[0000]: Human-machine module execution times
Definition:
When human-machine module is implemented each time, variable 0000 will be added 1
Description:
1. Observe to check whether human-machine module has been stopped abnormally if this variable is not added during the execution of human-machine module.
2. The faster variable 0000 is accumulated, the more human-machine module is executed, and it means human-machine responds quickly.
[0001]: Motion interpolation times
Definition:
When hardware interrupt signal (ISR) is triggered, variable 0001 will be added 1.
Description:
1. If hardware interrupt of axis card and address are set correctly, variable 0001 will be accumulated normally. If it is not accumulated, there are some problems with hardware, interrupt on axis card and address error. Alarm OP-001[Invalid axis board setting, IO will not work] will appear.
2. Theoretically, the cumulative speed in one time unit and frequencies of execution of motion interpolation module are related to parameter Pr3203.
[0002]: PLC scan times
One time PLC is completely scanned, variable 0002 will be added 1
Description:
1. Theoretically, the cumulative speed in one time unit and scanning times of PLC ladder are related to parameter Pr3204.
[0003]: I/O scan times
Definition:
One time controller reads and writes all IO, variable 0003 will be added 1.
Description:
1. Theoretically, the cumulative speed in one time unit and the times that controller reads and writes all IO are related to parameter Pr3202.
2. On the principle, if the cumulative speed is slower than PLC scan times, it means parameter is set inappropriately.
[0004]: Motion interpolation time
Definition:
The interval between two times hardware interrupt (ISR) is triggered, Unit: (usec)
Description:
1. SUPER controller, variable 0005 is approximately Pr3204/1000*983; 10 and EZ serial controller is Pr3204/1000*819; 20 serial is Pr3204.
2. If variable 0005 is different from above value, please refer to setting parameter in handbook to check whether Pr 11 is set correctly.
[0005]: PLC scanning time
Definition:
Scanning time of PLC, unit: (usec)
Description:
1. SUPER controller, variable 0005 is approximately Pr3204/1000*983; 10 and EZ serial controller is Pr3204/1000*819; 20 serial is Pr3204.
2. If variable 0005 is different from above value, please refer to setting parameter in handbook to check whether Pr 11 is set correct.
[0006]: SRAM writing times.
Definition: CF card writing times
Description:
1. Reading and writing life cycle of CF card is about one million times. When variable 0006 is larger than one million, users should change CF card.
2. Reference diagnosed variable 020, 021, and 022.
[0007]: Kernel Free memory
Definition:
Free memory of Kernel, Unit: Byte
In reality, this value is minimum value of free system memory (0007) and free hardware memory (0077)
Description:
1. Small variable 0007 causes system unstable or crash. If variable 0007 is lower than 1M(1000000) or 100K(100000), alarm OP-007 [Low memory, memory space is less than 1M] or Op-008 [Fatal low memory, memory space is less than 100K] will appear.
[0008~0011]: X/Y/Z/C axis following error
Definition:
Error between position command and position feedback of each axis
Calculation: [X/Y/Z/C axis following error ID-008~011] = [X/Y/Z/C axis absolute position command ID-040~043] –[X/Y/Z/C axis absolute position feedback ID-024~027], Unit: BLU
Description:
1. This variable is present and real following error. It is used to check motion backwardness of each axis.
2. For static axis, this error is called static error. In theory, it is equal to zero. However, if it is greater than Pr561~, alarm MOT-008 [Loss Pulse] will appear.
3. For dynamic axis, this error is called dynamic error. In theory it is smaller than [allowed following maximum error ID-016~019]. If not, alarm MOT-019
4. [Following error exceed], even MOT-023 [Fatal following error exceed] will appear.
5. When each axis moves, variables [0008~0011] and [reasonable following error ID-032~035] should be quiet close. If not, please check whether drive position loop gain and setting parameter Pr181~ are the same, driver feedforward or command filtering function is not closed. Of course, abnormal wire connections may be also reason.
[0012]: Spindle DA value
Definition:
Spindle DA value sent by axis card. Unit (mV)
Description:
Theoretical value = (spindle speed command/Pr1671)*1000. Frequency spindle model (R1791=0), or without frequency spindle model (R1791=2). Output voltage value for spindle of controller is only correct when parameter 386 is set 1 (Pr386=1~)
[0013]: Maximum tapping synchronous error (Based on feed axis unit)
During tapping, maximum error of Z axis following spindle, Unit: BLU
Description:
1. During tapping, the smaller difference between maximum and minimum tapping synchronous error (ID-014) is, the better it is. It means tapping has high precision. For more details, please see [EMC2_C005 in handbook]
2. For multi-axes group or spindle system, this variable has different definition according to R21 and R791~794. For example, When R21=0 or 1, this variable is defined as the tapping information of the major spindle in 1st axis group; When R21=2, this variable is defined as the tapping information of the major spindle in 2nd axis group; When R21=3, this variable is defined as the tapping information of the major spindle in 3rd axis group; When R21=4, this variable is defined as the tapping information of the major spindle in 4th axis group.
[0014]: Tapping synchronous error (Based on feed axis unit)
Definition:
During tapping, the dynamic synchronous error, Unit: BLU
Description:
1. For more details, please see [EMC2_C005 in handbook].
2. For multi-axes group or spindle system application, please consult
[0015]: Tapping synchronous error (Based on spindle unit)
Definition:
During tapping, the dynamic synchronous error, Unit: BLU
Description:
1. For more details, please see [EMC2_C005 in handbook]
2. For multi-axes group or spindle system application, please consult
[0016~0019]: X/Y/Z/C allowed following maximum error
Definition:
During spindle moving, allowed maximum value of following error
Description:
1. Theoretical value = Max (Pr461~, Pr821~)/Pr181~/60*1000.
2. [following error ID-008~010] exceeds value, alarm MOT-019 [Following error exceed] will appear.
3. [following error ID-008~010] exceeds twice the value, alarm MOT-023 [Fatal following error exceed] will appear.
[0020]: consecutive failure times of writing registry file
After booting, consecutive failure times of writing registry file (registry.dat) will be recorded in variable 0020
Description:
1. If variable 0021 exceeds 100, alarm OP-026 [Machine data file fault error, re-calibrate before machining and do scandisk] will appear.
[0021]: failure times of writing registry file
Definition:
After booting, the number of times that registry file (registry.dat) cannot be written will be recorded in variable 0021.
Description:
1. If variable 0021 exceeds 100, alarm OP-025 [Machine data file write fail many times, re-calibrate before machining] will appear.
[0022]: Allowed times of writing permanent data
Definition:
Times of writing CF card that system allows currently
Description:
1. After booting, the default value is 100, each time that registry file (registry.dat) is written, variable 0022 will be subtracted 1. When this variable is equal to 0, there is no way to write. The purpose is to avoid CF card being written too much.
2. Each 30 seconds, this variable is accumulated 1. It can reach 1000. The normal range is 100~1000. The bigger the variable is, the better it is. If it will be abnormal if this variable is close or equal to 0. Please check the memory field or change frequency of variable.
[0023]: Percentage actual time motion interpolation
Percentage of theoretical and actual motion interpolation time
Description:
Normally this variable is in range 99~101. When abnormal phenomenon appears, please check whether Pr9 - servo type and Pr11 - servo board clock source is set correctly.
[0024~0027]: X/Y/Z/C axis absolute position feedback
Definition:
Position feedback of axial motor, Unit: BLU
Description:
1. [X/Y/Z/C axis following error ID-008~011]
[X/Y/Z/C absolute position command ID-040~043]
[X/Y/Z/C absolute position feedback ID-024~027]
2. Without absolute encoder, this variable will be equal to zero after finishing the first home search.
[0028]: Spindle angle (related to index signal)
Definition:
Spindle motor compares the index signal of position feedback, Unit: (mDeg)
Description:
1. This variable is used to compare spindle with index signal (Index, Z-phase or C-phase) of position feedback to confirm whether position of spindle is correct
2. Transmission mechanism (V-belt) can cause slipping phenomenon and cause error. Therefore, installing spindle encoder on spindle side (Pr1811=0) will be more credible
[0029~0031]: The 1st / 2nd/ 3rd MPG absolute position counter
Definition: pulse accumulated value of MPG
Description:
1. This variable can be used to check whether input signal pulse of MPG is normal. If after turning one turn, you discover this value is abnormal, please check whether Pr2021~, Pr2041~and Pr2051~ are set correctly or wire of MPG is normal (lose connection, MPG power, A+, A-, B+, B signal…)
[0032~0035]: X/Y/Z/C reasonable following error
Definition:
Theoretical position following error of each axis
Calculation: Speed in command (mm/min,deg/min)/60/Pr181~, Unit: BLU
Description:
This variable displays theoretical following error of each axis, it should be near to [reasonable following error ID-032~035]. If not, please check whether drive position loop gain and setting parameter Pr181~ are the same, driver feedforward or command filtering function is not closed. Of course, abnormal wire connections may be also a reason.
[0036~0037]: Reservation
Definition: Reservation
Description: Reservation
[0038]: System temperature (Celsius)
Definition: display the current temperature inside controller
Description:
1. It will be very good if this temperature is near to room temperature. Keep it lower than 50oC.
[0039]: CPU temperature (Celsius)
Definition: display the actual temperature of CPU
Description:
1. It will be very good if this temperature is near to room temperature. Keep it lower than 75 oC.
2. If it exceeds 80 oC in more than 6 minutes, controller will send alarm MLC-57 [CPU temp too high, exceed 80 oC]
3. Under normal condition of use, this variable cannot exceed [ID-038 System temperature (Celsius)] 30 oC. If this variable exceeds [ID-038 System temperature (Celsius)] 30 oC, please check whether cooling fan of controller operates correctly or whether heatsink and cooling pads of CPU are off.
[0040~0043]: X/Y/Z/C axis absolute position command
Definition:
When controller sends command to each axis card, cumulative command of each corresponding axis will be written in this variable. Unit: BLU
Description:
1.
[X/Y/Z/C axis following error ID-008~011]
[X/Y/Z/C absolute position command ID-040~043]
[X/Y/Z/C absolute position feedback ID-024~027]
This variable is the position command that controller send to; therefore, it is not necessarily equal to [X/Y/Z/C axis machine coordinate ID-072~075], because it still contains mechanism compensation (backlash, pitch, temperature, sharp corner).
Without an absolute encoder, this variable will be equal to zero after finishing the first home search.
[0044]: Spindle speed command
Definition: Effective spindle speed, Unit: BLU
Description:
1. Check whether effective spindle accepts speed command
[0045~0047]: Reservation
Definition: reservation
Description: reservation
[0048~0051]: X/Y/Z/C Axis position index counter
Definition:
When Feedback index signal of each axis is generated, hardware will record the number of pulse (latch).
Description:
1. Theoretically, the variable increment of update each time at the same direction has to be equal to Pr61~*Pr81. If not, it means hardware line has been lost pulse, please check the feedback signal (A+,A-,B+,B-,C+,C-) to confirm whether this problem is wiring or noise interference.
[0052]: Spindle position index counter
Definition:
When Feedback index signal of spindle is generated, hardware will record the number of pulse (latch).
Description:
1. Theoretically, the variable increment of each time update has to be equal to Pr1651*Pr1661. If not, it means hardware line has been lost pulse, please check the feedback signal (A+, A-, B+, B-, C+, C-) to confirm whether wiring problem or noise interference.
2. This variable will be zero after finishing location spindle (C61).
[0053]: Reservation
Definition: reservation
Description: reservation
[0054]: Interpolation Timeout Times
After axis card is interrupted, Kernel will check buffer command on axis card to know whether buffer command has been executed properly (fetch). Otherwise, it means computation time of the last motion interpolation exceeds [Motion interpolation time ID-004] and variable 54 is incremented by 1.
Description:
It will be abnormal if variable 54 is not equal to 0, please try to adjust slightly Pr3203 to see whether it is improved. If it is still not efficient, CPU or axis card could be damaged.
[0055]: Reservation
Definition: reservation
Description: reservation
[0056~0059]: X/Y/Z/C axis offset limit
During home search of each axis, A is the distance from disappearance of homing signal to appearance of motor (or optical scale) feedback signal. B is the distance that motor creates when it turns 1 turn.
Variables [0056-0059] are defined as A/B. Unit: %
Description:
Suggest initial value of this variable is (20%-80%). If it is not in that range, enable home grid function (Pr941~=1).
[0060~0063]: Reservation
Definition: reservation
Description: reservation
[0064~0067]: X/Y/Z/C axis following error of feedforward compensation
After opening feedforward compensation, following error of each axis will be reached
Description:
1. To open feedforward compensation, let parameter Pr581>0, theoretical value= velocity command of X axis/ ((parameter Pr181/ (parameter Pr581/100))).
When position Kp (Pr181) doesn’t change, the greater feedforward value (parameter Pr581) is, the smaller variable displaying following error is.
2. If feedforward fits target compensation, following error has little change. Too large setting value will exaggerate compensation and it makes machine shaken and machining trajectory undercut.
[0068]: failure times of axis card synchronization
Definition:
After axis card is interrupted, Kernel will check buffer command on axis card to know whether buffer command has been executed properly (fetch). Otherwise, it means the hardware executing DDA interpolation cycle and hardware interrupting trigger cycle are non-synchronized, and variable 68 is incremented by 1
Description:
It will be abnormal if variable 68 is not equal to 0, please check whether interrupt setting of axis card is correct. If setting is correct, axis card could be damaged.
[0069]: Abnormal times of absolute recorder
Definition:
Each time executing motion interpolation, controller will read all axial position feedback pulse. If the difference between reading value and the last value exceeds 10000, controller will diagnose that it is because of unreasonable value of position feedback, and variable will be added 1.
Description:
It will be abnormal if variable 69 is not equal to 0, please check whether interrupt setting of axis card is correct. If setting is correct, axis card could be damaged.
[0070]: Abnormal value of absolute recorder
Definition:
When [Abnormal times of absolute recorder ID-069] is added 1, abnormal value of position feedback pulse will be recorded in this variable.
Description:
It will be abnormal if variable 70 is not equal to 0, please check whether interrupt setting of axis card is correct. If setting is correct, axis card could be damaged.
[0071]: Absolute recorder Abnormal axial
Definition:
When [Abnormal times of absolute recorder ID-069] is added 1, Axis number that has abnormal phenomenon will be recorded in this variable. Range 1~16
Description:
It will be abnormal if variable 71 is not equal to 0, please check whether interrupt setting of axis card is correct. If setting is correct, axis card could be damaged.
[0072~0075]: X/Y/Z/C axis machine coordinate
Definition: display the machine coordinates of each axis, Unit: BLU
Description:
1. Use to check whether machine coordinate of each axis is correct.
2. For non-absolute encoder, after finishing the first time home search, this variable will be equal to zero.
[0076]: CNC2 firmware version
Definition: firmware version of chip on the axis card
Description:
If necessary, you can confirm the firmware version of chip on the axis card to classify the issue.
[0077]: CE: Free hardware memory
Definition: actual free hardware memory, Unit: Byte
Description:
Too small variable causes system unstable or crashed, when free hardware memory is smaller than 1M (1000000) or 100K (100000) alarm OP-007 [low memory, memory space is less than 1M] or OP-008 [Fatal low memory, memory space is less than 100K] will appear
[0078]: CE: HMI
free memory / DOS: PLC version
Definition:
1.CE6.0: The free memory,
Unit: Byte
2.DOS: Display PLC R1019
In reality, this value is minimum value of HMI free memory (0078) and free hardware memory (0077)
Description:
If necessary, you can confirm the PLC version to classify issue
.
[0079]: Software version
Definition: software version of controller
Description:
If necessary, you can confirm the controller software version to classify issue