Mori MVJR Build Log

If you have a 0-10V analog spindle/servo drive, a 9V battery with 1K series resistor
(resistor is for safety in case you connect it to the wrong thing)
makes good test signal (you should get 9/10s full speed if the drive is enabled)

What documentation do you have for the drive?

Here is the docs for the drive.

www.drives.com/site/dmspindle.nsf/link2/...le/SIE-S626-1.2D.pdf

See page 20
I have the connections are to:

ANALOG SPEED COMMAND 9 and 10.

I am reading -24 V from these wires, I think they should not have any voltage.

Just for curiosity I tested the voltage with EMC machine off and the -24V is still there.
I guess i will start by tracing those wires down to verify that they are the right wires.

I traced the wires from where they connect to the 7i48 to 1CN on the SDU, there is continuity.

I wonder why those wires would have -24V?

Good question, is it possible you have something else connected to 1CN thats doing this?

Note that it is a very bad idea to connect the 7I48 to _anything_ on the spindle drive
this until the -24V problem is figured out

Thanks to your help it is 90% fixed.
I never would have thought to check those voltages.

The problem was a mixed up wire,an E7 was mixed up with an F7.
Note to self, don't use masking tape to label wires anymore.

Fixing that made the MPG work too, funny how having the wires connected to the right place matters.

Getting the kids out of the shop, with some peace and quiet and help from people that know what they are doing makes all the difference in the world.

So now, if I use MDI mode it can take S5800 rpm and my tachometer says is is 25 RPM high
If I try much higher, it just stops the spindle, the scale is set to 6000,
I'm guessing the correction for this might be to reduce the 6000 scale to whatever makes the RPM right or adjust a pot or some combination of the 2. Anyhow that is really good enough.

The only odd thing is when using the manual page, the spinlde still turns very slow (like 5rpm), and pressing the rpm increase button doesn't seem to do much if anything.
I guess there must be something I need to do in HAL to set the manual spindle control.

Believe it or not, I think I am ready to try a test cut,
I lost track of when I started this and I hope I can write up a paper explaining for someone like me that doesn't know what they are doing how to make this work. I dod learn a lot but there is no way I could have done this alone in a million years.

The only major thing eft undone is the tool changer, I need to catch my breath, make a few parts then take another swing at Classic Ladder.

Two minor to ToDo items is the feed and speed override knobs, I just haven't tried the code I have for those yet.

I’m starting to look into the tool changer; this is the data I have collected so far.
I’m wondering if all this can be handled by Classic Ladder.
If this is too complicated, maybe I can just forget the tool changer.

The machine is the same as this video:



The magazine and tool changer share a motor, forward/reverse direction switch and brake.
A cam mechanism moves the ATC arm up and down and also turns it. I haven’t taken all the covers off to see exactly how it works (and hope not to).

The tool magazine holds 16 tools.
It has three limit switches (LS is the abbreviation for Limit Switch)

Limit Switch 10 A Signal 0 on each pot, 1 between each pot
Limit Switch 11 B Signal 1 on each pot, 0 between each pot
Limit Switch 12 Z Signal 0 on pots 1-15, 1 at pot 16

Magazine has a brake that is applied some time (set by a variable for tuning) after the magazine rotation has been turned off.

Magazine Indexing and pot counting

If the magazine has not been indexed (previously passed pot 16), any T command causes the magazine to rotate until it reaches pot 16, then it continues to the called pot.

If the magazine has been indexed, a T command rotates the magazine to the called tool. The magazine can rotate forward or backwards but rotating in only one direction would be fine.


M6 Command
- Check Readiness
-- The Magazine must have been indexed
-- The Z-axis must be in the home position
-- The Y-axis must be between –3.00” and –16.00”
-- The Arm must be at the origin (LS21 ARM_HOME_POSITION)

- Orient Spindle
-- If Spindle index pin is in (LS19 ORIENT_PIN_IN_OK):
-- The spindle is oriented.

-- If Spindle index pin is not in (LS19 ORIENT_PIN_IN_OK):
--- Output: Spindle Torque Limit on (SPINDLE_TORQUE_LIMIT)
--- Output: Spindle speed to 10 RPM (S10)
--- Output: Rotate spindle forward (M3)
--- Output: Spindle pin in (ORIENT_PIN_IN)
--- Input: Spindle pin in (ORIENT_PIN_IN_OK)
--- Output: Spindle stop (M5)
--- The spindle is oriented.

- Change Tool
-- Output: ATC_POT_DOWN
-- Input: POT_DOWN_OK (LS17) on
-- Output: ATC_MAG_AND_ARM_FWD + MOVE_ARM on
-- Time delay?
-- Output: TOOL_UNCLAMP on
-- Output: TOOL_UNCLAMP AIR SHOT on
-- Input: ARM_DOWN (LS15)
-- Arm turns 180 degrees
-- Input: ARM_DECELERATION (LS14)
-- Time delay?
-- Output: ATC_MAG_AND_ARM_FWD + MOVE ARM off
-- Output: Arm Brake On (ARM_BRAKE)
-- Time delay?
-- Output: Arm Brake Off (ARM_BRAKE)
-- Time delay?
-- Tool raised into pot and spindle
-- Output: TOOL_UNCLAMP AIR SHOT off
-- Output: TOOL_UNCLAMP off
-- Arm rotates back to home position
-- Output: TOOL_UNCLAMP AIR SHOT off
-- Input: TOOL_CLAMP_OK (LS18)
-- Output: ATC_MAG_AND_ARM_REV + MOVE_ARM on
(Not sure if motor needs to reverse because turning the shaft in one direction seems to reverse the arm at some point, still confused about how this works, I guess the covers have to come off)
-- Arm rotates toward home
-- Input: ARM_DECELERATION (LS14)
-- Output: ATC_MAG_AND_ARM_REV + MOVE_ARM off
-- Output: POT_UP
-- Input: POT_UP_OK (LS16)

Tool change done.