC program stages 1 through 80.

You can use the arrow keys to move a highlight box over any of these locations. The name of the highlighted location will then be displayed at the bottom left.

In addition, the values of the PLC program's first twelve Word (numeric) variables are displayed below the red and green bit indicators. Word variables are used to store tool numbers, turret positions, fault codes, and other scalar data.

Once the cause of a fault is addressed, the fault can be cleared by pressing and releasing Emergency Stop.

"9001 *** Flood Coolant Overload ***"

One of the flood coolant pumps has tripped its overload relay (OL6 or OL7).

Investigate possible causes and reset the tripped overload. Press Emergency Stop to clear the fault.

Possible causes include a clogged or jammed pump; blocked line; loose connections to the pump; or a damaged cable.

References: 

PLC INP12:	indicates the combined overload state. Green = 0 = either tripped, Red = 1 = both okay
Schematic:	Lines 34, 36, 81

"9002 *** CTS Coolant Overload ***"

The coolant-through-spindle pump has tripped its overload relay (OL8).

Investigate possible causes and reset the tripped overload. Press Emergency Stop to clear the fault.

References: 

PLC INP8:	indicates the overload state. Green = 0 = tripped, Red = 1 = okay
Schematic:	Lines 34, 36, 81

"9003 *** Spindle Chiller Fault ***"

The spindle chiller was powered for more than 10 seconds without indicating pressure.

Investigate possible causes. Press Emergency Stop to clear the fault.

See the Kaukan Oil Cooler Regulator Manual for possible causes. Also see the LED status display on the unit itself.

References: 

PLC INP9:	indicates chiller feedback. Green = 0 = up to pressure, Red = 1 = no pressure or no operation
Schematic:	Lines 42, 80

"9006 *** Yaskawa Servo Drive Fault ***"

One of the axis servo drives has reported a fault. Check the LED displays on the servo drives themselves, in the upper part of the control cabinet, to find out which drive is faulted and what the fault code is. Refer to the Yaskawa Sigma II Series Servo System User's Manual for detailed information on the LED displays and fault codes.

Investigate and resolve possible causes. Press Emergency Stop to clear the fault.

References: 

PLC INP20:	indicates circuit state: Green = 0 = okay; Red = 1 = at least one drive in fault condition
Schematic:	Lines 8, 13, 18, 23 and 85

"9010 *** Internal PLC Fault ***"

The Centroid PLC interpreter software has encountered an error while processing the PLC logic. Notify your Centroid dealer and service technician.

References: 

PLC W2:	indicates numeric fault code

Schematic page 1
Schematic page 2