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Hardware config urat ion

CNC 8065

11.

(R

EF

: 1404)

·105·

SERCOS BUS.

11

SERCOS BUS.

The Sercos interface is a communications standard especially designed for the machine-
tool industry offering a simple interface between the CNC and the drives. All the data and
commands are transmitted in digital format through fiber optic lines that make up a ring (the
Sercos ring) that connects all the elements of the bus (CNC and drives) to each other. Using
the Sercos interface considerably minimizes the necessary hardware, makes cabling simpler
and grants greater reliability to the system making it immune to electrical interference (noise).

Sercos cable characteristics.

Fagor Automation supplies the fiber optic cables needed for Sercos communication. There
are several types of cable depending on their length and their dynamic and static installation
characteristics.

• Fiber optic cable with polymer core (SFO, SFO-FLEX) for up to 40 meters. If the fiber

optic cable is going to withstand dynamic conditions (moving), always use the SFO-FLEX
cable If the fiber optic cable is going to withstand static conditions (not moving), always
use the SFO cable

• Fiber optic cable with glass core (SFO-V-FLEX) for over 40 meters.

Mechanical cable characteristics.

SFO cable.

Flexibility.

Normal. Minimum bending radius of 30 mm.

Only to be used in static systems (not moving).

Cover.

PUR. Polyurethane resistant to chemicals used in machines.

Temperature.

Working: -20 ºC / 80 ºC (-4 ºF / 176 ºF).

Storage: -35 ºC / 85 ºC (-31 ºF / 158 ºF).

SFO-FLEX cable.

Flexibility.

High. Minimum bending radius, static = 50 mm and dynamic = 70 mm.

Special cable to be used in cable chains.

Cover.

PUR. Polyurethane resistant to chemicals used in machines.

Temperature.

Working: -20 ºC / 70 ºC (-4 ºF / 158 ºF).

Storage: -40 ºC / 80 ºC (-40 ºF / 176 ºF).

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Содержание CNC 8065

Страница 1: ...Ref 1404 8065 CNC Hardware configuration...

Страница 2: ...his manual are for learning purposes Before using them in industrial applications they must be properly adapted making sure that the safety regulations are fully met MACHINE SAFETY It is up to the mac...

Страница 3: ...7 4 4 3 CPU board 50 4 4 4 Operator panel only LCD 10K 52 4 4 5 Digital inputs and outputs Electrical characteristics 53 4 4 6 Feedback inputs Technical characteristics and connection 54 4 5 Power con...

Страница 4: ...Y 9 1 Battery dimensions 94 9 2 Connectors and connection 95 9 3 Operation of the emergency battery 96 CHAPTER 10 BUS CAN CANFAGOR CANOPEN PROTOCOLS 10 1 Identification of the modules at the bus 99 10...

Страница 5: ...Ethernet Integrated PLC PLC execution time Digital inputs Digital outputs Marks Registers Timers Counters Symbols 1ms K 1024 1024 8192 1024 512 256 Unlimited Block processing time 1 ms Remote modules...

Страница 6: ...2 8 to 28 Number of spindles 1 1 to 2 1 to 4 1 to 4 Number of tool magazines 1 1 1 to 2 1 to 4 Limited to 4 interpolated axes Option Option Option Option IEC 61131 language Option Option Option HD gra...

Страница 7: ...Option Option Option IEC 61131 language Option Option Option HD graphics Option Option Standard Standard Conversational IIP Option Option Option Option Dual purpose machines T M Option Standard C axis...

Страница 8: ......

Страница 9: ...es RIOW RIO5 RIO70 RCS S Note Some additional characters may follow the model references indicated above They all comply with the directives listed here However compliance may be verified on the label...

Страница 10: ......

Страница 11: ...CD 10K monitor Corrected characteristics of the feedback inputs of the central unit The RIO70 remote modules are now Class III New protection considerations about electrical chokes New model LCD 10K C...

Страница 12: ......

Страница 13: ...o not handle the connectors with the unit connected to AC power Before handling these connectors I O feedback etc make sure that the unit is not powered Interconnection of modules Use the connection c...

Страница 14: ...power lines Enclosures The manufacturer is responsible of assuring that the enclosure involving the equipment meets all the currently effective directives of the European Community Avoid disturbances...

Страница 15: ...ns or operations that may hurt people or damage products Warning symbol It indicates situations that certain operations could cause and the suggested actions to prevent them Obligation symbol It indic...

Страница 16: ......

Страница 17: ...This translates into the extension of warranty period to two years since the product left our warehouse If this sheet has not been sent to us the warranty period ends 15 months from when the product l...

Страница 18: ...ust the replaced parts or components within 12 months For sold parts the warranty is 12 moths length SERVICE CONTRACTS The SERVICE CONTRACT is available for the distributor or manufacturer who buys an...

Страница 19: ...nit The cardboard being used to make the box must have a resistance of 170 Kg 375 lb 2 Attach a label indicating the owner of the unit person to contact type of unit and serial number In case of malfu...

Страница 20: ......

Страница 21: ...Do not use highly compressed air to clean the unit because it could generate electrostatic discharges The plastics used on the front panel are resistant to grease and mineral oils bases and bleach dis...

Страница 22: ......

Страница 23: ...e in the European Community Before start up verify that the machine that integrates this CNC meets the 89 392 CEE directive Safety conditions In order to avoid personal injuries and damage to this pro...

Страница 24: ...entral unit 15 LCD monitor Touch screen LCD10K ICU central unit 10 LCD monitor with integrated keyboard and operator panel OP PANEL Operator panel OP PANEL SPDL RATE Operator panel with override selec...

Страница 25: ...0 Remote modules CANfagor protocol Digital inputs and outputs General purpose analog inputs and outputs Feedback inputs RCS S RCS S module Sercos protocol Feedback inputs Analog outputs DIGITAL IN OUT...

Страница 26: ...k drives CD Rom drives or the mouse may be connected to the CNC using the specific cables supplied by their manufacturer identification Description Emergency battery The battery ensures the operation...

Страница 27: ...ts making up the system must be connected to a single ground point G ND L SH SH H X 3 G ND L SH SH H X 2 CA N P O W ER 24I 16O E RR R UN X 4 X 5 X 6 X 7 I 13 I 24 I 1 I 12 G ND O 16 O 9 24V G ND O 8 O...

Страница 28: ...LL ENTE R ES C SHIFT SHIFT SP ACE UTILI TIES TOO LS TAB LES ED I T MANUA L AUTO MDI CAN G ND L SH SH H X 3 G ND L SH SH H X 2 C A N POW ER 24I 16O E R R R U N X 4 X 5 X 6 X 7 I 13 I 24 I 1 I 12 GND O1...

Страница 29: ...8 O 1 24V X1 C HS G ND 24V 4 0 1 F E D C B A 9 8 7 6 5 3 2 ADDR ESS SPE ED 1 0 L T 1 0 DIGITAL IN OUT X5 X6 X7 X8 I 13 I 24 I 1 I 12 G ND O 16 O 9 24V G ND O 8 O 1 24V X 1 X 2 X 3 X 4 I 13 I 24 I 1 I...

Страница 30: ...tween the enclosure walls and the central unit To ensure that it does not exceed this temperature respect the recommended minimum gap between the sides of the enclosure and the central unit To ensure...

Страница 31: ...be considered when calculating the total surface Power dissipated by the CNC To calculate the dissipated power all the elements that are inside the enclosure must be taken into account Data Units Mean...

Страница 32: ...n Fan whose air flow Q 13 6 m h facing down Fan whose air flow Q 13 6 m h facing up Fan whose air flow Q 30 m h facing down Unpainted surface Surface with smooth metallic enamel A P 5 T A P 5 7 T Ti T...

Страница 33: ...se the volume of air flow is calculated necessary to evacuate the heat generated inside the enclosure The fan s air flow is calculated according to the power dissipated by the CNC and the fan itself a...

Страница 34: ...Ethernet T base 10 100 USB 2 USB 2 0 channels Serial port 1 RS232 RS422 RS485 115 Kbaud serial line CAN bus Communication with the remote modules Sercos Bus Communication with Fagor drives Mechatroli...

Страница 35: ...and battery powered RAM memory on page 57 The RAM memory with battery always saves the position of the axes the rest of the data that it saves is determined by machine parameters like for example PLC...

Страница 36: ...current activates the safety device inside the power supply The central unit has an LED that turns on when this device is active To reactivate the power supply after an over current just press the bu...

Страница 37: ...panel It meets the protection standard IP 65 Rear panel It meets the protection standard IP 20 The machine manufacturer must comply with the EN 60204 1 IEC 204 1 regulation regarding electrical shock...

Страница 38: ...04 CENTRAL UNIT ICU 4 2 ICU central unit dimensions 4 2 1 Dimensions of the central unit without monitor b a Db Da Dc Db c d Dd mm inch Da 14 15 0 56 Db 90 3 54 Dc 300 11 81 Dd 4 0 16 4 0 16 mm inch a...

Страница 39: ...ICU 4 2 2 Central unit with LCD 15 LCD 15 TOUCH monitor rear mounting mm inch Da 389 15 31 Db 319 12 56 Dc 413 16 26 Dd 343 13 50 c e f a b g d h Db Dd Dc Da mm inch a 420 16 54 b 350 13 78 c 116 4 5...

Страница 40: ...IT ICU 4 2 3 Central unit with LCD 10K monitor option 1 rear mounting c e a b h g f d Dc Da Db Dd mm inch Da 388 15 28 Db 318 12 52 Dc 413 16 26 Dd 343 13 50 mm inch a 420 16 54 b 350 13 78 c 118 4 65...

Страница 41: ...T ICU 4 2 4 Central unit with LCD 10K monitor option 2 rear mounting c e a b h g f d Dc Da Db Dd mm inch Da 389 15 31 Db 319 12 56 Dc 413 16 26 Dd 343 13 50 mm inch a 420 16 54 b 350 13 78 c 118 4 65...

Страница 42: ...bles for the CPU connection with the recommended bending radius Special care must be taken with the Sercos connection because bending the optic fiber too much could break it Securing the module The mo...

Страница 43: ...404 43 CENTRAL UNIT ICU Central unit with LCD 15 monitor W H External contour of module Contorno exterior del m dulo e D Da Da Db Db Dc mm inch Da 125 4 92 Db 124 4 88 Dc 61 2 40 mm inch a 392 15 43 b...

Страница 44: ...pheral board VGA IOIOI PROBE 1 2 VGA connector Connection to an off the shelf VGA monitor Emergency relay Relay for the emergency chain PROBE connector Connection of 2 probes Serial port RS232 RS422 o...

Страница 45: ...3 RX receive data 4 5 6 RX receive data 7 8 LED Meaning Green The LED turns on when the central unit is connected to network Yellow The LED blinks when data is being transferred Pin Signal 1 5 V 2 DT...

Страница 46: ...r when an internal failure occurs These relays withstand up to 1A at 24V Pin Signal 1 RED 2 GREEN 3 BLUE 4 5 GND 6 GND_RED 7 GND_GREEN 8 GND_BLUE Pin Signal 9 10 GND_SYNC 11 12 13 HSYNC 14 VSYNC 15 5...

Страница 47: ...ermination resistor of the CAN bus and bus status indicating LED s CAN bus CAN connector CAN bus connection Local digital inputs and outputs The left connector has 8 digital inputs The right connector...

Страница 48: ...blinking speed Bus used to communicate with Fagor drives Sercos Bus IN OUT connectors Honeywell emitter and receiver For further information on how to configure the connection of the elements to the...

Страница 49: ...OCOUT indicates the number of digital outputs available at the connector the rest of the pins will act as digital inputs Refer to the installation manual for further detail Pin Signal 1 2 DT 3 DT 4 4...

Страница 50: ...emergency battery for voltage supply and charging it Ground connection Auxiliary 24 V DC output Auxiliary 24V output to supply the operator panel Protection fuse Fuse for protection against over volt...

Страница 51: ...and charge 5 pin male Phoenix minicombicon contact 3 5 mm pitch This connector can also be used to connect an external battery that ensures the proper shut down oftheunit dueto apowerfailure The batt...

Страница 52: ...nput and may be managed from the PLC using the NEXTMPGAXIS mark E36 Handwheel Handwheel connection Rear view E36 Handwheel Cable shields must be connected to the grounding plate of the electrical cabi...

Страница 53: ...DC between 18 V DC and 30 V DC High threshold 1 Over 18 V DC Low threshold 0 Under 9 V DC Typical consumption of each input 5 mA Maximum consumption of each input 7 mA Nominal voltage 24 V DC between...

Страница 54: ...ption 5 V 0 5 A 250 mA per axis Work levels for TTL signal Work levels for differential TTL signal Maximum frequency 100 kHz Phase shift 90 20 High threshold logic level 1 VIH 1 25 V VIH 7 V Umbral ba...

Страница 55: ...er to our catalog The shield of the cable being used must be connected to the connector housing at both ends The unshielded portion of the wires of an unshielded cable cannot be longer than 75 mm We r...

Страница 56: ...device inside the power supply turns on the external red LED The power supply will not be operative while the LED is on There are two ways to reactivate the power supply after an over current Unplug...

Страница 57: ...smoothly 4 Insert the new battery maintaining the same polarity The battery must get into its housing easily without having to force it 5 Put the protective cover back on 6 Plug the unit in While the...

Страница 58: ...int pin 5 GND thus avoiding reference points with different voltages because there could be voltage differences in long lengths between the two ends of the cable Characteristic Type Shielded Twisted p...

Страница 59: ...Hardware configuration CNC 8065 4 REF 1404 59 CENTRAL UNIT ICU Full connection TxD RxD DSR 6 3 2 5 9 8 7 Housing Housing 1 4 CNC RxD TxD DTR GND GND CTS DTR RTS DSR RTS CTS...

Страница 60: ...he same point pin 5 GND thus avoiding reference points with different voltages because there could be voltage differences in long lengths between the two ends of the cable Characteristic Type Shielded...

Страница 61: ...Hardware configuration CNC 8065 4 REF 1404 61 CENTRAL UNIT ICU RxD Line Term Line Term TxD TxD GND RxD 8 3 2 7 6 5 9 RxD RxD GND Housing Housing 1 4 CNC TxD TxD...

Страница 62: ...oint pin 5 GND thus avoiding reference points with different voltages because there could be voltage differences in long lengths between the two ends of the cable Characteristic Type Shielded Twisted...

Страница 63: ...Hardware configuration CNC 8065 4 REF 1404 63 CENTRAL UNIT ICU TxD RxD Line Term Line Term TxD RxD TxD RxD GND TxD RxD 6 3 2 9 8 5 7 TxD RxD TxD RxD GND Housing Housing 1 4 CNC...

Страница 64: ...5 V The connection acts upon the up flank positive pulse of the probe signal Probe whose output has a normally open contact Connection to 24 V The connection acts upon the up flank positive pulse of...

Страница 65: ...Interface with a PUSH PULL output Connection to 5 V Depending on the interface being used the connection acts upon the up flank or down flank of the probe signal Interface with a PUSH PULL output Conn...

Страница 66: ...network number of nodes their configuration etc a 100 MHz transmission might not be stable In these cases we recommend to connect at 10 MHz Element connection Use a standard shielded 10BASE T cable U...

Страница 67: ...ay be the only one connected to the central unit for example with the central unit MCU or it may be a second monitor for example with the central unit ICU When the screen is used as a second monitor b...

Страница 68: ...e keyboard and the operator panel to the CAN bus of the system VGA SOFTKEYS CAN Q W E R T Y U I O P S D F G H J K L A Z X C V B N M ALTGR ALT CTRL CAPS INS DEL MAIN MENU END HOME 7 8 9 4 5 6 1 2 3 _ 0...

Страница 69: ...32 regulation Free fall packaged according to Fagor regulations 1 meter Ambient conditions Relative humidity 10 95 without condensation Work temperature 0 45 C with an average lower than 35 C Storage...

Страница 70: ...figuration CNC 8065 5 REF 1404 LCD 15SVGA PASSIVE MONITOR LCD15 SVGA 5 3 Hardware dimensions c a b Db Dd Dc Da mm inch to 420 16 54 b 350 13 78 c 61 5 2 42 mm inch Da 388 15 28 Db 318 12 52 Dc 413 16...

Страница 71: ...hardware Securing the module The module must be installed in a proper enclosure that may be located on the machine or on an external support To insert the unit into the enclosure it must have a big e...

Страница 72: ...72 Hardware configuration CNC 8065 5 REF 1404 LCD 15SVGA PASSIVE MONITOR LCD15 SVGA 5 5 Elements connectors Connector A Ground B VGA input C 24 V supply input D Softkeys B C D A...

Страница 73: ...ale SUB D HD type connector Universal power supply for 24 VAC and 1 5 A 3 pin male Phoenix combicom contact 7 62 mm pitch Softkeys Connection of the softkeys of the monitor to the keyboard Maximum cab...

Страница 74: ...tor at both ends Cable characteristics Use specific VGA cable VGA cable Flexibility Normal Type Shielded Impedance 75 Maximum length 30 m GND BLUE GREEN GND_SYNC GND_BLUE GND_GREEN GND_RED 5 3 2 9 8 7...

Страница 75: ...h CAN bus keyboard and PS 2 mouse Degree of protection It meets the protection standard IP 65 Q W E R T Y U I O P S D F G H J K L A Z X C V B N M ALTGR ALT CTRL CAPS INS DEL MAIN MENU END HOME 7 8 9 4...

Страница 76: ...CNC 8065 6 REF 1404 HORIZONTAL KEYB MODULE HORIZONTAL KEYBOARD WITH OR WITHOUT MOUSE 6 1 Hardware dimensions mm inch Da 388 15 28 Db 143 5 63 Dc 413 16 26 Dd 168 6 61 mm inch a 420 16 54 b 175 6 89 c...

Страница 77: ...enclosure walls and the hardware Securing the module The module must be installed in a proper enclosure that may be located on the machine or on an external support To insert the unit into the enclosu...

Страница 78: ...HIELD CAN H SHIELD CAN L ISO GND 0 1 1 2 3 4 1 2 3 4 ADD MSB SPEED CAN F O ON 4 0 1 F E D C B A 9 8 7 6 5 3 2 0 V 24 V DC ADDRESS CAN bus ST selector Switchtoactivatethelinetermination resistoroftheCA...

Страница 79: ...hile the modules and the CNC are off The Address switch also sets the priority of the group within the bus the lower the number the higher the priority We recommend the keyboard and jog panel to be th...

Страница 80: ...signal distortion In order for any change of speed to be assumed the corresponding module must be reset however we recommend to change the speed while the modules and the CNC are off CAN bus ST select...

Страница 81: ...CAN bus keyboard and PS 2 mouse Degree of protection It meets the protection standard IP 65 END HOME 7 8 9 4 5 6 1 2 3 _ 0 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z INS DEL SPACE ENTER RECA...

Страница 82: ...on CNC 8065 7 REF 1404 VERTICAL KEYB MODULE VERTICAL KEYBOARD WITH OR WITHOUT MOUSE 7 1 Hardware dimensions mm inch a 153 6 02 b 350 13 78 c 24 0 94 mm inch Da 121 4 76 Db 318 12 52 Dc 146 5 75 Dd 343...

Страница 83: ...walls and the hardware Securing the module The module must be installed in a proper enclosure that may be located on the machine or on an external support To insert the unit into the enclosure it mus...

Страница 84: ...ELD CAN H SHIELD CAN L ISO GND 0 1 1 2 3 4 1 2 3 4 ADD MSB SPEED CAN F O ON 4 0 1 F E D C B A 9 8 7 6 5 3 2 0 V 24 V DC ADDRESS CAN bus ST selector Switchtoactivatethelinetermination resistoroftheCAN...

Страница 85: ...le the modules and the CNC are off The Address switch also sets the priority of the group within the bus the lower the number the higher the priority We recommend the keyboard and jog panel to be the...

Страница 86: ...gnal distortion In order for any change of speed to be assumed the corresponding module must be reset however we recommend to change the speed while the modules and the CNC are off CAN bus ST selector...

Страница 87: ...heels To connect three handwheels with A and B signals 5 V DC TTL Degree of protection It meets the protection standard IP 65 200 190 180 170 160 150 140 130 120 110 100 90 80 70 60 50 40 30 20 10 4 2...

Страница 88: ...F 1404 OP PANEL MODULE OPERATOR PANEL WITH OR WITHOUT SPINDLE SPEED OVERRIDE SELECTOR 8 1 Hardware dimensions a b c Db Da Dd Dc d mm inch a 420 16 54 b 175 6 89 c 24 0 94 d 54 5 2 15 mm inch Da 388 15...

Страница 89: ...en the enclosure walls and the hardware Securing the module The module must be installed in a proper enclosure that may be located on the machine or on an external support To insert the unit into the...

Страница 90: ...N L ISO GND 0 1 4 0 1 F E D C B A 9 8 7 6 5 3 2 ADDRESS 0 V 24 V DC HANDWHEEL GND MPG1 A MPG1 B MPG2 A 5 V DC MPG3 B MPG3 A MPG2 B 1 2 3 4 1 2 3 4 ADD MSB SPEED CAN F O ON CAN bus ST selector Switch t...

Страница 91: ...rd and jog panel to be the last node of the bus CAN bus ADD MSB selector Address node of the element within the bus With the 4 switch ADD MSB the positions or elements integrated in the CAN bus may be...

Страница 92: ...terminating elements must be 1 and that of the rest of the elements 0 HANDWHEEL connector Handwheel connection 10 pin male Phoenix minicombicon contact 3 5 mm pitch Line terminating resistor The LT sw...

Страница 93: ...cs Charge time 35 hours Autonomy About 20 minutes with the battery completely charged Work temperature Between 5 C 41 F and 40 C 104 F Read the connection instructions carefully before connecting the...

Страница 94: ...5 9 REF 1404 EMERGENCY BATTERY 9 1 Battery dimensions a c d e b Db Da Ra Rb Dc Dd Ra mm inch a 110 4 33 b 189 3 7 45 c 60 2 36 d 21 0 83 e 147 1 5 79 mm inch Da 175 6 89 Db 8 0 31 Dc 6 0 24 Dd 6 0 24...

Страница 95: ...blinks while the battery is being charged and it stays on when the battery is charged Connection to the central unit Connect all the pins of the battery to the central unit The battery is charged from...

Страница 96: ...CNC shows the corresponding warning and the system recovers fine Errors may occur at the CAN bus due to the lack of 24V at the remote modules If the supply is interrupted for more than 2 seconds Afte...

Страница 97: ...ector at both ends The connector has two shield pins Both pins are equivalent and the CAN shield may be connected to either one CAN cable characteristics Use a specific CAN cable The ends of all the w...

Страница 98: ...D C B 9 8 7 5 3 1 1 MODULE 2 0 ADDRESS 2 ISO GND CAN L SHIELD CAN H SHIELD Line Term 1 1 0 Line Term 1 4 0 F D C B 9 8 7 5 3 1 ADDRESS 0 ISO GND CAN L SHIELD CAN H SHIELD ISO GND CAN L SHIELD CAN H SH...

Страница 99: ...the corresponding drive must be reset however we recommend to change the address while the modules and the CNC are off The Address switch also sets the priority of the group within the bus the lower...

Страница 100: ...en when not having this switch The other end of the line will be the last physical device of the bus RIOW series remote modules TheRIOW seriesmodulesdonot have afactory installed line terminatingresis...

Страница 101: ...CNC and at the operator panels the type of active CAN bus must be selected Bus type selection at the operator panels and keyboards Switch 1 CAN F O selects the type of CAN bus to by used i e CANfagor...

Страница 102: ...s in the off position After turning the module on in configuration mode the top 4 LED s of the module blink indicating the speed selected at the module The STOP LED corresponds to dipswitch 1 the RUN...

Страница 103: ...uration the corresponding LED s turn on to indicate the module speed For 1 MHz all four LED s turn on Once thespeedhasbeenselected turnthe moduleoff byremoving power and set dip switch 8 in the off po...

Страница 104: ...sion speed at the bus is defined at the CNC parameter CANLENGTH Thetransmission speed depends onthetotal length of the cable Use the following approximate values Assigning other values may cause commu...

Страница 105: ...gth and their dynamic and static installation characteristics Fiber optic cable with polymer core SFO SFO FLEX for up to 40 meters If the fiber opticcable is going to withstand dynamicconditions movin...

Страница 106: ...xibility Minimum bending radius static 45 mm and dynamic 60 mm Cover PUR Polyurethane resistant to chemicals used in machines Temperature Working 40 C 80 C 40 F 176 F Storage 40 C 80 C 40 F 176 F Both...

Страница 107: ...ed with number 1 for example corresponds to the X axis to the Y axis or to another one is irrelevant However it is a good idea for clarity sake that the machine axes X Y Z U V W A B and C be assigned...

Страница 108: ...there must be two separate transmission channels Cyclic channel fast The data is transmitted in every position loop It contains velocity commands feedback etc Each variable that is read or written at...

Страница 109: ...he cable between elements is 0 3m 1 ft in Mlink I mode and 0 5 m 1 7 ft in Mlink II mode Twisted pair shielded cable should be used to minimize interference between cables thus preventing poor communi...

Страница 110: ...110 Hardware configuration CNC 8065 REF 1404...

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