RichAuto AutoNow F141 User Manual Download Page 55

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北京锐志天宏科技股份有限公司

Beijing RichAuto S&T Co., Ltd

Forging ahead, create future together!

Appendix 1. Pulse equivalent calculation

PS1.1 Stepper motor drive

PS1.1.1 Linear axis

Unit:Pul/mm

Formula = pulses per revolution / distance per revolution

Numerator:

Pulses per revolution formula: (360 °/stepper angle* Driver subdivision)

(Some stepper drivers mark pulse number directly).

Denominator:

Distance/revolution formula:

►

Screw drive

screw pitch*mechanical transmission ratio(reduction ratio)

►

Rack

（

straight

）

drive = rack module*gear teeth number*π*mechanical transmission

ratio (reduction ratio)

►

Rack

（

helical

）

drive = rack

module*gear teeth number*π*mechanical transmission

ratio(reduction ratio)/cos

（

helical angle

）

►

Pulley & belt drive = π*pulley diameter*mechanical transmission ratio(reduction ratio)



Screw drive



pulse =

360

Stepper angle

∗Driver subdivision

Screw pitch∗transmission ratio

E.g.1: Driver nameplate1 E.g.2:Driver nameplate2 Motor nameplate/ stepper angle=1.8°

Explain:

Stepper angle is the data of motor, means the angle of motor rotating for a single

step. Driver subdivision is set in the driver.

Summary of Contents for AutoNow F141

Page 1: ...ied in F141 4 axis linkages controller Free download from http www richauto com cn 北京锐志天宏科技股份有限公司 Beijing RichAuto S T Co Ltd Add 5F No 4 building No 4 Yard Shengmingyuan Road Zhongguancun Life Science Park Beiqing St Changping District Beijing 102206 China Tel Fax 86 010 53275118 53275119 Website1 www richauto com cn Website2 www richnc com cn ...

Page 2: ... U disk to prevent the interruption of data transmission 4 Strictly prohibited metal dust and other conductive substances drop into the handheld controller shell 5 The machine casing shall be well grounded to ensure work safety and prevent interference 6 Unauthorized removal is strictly prohibited no internal user repairable parts 7 For long time not using please power off and keep it properly 8 B...

Page 3: ...N 8 2 1 BUTTONS INTRODUCTION 8 2 2 BUTTONS USAGE METHODS 8 2 3 BUTTONS FUNCTION DETAILS 10 3 RICHAUTO WIRING BOARD DESCRIPTION 12 3 1 WIRING BOARD TERMINAL DESCRIPTION 12 3 2 I O DESCRIPTION 13 3 3 HARDWARE WIRING 15 3 4 COMMISSIONING OF THE MACHINE AND CONTROL SYSTEM 18 4 MENU DESCRIPTION 19 4 1 MENU CATEGORY 19 4 2 MENU DETAILS 20 4 2 1 User Setup 20 4 2 2 File Operate 24 4 2 3 Machine Setup 25 ...

Page 4: ... 42 5 6 1 Find Breakpoint 42 5 6 2 Break List 43 5 6 3 Part Work 45 5 6 4 PwrFlrProtect 45 5 7 ADVANCED WORK 46 5 7 1 Array Work 46 5 7 2 Scale Work 47 5 7 3 Mill Plane 48 5 7 4 Auto Center 49 5 7 5 Calc Border 50 APPENDIX 1 PULSE EQUIVALENT CALCULATION 51 PS1 1 STEPPER MOTOR DRIVE 51 PS1 1 1 Linear axis 51 PS1 1 2 Linear axis pulse equivalent computing method 53 PS1 1 3 Rotary axis pul 54 PS1 1 4...

Page 5: ...udden power down file name current line number work speed spindle state After powered up and returned HOME position the system automatically prompts the user to restore the processing before power down which makes processing operations become more humanity 5 Support breakpoint memory select file line No processing Can save 8 different breakpoint processing information 6 Multi coordinate memory fun...

Page 6: ...Product parameters Model No RichAuto F141 CPU DSP Power failure protection Support Built in memory 512MB Breakpoint processing 8 Display screen 128 64 Monochrome LCD External supply voltage DC 24V Communication port U disk Manual mode Continuous step distance Linkage axis 4 axis Interpolate method Straight line arc spline curve Control signal Differential signal Soft hard limit Support Driving sys...

Page 7: ...ystem composition 1 1 System composition RichAuto F141 motion control system contains the following parts Handheld controller Hereinafter called handle wiring board data transmission cable RichAuto schematic diagram of system accessories Handle Wiring board Data transmission cable USB extension cable ...

Page 8: ...luding 4 parts 1 RichAuto LOGO 2 LCD screen 128 64 resolution LCD screen displays the machine motion system settings and other information 3 Key section Contains 24 buttons for system parameter settings and machine movement control 4 Data transmission cable The handle communicates with the interface board through a handheld connection line ...

Page 9: ...1 Motor driver control terminals Contains X Y Z A axis motor drivers output ports 2 Output terminal Including Spindle On Off Run lamp Alarm lamp output signal ports etc 3 Input terminal Including HOME sensor tool setter driver alarm hard limit E stop signal foot pedal switch input signal ports 4 Hub Management Interface Be used for connecting the metal end of the Data transmission cable ...

Page 10: ...the internal storage space of the system To copy and paste the processing file through this method The setting method is as shown below 1 Enter the IP address such as ftp 192 168 1 16 of the controller into the address bar of the Explorer press Enter key 2 User can upload download and rename the file after it entering into the controller inner space 1 3 Wiring board installation dimensions Scale 1...

Page 11: ... enter into HOME TYPE interface and manual control interface 2 Emergency starting If normal starting cannot show any words or manual interface emergency starting is required Power off the system first then push and keep pressing power on the controller and waiting for 3 5 seconds Release it will get into Emergency State at that time user could either set network upgrade system or just normal resta...

Page 12: ...ovides 2 modes of button operations including one touch key Combination keys 1 One touch key Press 1 key on the handheld controller keypad is executing the single key operation 2 Combination keys Press 2 keys at the same time to achieve certain function is executing combination keys operation The operation steps press one main function key not release it meanwhile press a second auxiliary function...

Page 13: ...oth of them at the same time Common Used Combination Keys List Combination keys Function 1 0 9 numeric key Coordinate switching 0 is mechanical coordinate 1 9 is working coordinate 2 Switching spindle shifts in manual mode 3 The last time processing repeat machining 4 Exit keyboard detection interface Note Users can also find the corresponding combination keys operation list at the back of the han...

Page 14: ...ative movement figure 2 and 6 input work speed ratio increasing under AUTO mode Z axis positive and negative movement figure 3 and 7 input Spindle speed increasing under AUTO mode Z axis positive and negative movement figure 4 and 8 input Set X axis and Y axis work origin Set Z axis and A axis work origin Start resume work combination function Enable advanced processing function such as array work...

Page 15: ...input Manual speed High Low switching work mechanical coordinates switching in AUTO mode Decimal point input control spindle ON OFF in MANU mode Enter into menu settings minus input view machining information during processing Return reference point work origin OK key of all selections inputs and operation Manual motion states Continuous step distance 3 modes switching in MANU mode RUN file or PAU...

Page 16: ...北京锐志天宏科技股份有限公司 Beijing RichAuto S T Co Ltd Forging ahead create future together 12 3 RichAuto Wiring board description 3 1 Wiring board terminal description ...

Page 17: ...isted pair can improve anti jamming ability D X axis negative and differential Signal Y_AXIS P Y axis pulse positive and differential signal P and P are pulse differential pair signals Using twisted pair can improve anti jamming ability P Y axis pulse negative and differential Signal D Y axis positive and differential signal D and D are direction differential pair signals Using twisted pair can im...

Page 18: ... ability D C axis negative and differential signal Spindle1 FWD 1 Spindle forward signal Support 0 10V analog quantity OA1 Analog output 1 GND Ground signal Spindle2 FWD 2 Spindle forward signal Support 0 10V analog quantity OA2 Analog output 1 GND Ground signal OUTPUT SIGNAL Y01 Spindle FDW REV No need to connect Y01 if the FWD and DCM is parallel connected Y02 Standby output port Logic low Y03 A...

Page 19: ...w support tool setting and instrument X06 Driver alarm Logic low X07 E stop Logic low X08 Foot petal switch Logic low X09 Inverter alarm Logic low X10 Definable Logic low X11 Definable Logic low X12 Definable Logic low X13 Definable Logic low X14 Definable Logic low X15 Definable Logic low X16 Definable Logic low COM Common Ground signal for active sensor 24V Sensor power output Provide 24V workin...

Page 20: ...PUT SIGNAL terminal Main power supply terminal Output terminal X Y Z A axis pulse signal output terminal OUTPUT terminal Input terminals Main power supply wiring INPUT SIGNAL WIRING 1 ZERO point HOME X Y Z and A axis wiring methods are the same 2 Tool setting Simple constructed touch off plate wiring ...

Page 21: ...open Take the driver alarm as example If the alarm signal is normally closed wiring method is series connection Meanwhile revise the voltage level of X5 If the alarm signal is normally open the wiring method is parallel connection Output terminals X axis pulse signal wiring Y Z and A axis pulse signal wiring are the same Step drive ...

Page 22: ...he motion direction If the motion direction is opposite change the motor phase sequence A A or B B or revise servo parameters Refer to the servo driver user s manual 2 According to the original location of the machine coordinates user can enter into Menu Machine Setup Home Setup Home Dir to reset it 3 Press Voltage Level the top row stand for input voltage to check whether the HOME switch is worki...

Page 23: ...etup This menu is used to set processing parameters G code attributes etc 2 File Operate Copy file from U disk to inner storage space and delete inner file 3 Machine Setup To set relative parameters about machine hardware 4 System Setup Change Chinese or English language backup parameters and restore factory setting 5 Version View Users can view information about the system hardware and software e...

Page 24: ...orkSpd Processing program executes interpolation speed of instruction which includes G01 G02 and G03 system default is 3000 mm minute FastSpd Processing program execute movement speed of G00 instruction system defaults is 3000 mm min SpdScale Actual processing speed Work Speed Auto Scale System defaults the auto scale doesn t affect the fast speed CycleCnt System default is 1 user can modify it by...

Page 25: ...all height FallSpd The maximum speed of Z axis when falling down Unit mm min 4 Final Action Stop position of axis when the processing is finished Including pick up Z axis back to work origin back HOME back position none move Set a special stop position Press move cursor to where user wants to modify press and input new coordinate values one by one then press to save the changes Press to enter into...

Page 26: ...tance Set distance in manual Low speed grid Point distance of working in low speed mode High speed grid Point distance of working in high speed Manu Type Tradition traditional Manual motion Point movement Manual motion of pointing 7 Array Param XDirCnt The array number along X axis YDirCnt The array number along Y axis Interval System defaults 0 it means not wait X Space The space along X axis Uni...

Page 27: ...al default 0mm Lift Spd The tool lift speed when running a 2D file default 3000mm min Fall Spd The tool fall speed when running a 2D file default 3000mm min 9 G Code Attrib Set special codes reading attribute in the G code file to make changes according to the actual needs PS Blue parts indicate system default attributes Setting Press move cursor to where needs to modify press and select then pres...

Page 28: ...XF Configuration Tool Height It refers to the tool pickup height specified in the DXF file Unit mm Processing Depth It refers to the processing depth specified in the DXF file Unit mm 4 2 2 File Operate Menu Structure of File Operate Copy File Copy file from U disk to inner storage space File Operate Copy File Delete File File Info Work Attrib QuryPara Query Preprco Disabl LiftFPus None StopFPus N...

Page 29: ...the machine parameters under the technician s guidance of the machine produce Menu Structure of Machine Setup 1 Pulse Equiv Linear axis The number of pulses required to send from the system when machine moves every 1mm Unit pulse mm Rotating axis The number of pulses required to send from the system when machine rotate every 1 degree Unit pulse degree Calculation method please refer to PS1 1 2 Set...

Page 30: ... must be less than or equal to the actual size of machine table Setting Enter Table Size press to move cursor as required press and input the new value press to save the changes To modify X Y and Z axis value one by one in the same way Press Save all changes and go back to the Table size menu 3 Home Setup Home Speed The movement speed of each axis when go mechanical origin ZERO the system default ...

Page 31: ...red press to change home direction then press to save the changes Return to Home Dir menu Home Type Query System ask whether HOME or not after startup All All axis automatically go HOME position after system startup Auto Z Only Z axis go HOME position after startup the system None No axis go HOME after system startup 4 Spdl Confi Set all parameters of spindle to modify as required Setting method P...

Page 32: ...nly take effect when user uses auto tool setting function Invalid when manual set workpiece origin press XY 0 ZC 0 Fall height after tool setting After tool setting finished the pickup height of Z axis system default is 40 000 mm 6 Motion Axis Set Motor Dir Modify the direction of motor rotation Axis Disable If the user s machine is a two axis machine the Z axis can be forbidden here then the scre...

Page 33: ...n acceleration and deceleration of machine tools SkipSpd Start speed of motion axis from stationary state Not starting from 0 but starting directly from a certain speed so it can shorten the overall processing time but this speed shouldn t be too high Too high it will cause the motor losing steps jitter and even whistle Set too small it will reduce the operating speed of the entire graph 8 I O Por...

Page 34: ...on user has to restart the handheld controller Blue parts indicate system default function Setting Press to move the cursor Press and select the function in needs then press to save the change Return to the upper menu 3 System Backup Backup the system parameters and function configuration to save into U disk or inner System Setup Languages Func Confi System Backup System Restore TrialTime Menu PW ...

Page 35: ...ion of the machine tool return to zero order processing operation etc Func Restore Restore the backup system parameters by choosing the config bak file from the U disk or internal storage area Param Restore Restore the backup system parameters by choosing the data bak file from the U disk or internal storage area 5 Trial Time To be used to set the trail time of the controller counting by day from ...

Page 36: ...ration it is no need to go machine HOME just choose none axis home to skip HOME operation Because system automatically saves coordinate value when it exits normally 5 2 Import processing file Before processing generally we should import files RichAuto F141 system has 2 ways to import files U disk file processing and inner file processing 1 Directly import the processing file into U disk and then r...

Page 37: ...The speed mode status show on screen determines the actual manual moving speed 2 Speed adjusting In manual mode press enter into the current speed mode settings For instance suppose the current speed mode is SLOW the screen displays The cursor is on X speed Press to the one needs to be modified and press then input new value and next press to confirm Press Manu Low Set Dist 700 000 X Speed 1200 00...

Page 38: ...ides 3 manual movement modes Continue step distance User could press under manual mode to switch manual movement mode and view the current movement mode through the screen bottom display status 1 Continue Continuous motion mode No specific data control user could press motion direction key of each axis the machine will move accordingly until the key is released The motion speed is determined by cu...

Page 39: ...nput ports From left to right are respectively represent X HOME Y HOME Z HOME tool setting servo driver alarm hard limit emergency stop and foot switch The port definitions will be a little different in individual custom system Manual trigger the corresponding signal the corresponding signal changed from L to H means the signal is in normal status If not it is abnormal User should check the corres...

Page 40: ...signals The port definitions will be a little different in individual custom system Manually control the corresponding output port by pessing to change the corresponding letter to H For example press to highlight number 1 position to start the spindle then press again to stop the spindle 3 Volt Lvl Voltage Setup Used to set the input output signal port normally open or normally closed port state s...

Page 41: ...point is the calculation basis of machine coordinates movement all of those operations such as power on the machine or abnormal release and so on have to return to the reference point which is refers to return machine ZERO Work coordinate system used more greatly than other coordinates system in processing Usually in processing we describe a processing position is always relative to a certain poin...

Page 42: ...e machine tool parameters and all of the system parameters correctly Auto processing steps could refer to the following text 5 4 1 Set workpiece origin The origin coordinates of X Y and Z axis in the processing program is workpiece origin Before processing we should pay attention to this position as well as the real position Operation is as follow Move X Y and Z to the position which will start to...

Page 43: ... will display three file name choose the file by pressing Press to open the next page Press to exit 5 4 3 Set processing parameters After choosing the processing file please press enter into processing parameters setting it includes work speed travel speed or Fast speed speed scale speed ratio fall down speed or Z down ratio Set Work Param WorkSpd 3000 000 FastSpd 3000 000 SpdScale 1 000 FallSpd 0...

Page 44: ...r the checking only when the previous checking is a complete and correct checking So that the system won t check the same code again next time During processing the screen scrolling display real time processing speed operation time and current line number Press to display all processing information Press again to return to the coordinate display interface 5 5 Operations during processing 5 5 1 Spe...

Page 45: ...will go up or drop 1 shift in the range of S1 to S8 5 5 2 Pause adjust position Press pause processing The right upwards of screen will change from MAUN to PAUZ and machine paused processing except the rotating of spindle Shown below At this moment the user is allowed to adjust the position of X Y Z and A axis The system default motion mode is STEP So that user can fine adjust each axis distance M...

Page 46: ...quirements of customers in operation Find Breakpoint processing mainly includes Find Breakpoint Break List Part Work PwrFlrProtect Press to start advanced processing screen shown as below 5 6 1 Find Breakpoint If the tool broken unexpected in the process and no breakpoint is saved stop processing and replace with a new tool If the original workpiece was not destroyed manually move X and Y to the p...

Page 47: ...the current position line number Note Using this function user has to ensure the work coordinate the same as it was before 5 6 2 Break List If user presses during process of processing the screen shows below If we want to save breakpoint press the screen displays break list totally 8 Save Breakpoint Don t Save Save U WENJIAN Code parsing Finding line No of breakpoint Info 35422 is the break line o...

Page 48: ...gether the system will start processing from the breakpoint For example You want to start processing from the breakpoint 1 then you should use the combination button system will restore processing from breakpoint 1 Take the 1nTest cnc as example it has 6705 lines of G code The screen shows below Press for reviewing afterwards it shows the break line number Press prompts the processing information ...

Page 49: ...then press the system will start to process from the new line The machine must go HOME before saving a break point or processing 5 6 3 Part Work Line Selection Processing is that the user can choose the G code line number to start and end processing so that it can react subsection processing 5 6 4 PwrFlrProtect When there is a sudden power shut down during processing system will save current coord...

Page 50: ...ssing is designed for some special requests in operation it contains Array Work Scale Work Mill Plane Auto Plane Calc Border The shortcut key is shown below 5 7 1Array Work Steps as below 1 Press to move cursor to the Array work press press to select different files list Advanced Work Array Work Scale Work Mill Plane Auto Center Calc Border Last power off during working because of inertia the mach...

Page 51: ...to the user s setting 4 In the processing of array work you can view real time row number volume number etc by pressing Note Set interval value into a negative value if users want a manual control during array processing 5 7 2 Scale Work If the actual processing requires different sizes of the same file user can use scale work and enter a zoom in out ratio Steps Press to get into Scale work Choose...

Page 52: ...an type Width Height Diameter Depth Z Step T Ratio 3 Press to move cursor on the option which need modify press to choose mill type X Scan or Y Scan also press this button to modify the parameters Press after modified all the parameters to save them Circular Mill 1 Press to move cursor to choose the mill type Mill Plane Param X Mill 100 Y Mill 100 Depth 5 Layer D 2 Dia 10 Plunge R 0 800 Mill Plane...

Page 53: ... connection between two points which is used to find the central point of the workpiece embryo The specific steps of Auto Centre are as follows X axis Press to enter into the interface of Auto Center select MidPntAxis 1 Manually move the tool to one side of the workpiece press to record the first point after recording success the screen display as below 2 Then manually move the tool to the other s...

Page 54: ...y waste of materials and processing errors Steps as below 1 Press to move the cursor to Calculate bound press to enter then press to select file list Press get into the file list 2 Press to choose file Press system start to read the file after reading the file the system will calculate the area Select File Internal File U DISK File Recent File Auto Center Second point record completed ...

Page 55: ...l transmission ratio reduction ratio Rack straight drive rack module gear teeth number π mechanical transmission ratio reduction ratio Rack helical drive rack module gear teeth number π mechanical transmission ratio reduction ratio cos helical angle Pulley belt drive π pulley diameter mechanical transmission ratio reduction ratio Screw drive pulse 360 Stepper angle Driver subdivision Screw pitch t...

Page 56: ...8 selected subdivision is 16 then 360 stepper angle subdivision 360 1 8 16 3200 The use should use correct computational method according to the actual marks of stepper motor driver nameplate Screw pitch above picture The distance that the nut moves when the ball screw makes one rotation Transmission ratio The reduction rate or angular velocity ratio of the front drive sprocket to the end driven w...

Page 57: ...t 1600 5 320 Rack drive rack module 1 25 gear teeth number 23 π 3 141592654 transmission ratio 1 5 0 2 helical angle 19 31 42 19 52833333 Straightrack Pulse equivalent 1600 1 25 23 3 141592654 0 2 88 573 Helical rack Pulse equivalent 1600 1 25 23 3 141592654 0 2 cos 19 31 42 1600 cos 19 52833333 1 25 23 3 141592654 0 2 83 478 NOTES 1 25 23 3 141592654 0 2 18 0641577605 cos 19 52833333 0 9424763050...

Page 58: ...all 400 which can be used as a constant or change a new value to set the electronic gear ratio on the servo motor driver It can be reduction of a fraction Electronic gear ratio molecules that represent the resolution of the encoder are found in the servo drive specification Denominator of electronic gear ratio Linear axis Screw drive pulse equivalent screw pitch mechanical transmission ratio Strai...

Page 59: ...lity or use the regulator filter device 3 The power chip of the handle is ageing This phenomenon also appears when the handle is powered through the USB cable to the computer Please return back the handle to our company 4 Temporary solution Using standard 5V mobile phone charger supply power through the USB cable to handle Duplicate power supply for temporary emergency use Failed to set work piece...

Page 60: ... normally 2 U flash disk capacity is too large 16G 32G or 64G etc Recommend replace U disks such as 2G 4G 8G 3 There is something wrong with USB communicate port or U disk interface is broken change a new USB port or U disk 4 There is no any reaction while insert into the U disk Change a genuine brand of U disk such as SanDisk FOUNDER U disk etc 5 If the U disk interface is weak connection user ca...

Page 61: ...ed with hard limit the hard limit switch maybe damaged or the voltage setup status on X6 is wrong 2 System has not connected with hard limit signal Confirm whether connect other signal wire to hard limit X6 port if not check voltage setup normal or not If normal user could go to MACHINE SETUP Input Confi and DISABLE X6 port then go to SYSTEM SETUP wipe cache If still can t solve this problem user ...

Page 62: ...erence in the Z axis homing process to form a false Z origin Re adjust the wiring The machine cannot stop after returning ZERO and cause spindle hit the machine body Double press to check input signal Origin detection switch signal To do self test Detect whether the signal is triggered or disconnected 1 The origin detection switch is broken Replace a new one 2 The distance of the origin detection ...

Page 63: ... is broken Replace the data cable Abnormally running when processing or the actual file is different from theoretical file 1 The system program disorder 2 Too much external interference lead the controller cannot work normally Re adjust overall circuit The wires of weak current and strong current should be separately binding the inverter and other components should be separated connected each GND ...

Page 64: ...able are normal then user should check the power supply of the motor drivers 3 If debugged all above parts but the machine still not move then the mechanical parts should be checked It is normal to the move from one position to another position but when return from that position to the original position is not normal Mechanical assembly problem guide screw may be not installed well Motor moving di...

Page 65: ...tput 5 Switch this terminal with another normal terminal to check interface board abnormal or driver abnormal Screen is not bright after power up but connect the handle to computer with USB cable the screen displays normally 1 The DC24V voltage of the handle is not available Check if the DC24V power supply voltage output is normal or not If normal please check if the cable from the power supply to...

Page 66: ...s broken replace it 4 50 pin socket broken send back to us for repairing System always alarm after the alarm signal has been connected Change the input level on X6 normally open wiring in parallel normally closed wiring in series Press spindle on button but spindle does not start 1 Check wiring if normal check if the inverter has alarm if the inverter is normal and its setting is correct and then ...

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