Quick Start Guide

for ServoWorks CNC Products

! IMPORTANT!
DO NOT INSTALL THIS PRODUCT
WITHOUT READING THIS GUIDE.
THIS PRODUCT CANNOT BE
CORRECTLY INSTALLED
WITHOUT PROPER INSTRUCTION.
FAILURE TO COMPLY WITH
PRODUCT DOCUMENTATION WILL
VOID THE PRODUCT WARRANTY.

Soft Servo Systems, Inc.

411 Waverley Oaks Road, Suite 317
Waltham, MA 02452
U.S.A.
Tel: +1 (781) 891-9555
Fax: +1 (781) 891-3853
www.softservo.com

Revision 2.6
© 2011 Soft Servo Systems, Inc.
 Important Notice
The information contained in this pamphlet and related manuals is intended to
be used only for the purposes agreed upon in the related contract with Soft
Servo Systems, Inc. All material contained herein is subject to restricted rights
and restrictions set forth in the contract between the parties.

This pamphlet and related manuals contain confidential and proprietary

information that is not to be shared with, nor distributed to, third parties by any
means without the prior express, written permission of Soft Servo Systems, Inc.
No materials contained herein are to be duplicated or reproduced in whole or in
part without the express, written permission of Soft Servo Systems, Inc.

Although every effort and precaution has been taken in preparing this pamphlet
and related manuals, the information contained herein is subject to change
without notice. This is because Soft Servo Systems, Inc. is constantly striving to
improve its products. Soft Servo Systems, Inc. assumes no responsibility for
errors or omissions.

All rights reserved. Any violations of contractual agreements pertaining to the

materials herein will be prosecuted to the full extent of the law.

! IMPORTANT!
Service Pack 3 (SP3) for Windows XP is
compatible with RTX 8.1 with Service
Pack 1 (SP1), which is the version
currently provided with your
ServoWorks CNC product. However,
Service Pack 3 for Windows XP is NOT
COMPATIBLE with RTX 8.1 without
Service Pack 1, or with any earlier
versions of RTX.

For more information, see the

ServoWorks CNC Installation and Setup
Manual for your interface system
(VersioBus, Realtime Express or
MECHATROLINK), or see the
Installation Manual for Simulation
Versions of ServoWorks CNC Products.

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 Warning
The product described herein has the potential – through misuse, inattention, or
lack of understanding – to create conditions that could result in personal injury,
damage to equipment, or damage to the product(s) described herein. Machinery
in motion and high-power, high-current servo drives can be dangerous; potentially
hazardous situations such as runaway motors could result in death; burning or
other serious personal injury to personnel; damage to equipment or machinery;
or economic loss if procedures aren’t followed properly. Soft Servo Systems,
Inc. assumes no liability for any personal injury, property damage, losses or
claims arising from misapplication of its products. In no event shall Soft Servo
Systems, Inc. or its suppliers be liable to you or any other person for any
incidental collateral, special or consequential damages to machines or products,
including without limitation, property damage, damages for loss of profits, loss
of customers, loss of goodwill, work stoppage, data loss, computer failure or
malfunction claims by any party other than you, or any and all similar damages
or loss even if Soft Servo Systems, Inc., its suppliers, or its agent has been
advised of the possibility of such damages.

It is therefore necessary for any and all personnel involved in the installation,
maintenance, or use of these products to thoroughly read this pamphlet and
related manuals and understand their contents. Soft Servo Systems, Inc. stands
ready to answer any questions or clarify any confusion related to these products
in as timely a manner as possible.

The selection and application of Soft Servo Systems, Inc.’s products remain the
responsibility of the equipment designer or end user. Soft Servo Systems, Inc.
accepts no responsibility for the way its controls are incorporated into a machine
tool or factory automation setting. Any documentation and warnings provided
by Soft Servo Systems, Inc. must be promptly provided to any end users.

This document is based on information that was available at the time of

publication. All efforts have been made to ensure that this document is accurate
and complete. However, due to the widely varying uses of this product, and the
variety of software and hardware configurations possible in connection with
these uses, the information contained in this manual does not purport to cover
every possible situation, contingency or variation in hardware or software
configuration that could possibly arise in connection with the installation,
maintenance, and use of the products described herein. Soft Servo Systems, Inc.
assumes no obligations of notice to holders of this document with respect to
changes subsequently made. Under no circumstances will Soft Servo Systems,
Inc. be liable for any damages or injuries resulting from any defect or omission
in this manual.

Soft Servo Systems, Inc. makes no representation or warranty, expressed,

implied, or statutory with respect to, and assumes no responsibility for the
accuracy, completeness, sufficiency, or usefulness of the information contained
herein. NO IMPLIED WARRANTIES OF MERCHANTABILITY OR
FITNESS OF PURPOSE SHALL APPLY.

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 Overview
This pamphlet will explain which documents and manuals
you need to download and follow in order to properly set up
your ServoWorks CNC product, integrate it with your
machine tool, set up your PLC environment, test and tune
your system, write part programs, and operate your
ServoWorks CNC product.

Your required documents and manuals will vary depending

upon the product you have purchased, and the interface
system you are using.

In addition, for explanations of terms, refer to the Soft Servo

Glossary for ServoWorks CNC Products and SMP Series
General Motion Control Products, also available online.

! IMPORTANT!
The product contained herein is a
specialized, industrial product. It is not
a general consumer product. You
cannot properly install, set up or operate
this product without referring in detail
to the documentation for this product.

Product Documentation
The software and hardware documentation for the
installation, setup, integration and operation of the product(s)
contained herein can be found as follows:

URL: http://www.softservo.com/pub/users/
Username: users
Password: softservo

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 Troubleshooting
Visit Soft Servo Systems’ support center (technical FAQ) at:

URL: http://www.softservo.com/support
Username: ssscustomer
Password: 9555users

Contact Information
U.S. Office
Soft Servo Systems, Inc.
411 Waverley Oaks Road, Suite 317
Waltham, MA 02452, U.S.A.
Phone: +1 (781) 891-9555
Fax: +1 (781) 891-3853

Japan Office
Soft Servo Systems, Inc.
272-1 Norieda-cho, Minami-ku
Hamamatsu, Shizuoka 432-8053, Japan
Phone: +81-53-444-5771
Fax: +81-53-444-5773

Information: [email protected]
Sales: [email protected]

CNC Engine, LadderWorks, MC-Quad, Motion Engine, MotionLite, PLC Engine,

ServoWorks, SMP, SoftServo, and VersioBus are trademarks of Soft Servo Systems, Inc.

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 ServoWorks CNC Product
Installation for Simulation Editions
If you have purchased a Simulation Edition of a
ServoWorks CNC product, you will need to download and
follow the instructions in the Installation Manual for
Simulation Versions of ServoWorks CNC Products.

This manual will instruct you to:

 Check to make sure your PC complies with the minimum
requirements to run a ServoWorks CNC product
 Check your PC’s HAL type for compatibility with RTX, and
change your PC settings if necessary
 Check that you have the correct operating system patches for
your Windows operating system
 Install and register the ServoWorks CNC software (including
obtaining a license code for your ServoWorks CNC product,
and a license key for your Ardence RTX product)

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 ServoWorks CNC Product
Setup and Integration for the
VersioBus II Interface System
If you have purchased a ServoWorks CNC product for the
VersioBus II interface system, you will need to download and
follow the instructions in the ServoWorks CNC Setup and Integration
Manual for the VersioBus II Interface System and the Hardware
and Wiring Manual for the VersioBus II Interface System.

These manuals will instruct you to:

 Check to make sure your PC complies with the minimum
requirements to run a ServoWorks CNC product
 Check your PC’s HAL type for compatibility with RTX, and
change your PC settings if necessary
 Check that you have the correct operating system patches for
your Windows operating system
 Check that the Ethernet network card device driver is enabled
 Install and register the ServoWorks CNC software (including
obtaining a license code for your ServoWorks CNC product,
and a license key for your Ardence RTX product)
 Insert your VersioBus II adapter board
 Install and configure the device driver for your VersioBus II
adapter board (if you have purchased an FP-105)
 Connect your DC-155(s) to the VersioBus II adapter board and
set the proper dipswitch identification number(s)
 Connect your IM-305(s) (if applicable) to the VersioBus II
adapter board and set the proper dipswitch identification
numbers
 Connect a handwheel to the VersioBus II adapter board (if
applicable)
 Power up your VersioBus II components
 Reserve IRQ #5 for your VersioBus II adapter board (if you
have purchased an FP-85 or FP-114)
 Connect the servo drives to the DC-155(s)
 Connect your general I/O devices to the VersioBus II adapter
board, DC-155(s) and/or IM-305(s)
 Set up synchronous control with slave axes (if applicable)
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 ServoWorks CNC Product Setup and
Integration for the Panasonic Realtime
Express (RTEX) Interface System
If you have purchased a ServoWorks CNC product for the RTEX
interface system, you will need to download and follow the
instructions in the ServoWorks CNC Setup and Integration Manual
for the Panasonic Realtime Express (RTEX) Interface System.

This manual will instruct you to:

 Check to make sure your PC complies with the minimum
requirements to run a ServoWorks CNC product
 Check your PC’s HAL type for compatibility with RTX, and
change your PC settings if necessary
 Check that you have the correct operating system patches for
your Windows operating system
 Check that the Ethernet network card device driver is enabled
 Install and register the ServoWorks CNC software (including
obtaining a license code for your ServoWorks CNC product,
and a license key for your Ardence RTX product)
 Insert your RTEX adapter board
 Configure the device driver for your RTEX adapter board
 Physically connect the servo drives in your RTEX Ethernet
servo network, and configure the RTEX communication
settings on each node
 Integrate an optional AnyWireBus Gateway module in your
Ethernet servo network (for AnyWire I/O modules)
 Configure the RTEX system information file
 Set the ServoWorks CNC parameters for your RTEX system
 Set the A4N servo drive parameters using PANATERM or
ServoWorks MotionLite
 Set the absolute encoder reference position (if applicable)
 Set up synchronous control with slave axes (if applicable)
 Make A4N servo drive I/O connections
 Connect any optional AnyWire I/O modules
 Set up VersioBus II I/O components if you include optional
VersioBus II I/O in your RTEX interface system

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 ServoWorks CNC Product
Setup and Integration for the
MECHATROLINK Interface Systems
If you have purchased a ServoWorks CNC product for a
MECHATROLINK II or III interface system, you will need to
download and follow the instructions in the ServoWorks CNC Setup
and Integration Manual for the MECHATROLINK Interface System.

This manual will instruct you to:

 Check to make sure your PC complies with the minimum
requirements to run a ServoWorks CNC product
 Check your PC’s HAL type for compatibility with RTX, and
change your PC settings if necessary
 Check that you have the correct operating system patches for
your Windows operating system
 Check that the Ethernet network card device driver is enabled
 Install and register the ServoWorks CNC software (including
obtaining a license code for your ServoWorks CNC product,
and a license key for your Ardence RTX product)
 Insert your MECHATROLINK adapter board
 Reserve IRQ #10 for your MECHATROLINK adapter board (if
you have purchased the NT115)
 Install and configure the device driver for your MECHATROLINK
adapter board (if you have purchased the NT110, NT112 or MP2110)
 Physically connect the modules in your MECHATROLINK
network, and configure the MECHATROLINK communication
settings on each node
 Configure the MECHATROLINK system information file
 Register the NT110 or NT112 RealTime DLL (if you have
purchased the NT110 or NT112)
 Set the ServoWorks CNC parameters for your MECHATROLINK
system (the “encoder resolution” parameter is handled as a
special case for the MECHATROLINK interface system)
 Set the absolute encoder reference position (if applicable)
 Set up synchronous control with slave axes (if applicable)
 Set up VersioBus II I/O components if you include optional
VersioBus II I/O in your MECHATROLINK interface system

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 Testing and Tuning Your
ServoWorks CNC System
(excluding ServoWorks S-100T)
All ServoWorks CNC systems require testing and tuning to
tweak the system parameters and optimize system
performance for your motors and servo loops.

You will need to download and follow the instructions in

the ServoWorks MotionLite Operator’s Manual and the
Reference Manual for ServoWorks CNC Parameters and
Functions.

The ServoWorks MotionLite Operator’s Manual will

instruct you in how to set up, configure, test and tune your
ServoWorks CNC system. ServoWorks MotionLite allows
you to view and set motor parameters and servo loop
parameters and provides full real-time monitoring of
position and I/O signals, and data sampling and data
plotting of actual position, position command, position error
and velocity. ServoWorks MotionLite’s Test Mode allows
you to test the performance of the system with either
velocity (voltage) loop performance testing to calibrate the
system for smooth movements, or with position loop
performance testing to test rapid positioning. You can also
save and plot sample motion test data for position, position
error and velocity.

The Reference Manual for ServoWorks CNC Parameters

and Functions explains each system parameter: its
description, valid values, units, default values, limits, etc.

Upon completion of installation, setup and integration, we

highly recommend that you back up your current parameter
settings. Refer to the Windows Registry Reference Manual
for ServoWorks CNC Products and SMP Series General
Motion Control Products.

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 Testing and Tuning Your
ServoWorks S-100T System
ServoWorks S-100T systems require testing and tuning to
tweak the system parameters and optimize system
performance for your motors and servo loops.

You will need to download and follow the instructions in

the ServoWorks S-100T Operator’s Manual and the
ServoWorks S-100T Parameters Manual.

The ServoWorks S-100T Operator’s Manual will instruct

you in how to set up, configure, test and tune your
ServoWorks S-100T system. ServoWorks S-100T allows
you to view and set system parameters, and provides testing
functions for testing and tuning the system.

The ServoWorks S-100T Parameters Manual explains each

ServoWorks S-100T system parameter: its description, valid
values, units, default values, limits, etc.

Upon completion of installation, setup and integration, we

highly recommend that you back up your current parameter
settings. Refer to the Windows Registry Reference Manual
for ServoWorks CNC Products and SMP Series General
Motion Control Products.

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 LadderWorks PLC
Setup and Integration
All ServoWorks CNC products include LadderWorks PLC. You
will need to download and follow the instructions in the following
documents:

 LadderWorks PLC User's Manual – this document will instruct

you in using the LadderWorks Console and LadderWorks PLC
utilities to create a sequence program for PLC control of your
machine, as well as debugging and compiling that sequence
program.

 LadderWorks PLC Programming Language – Basic Commands

and Function Blocks – this document will explain the basic
commands and function blocks available for the ladder logic of
your PLC sequence program.

 LadderWorks PLC I/O Mapping for ServoWorks MC-Quad and

the ServoWorks S-100M Series and the LadderWorks PLC I/O
Mapping for ServoWorks S-100T document the details of the F,
G, X and Y signal mapping used by LadderWorks. Refer to the
LadderWorks PLC I/O Mapping for ServoWorks S-100T for the
ServoWorks S-100T product, and the LadderWorks PLC I/O
Mapping for ServoWorks MC-Quad and the ServoWorks
S-100M Series for all other ServoWorks CNC products.

 LadderWorks PLC Reference Manual – this manual is a

reference for the operation of the LadderWorks PLC Engine,
the memory addresses and static memory used by LadderWorks
PLC, the PLC axis control signals, and the LadderWorks PLC
architecture – you may or may not need to refer to this
document.

For ServoWorksPLC Application Suite users, please contact our

office for more information.

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 ServoWorks MC-Quad Operation
You will need to download the ServoWorks MC-Quad Operator’s
Manual, the ServoWorks MC-Quad Part Programming Manual,
and the ServoWorks CNC Macro Programming Manual. (There is
also a Quick Reference Guide for Soft Servo Macro Specifications
available.)

The ServoWorks MC-Quad Operator’s Manual will explain how

to operate ServoWorks MC-Quad: how to navigate, set the home
position, customize your display, monitor the status of operations,
lock or unlock axes, manually operate your machine tool, set tool
offsets and workpiece coordinates, prove a part program and run
production in Auto Mode.

The ServoWorks MC-Quad Part Programming Manual and the

ServoWorks CNC Macro Programming Manual will explain the G
codes you can use to create part programs, and how to create
macros for those part programs using system variables, mathematical
and logical operations, branching and repetition, etc.

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 ServoWorks S-100T Operation
You will need to download the ServoWorks S-100T Operator’s
Manual, the ServoWorks S-100T Part Programming Manual, and the
ServoWorks CNC Macro Programming Manual. (There is also a
Quick Reference Guide for Soft Servo Macro Specifications available.)

The ServoWorks S-100T Operator’s Manual will explain how to

operate ServoWorks S-100T : how to navigate, set the home
position, customize your display, monitor the status of operations,
lock or unlock axes, manually operate your machine tool, set tool
offsets and workpiece coordinates, prove a part program and run
production in Auto Mode.

The ServoWorks S-100T Part Programming Manual and the

ServoWorks CNC Macro Programming Manual will explain the G
codes (including canned cycles) you can use to create part
programs, and how to create macros for those part programs using
system variables, mathematical and logical operations, branching
and repetition, etc.

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 ServoWorks S-100M, S-120M and
S-140M Operation
You will need to download the Operator’s Manual for ServoWorks
S-100M, S-120M and S-140M, the Part Programming Manual for
ServoWorks S-100M, S-120M and S-140M, and the ServoWorks
CNC Macro Programming Manual. (There is also a Quick
Reference Guide for Soft Servo Macro Specifications available.)

The Operator’s Manual for ServoWorks S-100M, S-120M and

S-140M will explain how to operate ServoWorks S-100M, S-120M
and S-140M: how to navigate, set the home position, customize
your display, monitor the status of operations, lock or unlock axes,
manually operate your machine tool, set tool offsets and workpiece
coordinates, prove a part program and run production in Auto Mode.

The Part Programming Manual for ServoWorks S-100M, S-120M

and S-140M and the ServoWorks CNC Macro Programming
Manual will explain the G codes (including canned cycles) you
can use to create part programs, and how to create macros for those
part programs using system variables, mathematical and logical
operations, branching and repetition, etc.

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 ServoWorks Development Kit (SDK)
You will need to download the Programming Manual for the
ServoWorks Development Kit (SDK) and the ServoWorks API
(SWAPI) Reference Manual for C/C++ and Visual Basic.

The Programming Manual for the ServoWorks Development Kit

(SDK) explains the ServoWorks CNC technology and software
architecture, VersioBus communications and hardware, the base
software components, Ardence RTX, and how to set up your SDK
environment.

The ServoWorks API (SWAPI) Reference Manual for C/C++ and

Visual Basic explains each of the nearly 100 APIs available for
creating and customizing a ServoWorks CNC application: function
descriptions, function declarations, function parameters, possible
returns, examples and more.

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