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北京锐志天宏科技股份有限公司
Beijing RichAuto S&T Co., Ltd
RichAuto—AutoNow F141 motion control system
User's manual
Applied 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
Forging ahead, create future together!
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Summary of Contents for RichAuto AutoNow F141
- Page 1 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd RichAuto—AutoNow F141 motion control system User’s manual Applied 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...
- Page 2 The Company shall not be responsible for any loss caused by improper using or failure to comply with the rules of operation. Beijing RichAuto S&T Co., Ltd owns final interpretation of this manual, we reserves the rights to revise all information in this manual, including data, technical details, etc.
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Page 3: Table Of Contents
UTTONS INTRODUCTION ......................8 UTTONS SAGE ETHODS ......................10 UTTONS UNCTION DETAILS RICHAUTO WIRING BOARD DESCRIPTION ................12 ..................12 IRING BOARD TERMINAL DESCRIPTION ........................13 DESCRIPTION ........................15 ARDWARE WIRING ..............18 OMMISSIONING OF THE MACHINE AND CONTROL SYSTEM MENU DESCRIPTION ........................ - Page 4 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 5.3.4 Manual switching coordinate system ................37 ...................... 38 UTO PROCESSING OPERATION 5.4.1 Set workpiece origin......................38 5.4.2 Choose processing file ......................39 5.4.3 Set processing parameters ....................39 ....................40 PERATIONS DURING PROCESSING 5.5.1...
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Page 5: Foreword
System Introduction: RichAuto-F141 motion control system for 4 axis linkage engraving machine is independently developed by Beijing RichAuto S&T Co., Ltd. It can be widely applied to machinery, advertisement, woodworking, mold engraving machines and soon in the industry machine control field. -
Page 6: Product Parameters
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 24 keys operation keyboard, intuitive and flexible operation, no longer rely on the computer, completely offline operation. 13. Self-detection function. The system comes with I/O ports signal detection function, easy remote maintenance. 14. Multiple languages display. Support English, Russian, France, Traditional Chinese and Simplified Chinese. -
Page 7: Richauto-F141 System Composition
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 1 RichAuto-F141 system 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... -
Page 8: Components Description
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 1.2 Components description 1.2.1 Handle As shown below, including 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. -
Page 9: Wiring Board
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 1.2.2 Wiring board The connection between handle and machine tool rely on the wiring board. As shown below: Motor driver control terminals: Contains X, Y, Z, A axis motor drivers output ports. Output terminal: Including Spindle On/Off, Run lamp, Alarm lamp output signal ports etc. -
Page 10: Ftp Access Internal Storage Space
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Power supply terminal: DC 24V, 3A. 1.2.3 FTP Access Internal Storage Space If the FTP server is setup on your PC, you can access the internal storage space of the system. To copy and paste the processing file through this method. The setting method is as shown below, Enter the IP address (such as ftp://192.168.1.16) of the controller into the address bar... -
Page 11: System Startup Methods
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 1.4 System startup methods RichAuto-F141 4 axis motion control system has 2 starting methods: Normal starting: Normal power on the system, after boot, it will enter into HOME TYPE interface and manual control interface. -
Page 12: Handheld Controller Buttons Introduction
Beijing RichAuto S&T Co., Ltd 2 Handheld controller buttons introduction 2.1 Buttons introduction RichAuto handheld control system has defined 24 operation buttons, each one provides one or more functions in different working states: Real photograph of pressing keys 2.2 Buttons Usage Methods RichAuto-F141 provides 2 modes of button operations, including one-touch key &... - Page 13 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd numeric key”. When operation, push the main function key “ ”first, and then push auxiliary function key“ ” then, at last release both of them at the same time. Common Used Combination Keys List...
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Page 14: Buttons Function Details
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 2.3 Buttons Function details Name Function axis positive and negative movement, figure input, Menu move up selection axis positive and negative movement, figure input, work speed ratio increasing under AUTO mode axis positive and negative movement, figure... - Page 15 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Checking input and output signals Enable tool setting function Figure input, Return HOME operation in manual mode Parameters adjustment in MANU mode; Cancellation of various selections, inputs and operations in AUTO mode Figure input, Manual speed High/Low switching, work/mechanical...
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Page 16: Richauto Wiring Board Description
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 3 RichAuto Wiring board description 3.1 Wiring board terminal description Forging ahead, create future together! -
Page 17: I/Odescription
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 3.2 I/O description Name Pin definition Pin definition and parameters Terminal 24V+ Input power supply+ Provide 24V operating voltage for the interface board after power up. Recommend to use DC Input power supply- 24V- 24V (current≥3A) current source... - Page 18 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd differential Signal C-axis pulse positive P + and P - are pulse differential pair signals. and differential signal Using twisted pair can improve anti-jamming ability C-axis pulse negative and differential Signal C-axis positive and D + and D-are direction differential pair signals.
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Page 19: Hardware Wiring
If origin detecting switch is different power supply type, the special detecting switch power supply is needed. (Recommend 24V origin detecting switch). The control connection of RichAuto-F141 is realized by connecting the wiring board with the CNC machine. Forging ahead, create future together! - Page 20 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Input terminal: INPUT 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...
- Page 21 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 3) Alarm signal X5-X8: Default low level normally 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.
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Page 22: Commissioning Of The Machine And Control System
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd OUTPUT SIGNAL: Spindle output Analog output The machine and the control system are connected with each other when the above wirings are completed. 3.4 Commissioning of the machine and control system Turn on the power, manually move each axis and confirm the 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). -
Page 23: Menu Description
Beijing RichAuto S&T Co., Ltd 4 Menu Description 4.1 Menu category RichAuto-F141 motion control system divides its menu according to menu function: Five user interface, include:User Setup, File Operate, Machine Setup, System Setup, Version View. User Setup: This menu is used to set processing parameters, G code attributes etc. -
Page 24: Menu Details
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 4.2 Menu details 4.2.1 User Setup This menu is used to set processing parameters and G code reading attributes etc. Menu Structure of User Setup User Setup Work Setup Safe Height Fall Down Scale... - Page 25 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd other axis(X, Y, A axis) no need safe height, set 0. 3) Fall Down Scale: FallType: ①Z only (It works when only the Z axis moves alone); ②Z move (It works as long as Z axis moves);...
- Page 26 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 5) Work Orgn Offset: CurOriginOffset: External offset is also named as workpiece offset, it is used to record the temporary adjustment value of the current workpiece origin and only works in the current coordinate.
- Page 27 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd then choose Array Work from the list. 8) 2D Shape Confi : To set the parameters of two-dimensional graphics when processing DXF and PLT files. Trvl Hgt: The travel height when run a 2D file, default 40mm.
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Page 28: File Operate
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 10) Work Attrib Set special settings which are required during processing. Work Attrib QuryPara Query Preprco Disabl LiftFPus None StopFPus None PausAdju FastScl None CopyWrk Standa StepAdjt Contns AutoLaser Setting: Press“ ” move cursor to where needs to modify, press“... -
Page 29: Machine Setup
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Delete File: Delete inner file that copy from U disk. File Info: It can calculate the total time of processing file and processing range. 4.2.3 Machine Setup The manufacturer parameters which are under “Machine Setup” can be set by machine producers according to their equipment types. - Page 30 ”then save all changes and return to the "Pulse Equiv" menu. Table size RichAuto-F141 system makes the table size as the soft limit values, in order to prevent machine over travel. Machine size must be less than or equal to the actual size of machine table.
- Page 31 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Home Dir: Movement direction of each axis when return ZERO. The directions are depending on the real assembly position of HOME switches on the machine tool. If home switch is installed in the positive movement direction, then home direction should set as “Pos”, if it is installed in the negative movement direction, the home direction shall set as...
- Page 32 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd TS Spd 3000 TS Thk TS HIT TS Type Touch TS Pos InSite TS Query None TS Position: ①Input Position (Mechanical coordinates of fixing tool setting, input the actual position). ②Manual Move (Manual selection when fixing tool setting).
- Page 33 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd which limits all moving speed. Pos Spd Limit: Set the maximum forward speed of the machine tool, which limits all moving speed. Circle Limit : ①Circle Limit (Maximum Processing Speed with Arc Instruction in Processing Program).
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Page 34: System Setup
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 4.2.4 System Setup Menu structure of System Setup System Setup Languages Func Confi System Backup System Restore TrialTime Menu PW System Upgrade Languages Change system display language, Chinese or English language. Func Confi Set whether the system retains a function or not, change it in accordance with the practical application. - Page 35 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd storage space. The backup file format is data.bak and config.bak. Param Backup: To backup all of the parameters of the machine tool, default format is data.bak. Func Backup: To backup the function configuration of the machine tool, default format is config.bak.
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Page 36: Version View
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 run with the U disk inserting in the controller. -
Page 37: Manual Speed Switching And Adjustment
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Manual control interface: 5.3.1 Manual speed switching and adjustment Speed mode switching There are 2 speed modes: Fast speed and Slow speed. We can switch speed mode by pressing “ ” key. The speed mode status show on screen determines the actual manual moving speed. -
Page 38: Manual Processing Mode
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd “ ” to exit the settings. If the input value is wrong, press “ ” to delete the last number and then input new numbers. To ensure the accuracy of processing and debugging, the system introduces the concept of „grid‟... -
Page 39: Manual Testing Input And Output
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd ), the machine will move accordingly. Note: The movement will be carried out according to the current speed mode and the set distance, it is not affect by the „grid‟, so it will not stop on grid point. To change the distance value, triple press “... - Page 40 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 2） OptCheck (Manual test input port) In the bottom row, the former 4 numbers 1,2,3,4 corresponding to Spindle ON/OFF, Multi-speed 1, Multi-speed 2, Multi-speed 3; The number 5 and 6 are respective to alarm lamp, run lamp. The number 7 and 8 are user definable output signals.
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Page 41: Manual Switching Coordinate System
The origin of work coordinate system is a fixed point relative to the workpiece, but it is floating relative to the machine coordinate origin. RichAuto-F141 provides 1 machine coordinate system and 9 work coordinate systems. Press “ ” + “... -
Page 42: Auto Processing Operation
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Schematic diagram of coordinate system Note: The system cannot set workpiece origin under machine coordinate system. User should switch to work coordinate first, and then set workpiece origin. 5.4 Auto processing operation Auto processing refers to the system runs according to the instruction of the file in U disk or inner storage space, it also called “file processing”. -
Page 43: Choose Processing File
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 5.4.2 Choose processing file After determined the workpiece origin, press“ ” will appears a dialog: Select File U Disk File Internal File Recent File Press “ ”to move the cursor and choose, press “... -
Page 44: Operations During Processing
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Press “ ” to move cursor, press “ ” to set the value (next value setting is in the same way), then press “ ” to save, the system will check the processing codes and start to run when the reviewing is completed. -
Page 45: Pause & Adjust Position
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd displayed speed will change because of the speed ratio, but not affect the display of work time . current speed= work speed * ratio Adjust spindle shift If user has set multi-step speed, the DSP handle can change the multi-step speed during AUTO processing. -
Page 46: Find Breakpoint Processing & Power Failure Protection
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Save Adjustment? Save Cancle The system asks the user whether save the modified position. Press “ ”/ “ ” the system will start processing in modified position, press “ ”, system will go back to the previous position where before modifying. -
Page 47: Break List
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Press “ ” to booting and pre-reading the code, the system will prompt as below: Code parsing Finding line No. of breakpoint..Press “ ” to start processing, press “ ” the screen displays the current position line number. - Page 48 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd press “ ”to choose the save position and then press “ ” to save, system auto go to standard interface. If we want to continue processing from the breakpoint, we can choose the combination button “...
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Page 49: Part Work
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd needs to go backwards from the breakpoint, press “ ”, the screen shows as below: Input the line number which need to be go back to, and then press“ ”, the screen shows as below Line NO. -
Page 50: Advanced Work
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Home Type At Start Last power off during working, because of inertia the All axis home machine position may be error, do you want to restore Z home only coordinate? It’s recommends not to restore. Press None axis home CANCEL to HOME, OK to restore. -
Page 51: Scale Work
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Press “ ” to enter file list, then press “ ”move the cursor to choose object file. Set processing parameters, also can modify the array parameters in this step, or you can go to “AUTO PRO SETUP”, choose “Work Array” and modify the array parameters. -
Page 52: Mill Plane
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 5.7.3 Mill Plane Include two types: scan mill and encircle mill. Rectangle Mill Mill Plane Param X Mill Y Mill Depth Layer D Plunge R 0.800 Press “ ”to move cursor to choose the mill type. -
Page 53: Auto Center
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Press “ ” to enter the scan mill set, it includes: Scan type, Width, Height, Diameter, Depth, Z Step, T Ratio. 3) Press “ ”to move cursor on the option which need modify, press “... -
Page 54: Calc Border
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Auto Center Second point record completed 5.7.5 Calc Border Calculate bound means user can check the size of processing, So as to avoid unnecessary waste of materials and processing errors. Steps as below: Press”... -
Page 55: Appendix 1. Pulse Equivalent Calculation
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd 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). - Page 56 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd In E.g.1, Pulse/rev is Pulses per revolution of stepper motor, so that the user only needs to select a relative value according to the actual dial code. For example: If user choose 3200 Pulse/rev, indicates (360 ° /stepper angle)* Driver subdivision=3200.
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Page 57: Ps1.1.2 Linear Axis Pulse Equivalent Computing Method
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Pulley&belt drive: d: Pulley diameter PS1.1.2 Linear axis pulse equivalent computing method For example: the stepper motor driver dialed code is 1600 pulse/rev. Screw drive 1600 screw pitch=5mm,pulse equivalent= =320 Rack drive rack module:1.25, gear teeth number:23, π:3.141592654, transmission ratio:1/5(0.2) -
Page 58: Ps1.1.3 Rotary Axis (Pul/ °)
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd PS1.1.3 Rotary axis (pul/ ° ) Formula = pulses per revolution / angles per revolution（360° ） 360 ° ×Driver subdivision Stepper angle pulse = 360 °×transmission ratio PS1.1.4 Rotary axis pulse equivalent computing E.g.:pulse/rev=1600,transmission ratio =1/40... -
Page 59: Appendiex 2. Common Problems And Troubleshooting
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Rotation axis pulse equivalent * 360° *mechanical transmission ratio Appendiex 2. Common problems and troubleshooting PS2.1 Solutions for screen display faults After powered on the “Screen flicker or automatically restart” Switching mode power supply is insufficient. Check power supply if there are problems, and change high-quality power supply to solve the problems. -
Page 60: Ps2.2 Faq In Practical Operation
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd The buttons are broken. Go to “SYSTEM SETUP”-“Buttons Check” menu to check whether the buttons are normal or not. Assertion error Assertion error (occurred during the processing or after starting) is generally a software problem. User can boot the controller by entering “emergency state”, or re-upgrade it. - Page 61 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd User has selected the wrong tool bit which is not the same as it set in process file. Check if there is any problem with the path processing file. The screen displays “exceed limit” during processing The machine hasn‟t returned ZERO, lead the system is unable to confirm the actual...
- Page 62 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd file to U disk or handle internal. There is something wrong（plug loosen or wire damaged or wire diameter is too slimly） with the lines connecting Z axis motor and motor driver. Replace the lines.
- Page 63 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd The origin detection switch types do not match with the definition of the corresponding voltage level. Modify the voltage level in the controller. (Normally open type corresponds to a level defined the direction of the arrow down, normally closed type corresponds to the level defined arrow up).
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Page 64: Ps2.3 Electrical Components And Wiring Problem
北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Coordinate value changes on screen, but the machine does not move If it is one axis not moving, it maybe wiring problem. Change another normal terminal to this axis wiring terminal, if it moves properly indicating the rear parts of motor driver have no problem. - Page 65 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd There is something wrong with the connecting between the interface board and motor driver common anode end, check the connection. Interface board is broken. Replace the interface board. The motor driver is broken. Replace the driver.
- Page 66 北京锐志天宏科技股份有限公司 Beijing RichAuto S&T Co., Ltd Line fault. Spindle on signal and COM port is short circuit. Check circuit line. The output level definition reversed. Go to the “voltage setup” and modify the output level definition (modify the left first arrow direction in the second row).
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