Place Servo Guide

Graphic
Here

 Overview
 Installation
 Ethernet Configuration
 HSSB Configuration
 Parameter Window
 Graph Window
 Program Window
 Tuning Navigator
 Operation
TECHNOLOGY AND MORE
 Overview
S • Successor of SD-Software
e • Support Tool for
Servo Parameter Analysis


r Testprogram Generation


Servo and Spindle Tuning



v • Windows Program
o Supports Windows 98 / ME / NT4 / 2000


• Communicates With CNC Using Ethernet or HSSB

• Contains Support Tool for FFG Calculations
G Doesn’t Supports i-Series Model A CNCs!
•
u • Offers some Autotuning Functions (Version  2.0):
i 
Initial Gain Tuning

Filter Tuning
d 
Gain Tuning
e 


High Speed & High Precision
Torque Ripple Compensation for Linear Motors
Copyright GE Fanuc Automation, 1999 07/30/24 2
 Installation
S • System
CNC: 
Requirements:

e Series 30i, 31i, 32i-MODEL A



Series 16i, 18i, 21i-MODEL B or later



Power Mate i-D/H (Version  2.0)

r


0i-MODELB, 0i-Mate-MODEL B (Version  2.0)



0i-MODELC, 0i-Mate-MODEL C
v


PC:IBM PC/AT Compatible (LAN Port or HSSB Port Necessary)



o CPU: Pentium 200MHz or Higher Recommended



OS: Windows 98 / ME / NT4.0 (SP3 or Greater) / 2000 (NT4.0 or 2000



are Recommended)
Internet Explorer 4.01 or Later


G Memory: 64MB or More (128MB or More Recommended)



HD Space: 10MB or More (20MB During Installation)



Graphic Adapter: SVGA (800x600) or Higher (XGA (1024x768) or

u


Higher Recommended)
i 
For Ethernet
PCMCIA-LAN Card: FANUC Specification A02B-0281-K710 (1.5m


d Straight Cable Included)

Ethernet Hub or Cross Cable and Cable Coupler


e 
For HSSB
Fiber Optics Cable


Fanuc HSSB board necessary



Copyright GE Fanuc Automation, 1999 07/30/24 3

 Installation (cont.)
S • System Requirements (cont.):
CNC System Software:


e Series 30i-A

G001/23 or later, G011/23 or later, G021/23 or later
G00A/01 or later, G01A/01 or later, G02A/01
r or later
Series 30i-A G002/01 or later, G012/01 or later, G022/01 or later
v Series 31i-A G101/01 or later, G111/01 or later


Series 31i-A5 G121/01 or later, G131/01 or later



o Series 32i-A G201/01 or later



16i-MB 
B0H1/05 or Later

16i-TB B1H1/06 or Later

18i-MB BDH1/05 or Later
G 
18i-TB BEH1/06 or Later

21i-MB DDH1/05 or Later
u 
21i-TB DEH1/06 or Later

Power Mate i-D 88E0/18 or Later
i 
Power Mate i-H 88F2/01 or Later

0i-MB D4A1/01 or Later
d 
0i-TB D6A1/01 or Later

0i Mate-MB D501/01 or Later
e 
0i Mate-TB D701/01 or Later

Copyright GE Fanuc Automation, 1999 07/30/24 4

 Installation (cont.)
S • System Requirements (cont.):
CNC System Software:


e Series 0i Mate-MB D501 /01 or later



Series 0i Mate-TB D701 /01 later



r Series 0i-MC D4B1/01or later



Series 0i-TC D6B1/01 or later



v Series 0i Mate-MC D511 /01 or later



Series 0i Mate-TC D711 /01 later



o Embedded Ethernet 656A/03 or Later (0iB 656A/05 or Later)



(0iC 656V/01 or Later)

6567/01 or Later (Power Mate i Only)
656E/06 & 656F/07 or Later (30i,31i,32i)

G 
Series 30i,31i,32i (for 15" color LCD):
Control software 1 for 15" color LCD A02B-0207-J595#60VB 1.3 or later
u Series 300is,310is,320is:
WindowsCE.NET customize OS A02B-0207-J594 1.2 or later
i WindowsCE.NET FOCAS2/HSSB library A02B-0207-J808 1.2 or later
WindowsCE.NET standard application & library A02B-0207-J809 1.2 or later
d
e
Copyright GE Fanuc Automation, 1999 07/30/24 5
 Installation (cont.)
S • System Requirements (cont.):
CNC System Software:


e
Servo 30i,31i,32i 90D0/03 or Later, 90E0/03 or Later
r


(TuningNavigator is supported.)
v 16i, 18i, 21i 90B6/01 or Later, 90B5/01 or Later
(TuningNavigator is supported.)
o 16i, 18i, 21i 90B0/06 or Later (90B0/20 for
Tuning Nav.)
21i 9096/01 or Later (No Tuning
Navigator)
G
u 
Spindle 30i,31i,32i 9D70/02 or later
16i, 18i, 21i 9D20/11 or Later (Alpha Series
i SPM)
16i, 18i, 21i 9D50/02 or Later (Alpha i Series
d SPM)

e
Copyright GE Fanuc Automation, 1999 07/30/24 6
 Installation (cont.)
S • Installation of Servo Guide
Insert CD


e Select Root Directory “D:\” on CD



r Run SETUP.EXE


Follow Directions of the Installer



v
• Installation of FFG
o Select Subdirectory “D:\FFG”



Run SETUP.EXE

Follow Directions of the Installer
G Restart May be Needed.
•
u
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Copyright GE Fanuc Automation, 1999 07/30/24 7
 Ethernet Configuration
S • Connection:
Connection via PCMCIA Card or Embedded Port of CNC


e Either Use Coupler and Cross Cable or Hub and Regular Cable


r
v
o

In Case of Using the Embedded Port Use Cable With RJ45
Connector
G
u
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Copyright GE Fanuc Automation, 1999 07/30/24 8
 Ethernet Configuration (cont.)
S • Configuration of the CNC:
Select Ethernet Port (PCMCIA or Embedded) on the [SYSTEM]


e Menu.
r
Press [(OPRT)]
v and [SWITCH]
o

G
u Press [PCMCIA] Press [EXEC]
i and [RETURN]

d
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Copyright GE Fanuc Automation, 1999 07/30/24 9
 Ethernet Configuration (cont.)
S • Configuration of the CNC (cont.):
Select IP-Address, Subnet Mask and Port


e
r
v Press [PageDn]

G
u
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Copyright GE Fanuc Automation, 1999 07/30/24 10
 Ethernet Configuration (cont.)
S • Configuration of the CNC 30i with PCMCIA-LAN

press [SYSTEM] on MDI keys and press [>] soft key
e 
see [COMMON],[FOCAS2],[OPRT]
r 
Select [COMMON] check if [PCMCIA] is determined

Otherwise press [OPRT]->[EMB/PCMCIA]->[EXECUTE]
v 
[PCMCIA] is displayed
o

G
u
i
d 
Set IP address and subnet mask
e
Copyright GE Fanuc Automation, 1999 07/30/24 11
 Ethernet Configuration (cont.)
following screen occurs by press [FOCAS2] soft key
S


e
r
v
o

G 
Set Port Number(TCP)
u
i Note) You can connect between PC and NC by using PCMCIA-LAN card
in "is Series" CNC (300is, 310is, 320is) which use Windows CE .NET.
d
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Copyright GE Fanuc Automation, 1999 07/30/24 12
 Ethernet Configuration (cont.)
S • Configuration of PC:
Select the Network Properties (Way to Access varies with the OS


e Used)
r Select TCP/IP Properties


Specify IP-Address and Subnet Mask (DHCP Can’t be Used).



v Example Settings for CNC and PC:



o CNC: 

IP-Address 192.168.1.1
Subnet Mask 255.255.255.0
Port 8293
G PC:


IP-Address 192.168.1.0
u Subnet Mask 255.255.255.0
i 
Remarks Regarding Addressing:

Subnet Masks Have to be Identical
d 


IP-Addresses Have to be Different
Subnet Mask Group = 255 => IP-Address Group Identical
e 
Subnet Mask Group = 0 => IP-Address Group Must be Different

Copyright GE Fanuc Automation, 1999 07/30/24 13

 HSSB Configuration
S • Connection:
Connect PC and CNC Using Fiber Optical Cable.


e
r
v
o

Select HSSB Mode and Available CNC

G
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Copyright GE Fanuc Automation, 1999 07/30/24 14
 Main Bar
S
e
r • The Main Bar is Used To:
Set Communication Parameters


v Initialize Communication


o Call Help File




Set Auto-Hide Function

Call Parameter Window
G 
Call Graph Window

Call Program Window
u 
Call Tuning Navigator Window (Version  2.0)
i 
Exit Servo Guide

d
e
Copyright GE Fanuc Automation, 1999 07/30/24 15
 Parameter Window
S
• Load Parameter
e press [Parameter] on Main Bar


r
v
o

G
Load parameter form file - after selection of CNC type
u



Connect to CNC and read parameter online - CNC type automatic
i selected

d
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Copyright GE Fanuc Automation, 1999 07/30/24 16
 Parameter Window
S Function Group
Selection
Function Group
e Selection Tab Combo Box

r Axis Selection
Combo Box
v
o Servo/
Spindle Hint Display
Selection Check Box
G
u
i
d • Parameters Changed During On-Line Operation are
immediately Written Into the CNC!
e
Copyright GE Fanuc Automation, 1999 07/30/24 17
 Parameter Window (cont.)
S • Functions Available Via the Menu:
File: 

e Open New Parameter Window



Load Parameter Files from and Save to the Harddrive

r


Connect with, Disconnect from and Reconnect with the CNC



v Printing of Parameters (Only Possible While “Parameter Table” is

Selected)


o Edit: 

Clear All Parameters



Initialize Parameters With Standard Values Included in Servo



G 
Software
Move:
u Jump to Parameter Specified (Only Possible While “Parameter Table”


is Selected)
i 
Window:
d Open Another Parameter Window (Due to Resource Limitations not


Recommendable When Running under Windows 98 / ME)

e 
Help

Copyright GE Fanuc Automation, 1999 07/30/24 18

 Graph Window
S
e
r
v Menu
Toolbar
o
2 Comment
Lines
G
u
i Graph Draw Select
d Domain On-Line
Monitor
Panel

e
Copyright GE Fanuc Automation, 1999 07/30/24 19
 Graph Window (cont.)
S • Functions Available Via the Menu:
File: 

e Open New Graph Window



Load Waveform Data from and Save to the Harddrive



r Print the Diagram



Exit Graph Window



v Edit: 

o Copy Bitmap of Diagram to the Clipboard



Comm: 


Connect with and Disconnect from the CNC

Call On-Line Monitor
G 
Start and Cancel Measurement

Setup:
u 
Call Channel Setting Dialog

Call Operation Setting Dialog
i 
Load Settings from and Save to the Harddrive
Change the Scale of the Graph Domain
d


e
Copyright GE Fanuc Automation, 1999 07/30/24 20
 Graph Window (cont.)
S • Functions Available Via the Menu (cont.):
View:

e Toggle Display of Toolbar, Statusbar and Scrollbars



Toggle Display of Configured Drawing Channels and Reference

r


Channel
v Autoscaling for All Drawing Channels


Zooming of Horizontal and Vertical Axes



o Mode:

Selection of Available Drawing Modes




Tool:
G Measurement of Frequency Response


Display of Bode Diagram



u Linear Motor Torque Ripple Compensation (Version  2.0)



Tuning Navigator (Version  2.0)



i 
Help
d
e
Copyright GE Fanuc Automation, 1999 07/30/24 21
 Graph Window (cont.)
S • Functions Available Via the Toolbar:

New Window

e Read Stored Waveform Data




Save Waveform Data

r Copy Bitmap of Current Waveform to Clipboard




Print Waveform
Connect with CNC
v



Disconnect from CNC

o 


Show Channel Setting Dialog
Show Operation Setting Dialog

Set Origin

Start Measurement
G 


Autoscaling for All Drawing Channels
Shrink Horizontal Scale
u 


Expand Horizontal Scale
Shrink Vertical Scale

i Expand Vertical Scale




Select Draw
Change Viewpoint
d


e
Copyright GE Fanuc Automation, 1999 07/30/24 22
 Graph Window (cont.)
S • General Principle:
e
r
v
o

G
u
i 
To Display Data First an Operation has to be Selected to Process
d the Measurement Data!

e
Copyright GE Fanuc Automation, 1999 07/30/24 23
 Graph Window (cont.)
S • Channel Setting:
Set Number of Data Points (max. 100000)


e Sampling Cycle (62.5s - 100ms)



(62.5s Limits to 2 Channels,

r (125s Limits to 4 Channels)
Set Trigger
v


Sampling Cycle Spindle



o (500s - 100ms)
(500s, 1ms only i,
SIC Mode Only (DGN400#7=1))

Individual Channel Settings
G Via “Property…” Button

u 
Possibility of Data Shift
i 
Possibility of Time Shift
d
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Copyright GE Fanuc Automation, 1999 07/30/24 24
 Graph Window (cont.)
S • Operation Setting:
Select Graph Mode


e Select Operation


r Select Channels


v Select Unit of Measurement



Select Axis Type (N/P/A)



o Select Reference Program



G
u
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Copyright GE Fanuc Automation, 1999 07/30/24 25
 Graph Window (cont.)
S • Easy Graph Mode:
Method to Easily Select Standard Graph Types:


e XTYT 
Ctrl-T Raw Data Shown
VT Ctrl-V Velocity Display (1st Order Differential
r


done against All Position Channels)

AT Ctrl-A Acceleration Display (2nd Order
v


Differential done against all Position

o CIRCLE 
Channels)
Ctrl-B Circle Error Display

XY Ctrl-X XY Display

XTVT Ctrl-W Tangent Velocity Display.
G Draw1=Position of CH1. Draw2=Tangent
Velocity Made by CH1 and CH2.
u 
DXDY Ctrl-D Smoothness of Moving. Operation is
Done Only Against Position Channels.
i
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Copyright GE Fanuc Automation, 1999 07/30/24 26
 Graph Window (cont.)
S • Easy Graph Mode (cont.):
Method to Easily Select Standard Graph Types:


e CONTOUR 
Ctrl-O Contour Error Display. Contour Error
Between Reference Path and XY
r Path from CH1 and CH2
v XYR 
Ctrl-R Polar Coordinate Conversion.
Conversion from One Rotary and
o One Straight Axis to Two Straight
Axis. CH1=Straight Axis,
CH2=Rotary Axis.
FOURIER Ctrl-F Frequency Analysis.
G



Realization of Similar Shortcut Handling as in SD-Software.
u 
FOURIER Mode Can Only be Used in Easy Graph Mode.

i
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Copyright GE Fanuc Automation, 1999 07/30/24 27
 Graph Window (cont.)
S • Special Graph Mode:
Available Special Graph Types:


e Fourier 

Fourier Analysis Against the Vibrating Waveform. Magnitude and

r


Phase Will be Displayed.

v Frequency Response


Measures the frequency response of the velocity loop. The Result



o will be Displayed in a Bode Diagram.

G
u
i 
Scale Settings for Fourier and Frequency Response can be
Entered by Calling Up the Operation Setting Window and Selecting
d “Scale(Fourier)” or “Scale(Bode)”. These Settings are Only Visible,
if the Corresponding Graph is Selected.
e
Copyright GE Fanuc Automation, 1999 07/30/24 28
 Graph Window (cont.)
S • Smoothness Compensation for Linear Motor
(Version  2.0):
e
Calculates Necessary


r Parameters for Forward and

v Reverse Direction
Up to 5 Measurements in Each


o Direction to Calculate
Parameter Settings from the
Averages of the
Measurements
G
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Copyright GE Fanuc Automation, 1999 07/30/24 29
 Graph Window (cont.)
S • Frequency Response Measurement at Spindle
e
Set Disturbance Start Trigger DTQTRG


r (No. 4395#6=1)
v Define Start and End Frequency


(No. 4410, 4411)

o Specify disturbance torque value


(No. 4414)

Measure FREQ and Gain
G 
Sample in YT mode – switch to XY mode
and evaluate resonance frequency
u
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Copyright GE Fanuc Automation, 1999 07/30/24 30
 Program Window
S Menu Toolbar
e
r
v
o
Program
Path Box
G Program
u Condition
Setting
i
d Program
e Edit Box

Copyright GE Fanuc Automation, 1999 07/30/24 31

 Program Window
S
Transfer Programs into CNC or load from CNC
e


r
v 16i/ 18i/21i
o

G
u
i 30i/ 31i/ 32i
d
e
Copyright GE Fanuc Automation, 1999 07/30/24 32
 Program Window (cont.)
S • Functions Available Via the Menu:
File:

e Clear and Make New Program



Load/Save From File

r


Load From CNC



v Close Program Window



Reconnect


o Print Program


Exit i-Tune



Edit
G Cut, Copy and Paste


Search Through Program Text



u 
View
Toggle Toolbar Display


i 
Tool
d Transmission of Sub Program and Main Program


Delete Programs from CNC Memory



e
Copyright GE Fanuc Automation, 1999 07/30/24 33
 Program Window (cont.)
S • Functions Available Via the Toolbar:

Clear and Make New Program
e 
Open Program
r 
Load Program from CNC

Save Program
v 
Print Program
o 
Cut Selected Program Code

Copy Selected Program

Paste Cut/Pasted Program Code
G 
Download Sub Program
Download Main Program
u


i
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Copyright GE Fanuc Automation, 1999 07/30/24 34
 Program Window (cont.)
S • General Principle: Servo Guide NC

Place CNC in MDI Mode Main Memory for Program

e

Graph
Window
Program Program made
Select POSITION Display
 Window Sub-Program in Servo Guide

r
transmission

Download Sub Program


MDI Memory
Sub-program call made by
Download Main Program
v
 Main-Program Servo Guide automatically
transmission

o Press Cycle Start


Servo Guide
NC

Main Memory for Program


Main Program Executes Subprogram Graph Getting Data
Program made
Window
Program

Measured Data is Read by Window
in Servo Guide

G Servo Guide MDI Memory Execute Calling

Sub-program call made by

u
Servo Guide automatically

i Cycle Start

d
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Copyright GE Fanuc Automation, 1999 07/30/24 35
 Program Window (cont.)
S • Operation:
Select Program Mode
e


Select CNC Type



r Set Program Conditions



v Program Can be Edited



o Program Path is Displayed




Select Program Number

Download Sub Program
G 
Download Main Program
u 
Press Start Measurement Button in the Graph Window

Press “Cycle Start” on the Machine
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Copyright GE Fanuc Automation, 1999 07/30/24 36
 Tuning Navigator (Version  2.0)
S • Available Functions:
Initial Gain Tuning:


e Tuning of the Velocity Gain.



r HRV-Filter Tuning:


Tuning of the Resonance



v Elimination filters
Based Upon the Initial Gain


o Tuning

Gain Tuning
Automatic Increase of Gain Based


G Upon HRV-Filter-Tuning

High Speed & High Precision
u Tuning:
Tuning of the Parameters of the
i


Machining Condition Selection

d Function

e
Copyright GE Fanuc Automation, 1999 07/30/24 37
 Operation
S • Initialize Communication:
Enter Network Settings in CNC and PC Network as Described


e Before.
r Start Servo Guide


Select Communication Windows



v
Enter Desired IP-Address, Port Number


o and Timeout.

Press the Test Button.
Result=NG => Communication Failure


G Result=OK => Communication Working Properly



u Close Communication Setting Window by Pressing the OK Button




Hint:
i In Case of 2 Enabled Network Adapters a Communication Failure


can Occur. In This Case Disable the Other Network Adapter Until
d Communication Between Servo Guide and the CNC is Established.
e
Copyright GE Fanuc Automation, 1999 07/30/24 38
 Operation (cont.)
S • Typical Workflow:
Open Parameter Window


e Select Desired Axis, e.g. X



r Select Windows->New Window to Open Second Parameter



Window
v Select Desired Axis, e.g. Y


o Advantages of Two Simultaneously Open Parameter Windows:



Settings of Interpolating Axes Can be Seen at the Same Time =>



Avoidance of Different Settings.

Easier Handling.


G 
Open Program Window for Test Program Generation
u 
Generate Desired Testprogram and Download to CNC

Open Graph Window for Measuring
i 
Choose Proper Channel Settings and Operation Settings
d 
Run One Measurement and Store for Reference Purpose

Commence Tuning
e
Copyright GE Fanuc Automation, 1999 07/30/24 39
 Servo Guide Ver3.0
S • Major Changes:
Support Series 30i, 31i, 32i-MODEL A


e Series 30i parameter



Axis name expansion



Multi-path axis configuration

r


Program file name



Support inch-output machine in Parameter Window

v


Support Multi-path parameter handling in Parameter Window



o Support multi-path program handling in Program Window



But loader control path is not supported because of the limitation from
FOCAS1/Ethernet Library.

Advantages of Two Simultaneously Open Parameter Windows:
Settings of Interpolating Axes Can be Seen at the Same Time => Avoidance
G


of Different Settings.

Easier Handling.
u 
Add file association to graph data file (*.gdt) (Graph Window)
At saving graph data, default file name is brought up from comments or
i


measuring date/time (Graph Window)

At opening graph data, scale settings are restored without auto-scaling
d



The size of Graph Window is displayed at changing size for a few seconds

e
Copyright GE Fanuc Automation, 1999 07/30/24 40
S
e
r
v
o

G
u TECHNOLOGY AND MORE
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Copyright GE Fanuc Automation, 1999 07/30/24 41