myCNC control & software. User Manual
Contents
1. RS gt LE pe S i TRJ 24VDC SBCD l P5 TRJ geg r H S P3 OR TRJ 24VDC SBCD p Je VOC SNC Re Figure 2 myCNC UP3 board outline myCNC CNC control and software 2010 http www bevelcutting com 3 1 1 myCNC UP3 board connections Power supply Connector X18 is used for power supply 24V DC connection Table 2 X18 pin description power supply Pin nr Description 1 24V DC 2 GND COMMON 2 9 2 X18 Input Power connector gt s1 24vDC x 9 2 COMMON GND Motor Interface myCNC UP3 board contains 8 connectors for each motor axes X Y Z A B C 7 8 XT1 for axis X XT2 for axis Y XT3 for axis Z XT4 for axis A XTS for axis B XT6 for axis C XT7 XT8 for axes 7 amp 8 For STEP DIR motor interface is used high speed differential line driver compatible with RS422 RS485 Table 3 Connectors XT1 XT8 pin connection 1 5V output supply 5V output supply 2 STEP STEP 3 STEP STEP 4 DIR STEP 5 DIR STEP 6 GND COMMON GND COMMON myCNC CNC control and software 2010 http www bevelcutting com MS DS34C87T Figure 3 STEP DIR interface schematic design Motor driver connection samples This transmission method is recommended for better noise immunity Maximum pulse frequency up to 2 Mpps 5V External STEP STEP DIR DIR GNDICOMMON 5V External STEP STEP DIR DIR GNDICO2. elc tting TAC TTT 15 3 2 Programmable Logic controller DLC 17 S d PLC programming lan EE 17 AEG EEE SE EE EE EEK Saale bee AE EEE RE ER EE 17 Control Structures Lusassdnemiamnntmtedn ni KAS NES Eda SSRA E Na a AES nE Eiana 17 FUNCTIONS SN 18 3 22 Compilation PLC program ebe e d e 19 3 23 RISS PLE Prostam RR 19 Immediate running PLC Oe ME 19 Running PLC programs synchronized with moon sese sees eee eee 22 Table 1 PLC variables for access to ADC DAC and PWM 7 Table 2 X18 pin description power supply 9 Table 3 Connectors XT1 XT8 pin connection 9 Table 4 Settings for digital inputs power supply 11 Table 5 ADC inputs electrical characteristics 14 Table 6 ADC connectors pin description 14 Table 7 PLC language operators 17 Table 8 PLC language control structures 18 Table 9 PLC language predefined functions 18 Table 10 PLC function reserved variables 18 Table 11 PLC program names 22 Figure 1 myCNC UP3 board revision 21 sees 8 Figure 2 myCNC UP3 board ounen 8 Figure 3 STEP DIR interface schematic EE 10 Figure 4 Panasonic minas series servo driver differential high speed input connection to the MYCNC XX X EE EN EE 10 Figure 5 Panasonic minas series servo driver opto isolated input connection to the myCNC Ee E EEE EEE 11 myCNC CNC control and software 2010 http www bevelcutting com 3 Figure 6 Motor interface connectors XT1 XT8 myCNC UP3 controller sse eee 11 Figure 7 myCNC UP3 Opto i
3. lt widget widget name work toolbar stretch 0 gt myitems lt widget gt lt widget widget name nc view stretch 3 gt ncview lt widget gt lt widget widget name nc progress stretch 1 gt ncprogress lt widget gt lt layout gt For example we like to add the button into widget with name widget a Then find in this file graphic items which is placed in this widget So find widget a in the file lt gitem widget name widget a type button group height 90 action player play player stop skin 01 orientation horizontal gt lt gitem gt myCNC CNC control and software 2010 http www bevelcutting com 20 lt gitem widget name widget a type button group height 50 action player play back player step back player step forward skin 01 orientation horizontal gt lt gitem gt lt gitem widget name widget a type button group height 50 action player back to path cnc nc reset cnc nc tie skin 01 orientation horizontal gt lt gitem gt lt gitem widget name widget a type 5wbutton action left jog left right jog right up jog up down jog down height 200 gt lt gitem gt There are elements which placed on the widget a For example we like to add our button above Jog joystick 5wbutton Then insert before Swbutton section lines lt gitem widget name widget a type toggle switch skin 02 height 50 action plc co
4. 24V DC output 2 12 20 COMMON GND Q 3 10 Inputs 1 8 G 5 gt 0 Sensors are connected between O Input pin and Common gt while sensor is closed LEDs O et VD6 9 VD13 17 are switchedon 7 8 56 BE 599 0 8 S o ON ON TON F J3 Figure 8 myCNC UP3 Opto isolated PCB layout myCNC CNC control and software 2010 http www bevelcutting com PWM outputs DAC output The myCNC UP3 board contains 3 PWM output and DAC output Schematic of DAC and PWM peripherals is shown on a figure below PWM outputs are open drain Power supply for output transistor keys can be internal supply 24V DC or external power supply up to DC 80V External power supply for PWM outputs J6 is open Power supply is connected to X1 GND COMMON to pin nr 10 VCC to pin nr 9 Internal power supply 24V DC for PWM J6 is closed outputs F1 0 12A Supp OUT a or G In Pwr 1 X1 PWM and DAC connector 1 PWM1 open drain bes 2 PWM2 open drain E Me 3 PWM3 open drain m wo e 4 DAC 0 10V 5 10 GND 6 7 8 9 V supply 24V DC Figure 10 PWM outputs DAC output board layout myCNC CNC control and software 2010 http www bevelcutting com 13 ADC inputs The myCNC UP3 contains 2 ADC inputs There are two connectors X2 amp X4 for connection analog sensors to myCNC UP3 controller T
5. supply 24V DC for PWM outputs J6 is closed 3 2 Programmable Logic controller PLC myCNC XXX boards have integrated Programmable Logic Controller PLC to control all on board peripherals PLC is virtual machine which is run every Ims 3 2 1 PLC programming language PLC can be programmed with simple C like language The language syntax Operators Table 7 PLC language operators Assignment a b Subtraction a b Multiplication a b Division a b Increment suffix a Decrement suffix 9 Equal to a Not equal to al b Greater than a gt b Less than a lt b Greater than or equal a gt b Less than or equal a lt b Bitwise left shift a lt lt b Bitwise right shift a gt gt b Bitwise AND a amp b Bitwise OR alb Bitwise XOR a b Control structures Control structures can operate with Statement myCNC CNC control and software 2010 http www bevelcutting com 17 Compound statement or block Compound statement s group of statements are separated by semicolons and enclosed together in braces I statement1 statement2 statement3 Table 8 PLC language control structures Conditional structure if condition statement if a lt 0 b 1 if condition statement1 if a lt 0 b 1 else statement2 else b 2 Iteration structure do statement while do loops condition pwm01 timer 2 timer while t
6. CNC XXX Functional units The myCNC XXX circuitry can be divided into the following functional elements myCNC CNC control and software 2010 http www bevelcutting com 5 CPU unit ARM based microcomputer 512k Flash 64k RAM 70MHz for myCNC UP3 and 100MHz for myCNC ET1 board Motor interface based on Altera FPGA programmable logic 2 5 channel myCNC UP3 ET1 General purpose ADC 0 5V programmable via PLC general purpose DAC programmable via PLC 3 channel Power PWM 24V 2A programmable via PLC 6 open collector 24V 0 25A outputs myCNC ET1 board only programmable via PLC 8 16 opto isolated digital inputs myCNC UP3 ET1 programmable via PLC 7 relay outputs programmable via PLC USB slave with USB to serial converter for communication with HMI USB master controller for USB flash drive connection myCNC ET1 board only Ethernet controller for HMI connection myCNC ET1 board only Graphic LCD display 122x32 pixels myCNC ET1 only 9 key membrane keyboard myCNC ET1 only 2 1 CPU unit section The main processing unit of the myCNC XXX is a 32 bit NXP ARM7tdmi myCNC UP3 or Cortex M3 myCNC ET1 series microcontrollers with 512 kbytes internal Flash memory 1 8 Mbytes external flash memory and 64 kbytes RAM memory The RAM provides memory for variable storage and application programs The external flash memory provides non volatile storage of variables motion and PLC pr
7. MMON Figure 4 Panasonic minas series servo driver differential high speed input connection to the my CNC XXX For opto isolated inputs isrecomended maximum pulse frequency low than 500kpps myCNC CNC control and software 2010 http www bevelcutting com eee 0 0 p a XT1 X yl xS XT2 Y LKS 5158 mz Bale XT5 B a XT6 C N 3 XT7 7 XT8 8 Figure 6 Motor interface connectors XT1 XT8 myCNC UP3 controller Opto isolated inputs The myCNC UP3 contains 8 opto isolated inputs for connection any type sensors keys switchers Schematic design is shown on the figure below For LED power supply can be used internal 24V DC power supply or external power supply 12 24V DC For complete digital input optical isolation Configuration for internal external power supply is shown on a table below Table 4 Settings for digital inputs power supply External power supply 12 24V DC for digital J2 is open J3 2 3 is closed inputs Internal power supply 24V DC for digital J2 is closed J3 1 2 is closed inputs myCNC CNC control and software 2010 http www bevelcutting com 11 Opto isolated digital inputs myCNC UP3 gt va v P N i aa od ar as to r v g ei lt KA S ih d blo L TS N Figure 7 myCNC UP3 Opto isolated inputs schematic design X11 Opto isolated inputs 1 11
8. These variables represent ADC inputs By reading these variable we read value of AD converter that connected to input ADC pins pwm01 pwm04 These variables represent PWM outputs By writing to these variables we change pulse width value on PWM output pins 3 2 2 Compilation PLC program myCNC XXX controller operate with PLC program by 8 letters name A file with PLC source function should have extension plc Special utility plc make for Linux or plc make bat for Windows compiles source file places compiled bytecode file into bytecode folder and then create eeprom rom disk image in romfs filesystem in a folder eeprom You can check this file after running plc make utility This disk image file is uploaded into myCNC controller during start of myCNC control software 3 2 3 Running PLC program There are two scenario about running PLC programs functions 1 myCNC software can run immediately PLC program 2 PLC program call code can be inserted into motion program so running PLC program will be synchronized with motion Immediate running PLC program Let s see step by step example how to create on screen button write PLC procedure compile it and assign this procedure to the button For example we need to turn on relay nr 1 for 0 5 sec then turn on relay nr 2 and so on Procedure is finished when all relays 7 of them are turned on If input port nr 1 is closed procedure b
9. able 1 PLC variables for access to ADC DAC and PWM PLC variable name Peripherals pwm01 PWMI pwm02 PWM2 pwm03 PWM3 pwm04 Reserved adc 1 ADC1 adc2 ADC2 Digital inputs available via PLC function getport int port_number read digital input nr input pin open 1 if closed Digital outputs available via PLC functions portset int port number turn portelr int port number turn Samples 1 Turn on relay nr 3 and turn off relay nr I portset 2 portclr 0 maximum if portget 4 0 pwm 0 else pwm01 2048 pwm02 adc01 2 5 System Elements port_number 1 return value is 0 if on relay nr off relay nr port_number 1 port_number 1 turn on relay output nr 3 turn off relay output nr 1 if input pin nr 5 is open turn off PWM channel nr 1 otherwise turn on it on a half of PWM channel nr 2 repeats value on ADC channel nr 1 the myCNC XXX is part of a motion control system which includes servo with encoders or stepper motors motor drivers power supply 3 myCNC XXX hardware 3 1 myCNC UP3 controller board myCNC CNC control and software 2010 http www bevelcutting com EE WEIT eee EE eee TN ee E ii Go Led bad Ga Kae kei Lei zi ai se SP DIR US mie oo ka RBG L a D V Ka bed 099 e a K i CH KC GC CH O CH CH OC O L D lt e E 6 Ze Oo ve le OC g O
10. de M101 0 orientation horizontal gt lt message gt my M101 lt message gt lt gitem gt This means insert graphics item with type toggle switch on a widget with name widget a get image skin for button from folder 02 complete folder path is data art buttons 02 there should be skins on svg and off svg for button s on off states set vertical size of button s image to 50 pixels put label with text my M101 on left side of the button while orientation is horizontal if orientation is vertical label is placed on the top of the button assign to the button immediate running PLC functions There is no assigned function symbol while button is unchecked state 0 There is assigned PLC program M101 with param 0 while the button is checked state 1 On a figure below screen before and after changes ve CC eg Figure 15 myCNC siftware Addition on screen buttons myCNC CNC control and software 2010 http www bevelcutting com 21 Is the button is pressed and its state is checked turned on myCNC software run immediately PLC program with name assigned to this button M101 for this case Running PLC programs synchronized with motion myCNC software interprets and runs NC programs written in RS274 NGC language G codes For running PLC programs synchronous with motion are used M codes in NC program Motion controll
11. er read motion program and runs it If Motion controller read M code it stop motion with correct deceleration run PLC program and wait ready or abort signals from PLC controller There are two scenario are possible PLC controller may execute PLC program completely exit form it and then generate signal ready running motion program will continue or abort running motion program will be stopped PLC controller may generate signal continue on the fly In this case running PLC program and motion program will be simultaneous multi tasking mode If Motion controller read next M code while running some PLC program it s terminate running current PLC program and runs new one Motion controller find PLC program by name If PLC program is not found motion program is terminated On a table below listed names for M codes and some other codes Table 11 PLC program names Program code PLC program name Comments 7 ESSD C07 Start cutting 8 ESSI C08 Stop cutting 63 ESSI M02 Program End MI MOI M2 M02 M3 M03 M4 M04 M5 M05 M6 M06 M7 M07 M8 MUS M9 M09 M10 M199 M10 M199 myCNC CNC control and software 2010 http www bevelcutting com 22
12. g machine has Two axes X amp Y Two external key start amp stop Four limit switches X X Y Y Three pneumatic valves for gas control cutting oxygen preheat oxygen fuel gas one of them is proportional cutting oxygen For this example motor drivers are connected to XT1 XT2 connectors Connection of external keys is shown on figure below In this configuration is easy to use internal power supply Internal power supply 24V DC for digital J2 is closed J3 1 2 is closed inputs myCNC CNC control and software 2010 http www bevelcutting com 15 myCNC UP3 board VD18 INPUTO key start INPUT1 key stop INPUT2 Limit switch X INPUTS Limit switch X INPUT4 Limit switch Y INPUTS Limit switch Y INPUTS INPUT Figure 13 myCNC UP3 inputs connection example Pneumatic valves connection is shown on a figure below myCNC UP3 board e pre heat oxygen valve 24V LY 74 fuel et valve ano NE E F1 0 12A SHPIND OUT aa Bee G AN PWRI proportional pneumati for cutting oxygen mz Figure 14 myCNC UP3 relays PWM outputs connection example myCNC CNC control and software 2010 http www bevelcutting com 16 For valves power supply is used internal 24V DC source so J6 should be closed Internal power
13. he connectors have 5V power supply output for convenience to use active analog sensors like flow pressure sensors capacitory or inductive sensors that need external power supply Power supply is protected with 120mA fuse ADC inputs schematic design is provided on a figure below ADC inputs R57 R58 C11 360R 820R 0 1u F3 0 12A ZA 0805 DIG 8 value R56 eu 360R 820R Figure 11 ADC inputs schematics Table 5 ADC inputs electrical characteristics Parameter name Value Input voltage range for ADC inputs 0 5V Pre defined PLC variables for access to ADC adcO1 for input nr 1 values adc02 for input nr 2 Sample rate for each channel lms Table 6 ADC connectors pin description 1 External power supply 5V DC protected by fuse 120mA 2 ADC input 0 5V 3 GND COMMON myCNC CNC control and software 2010 http www bevelcutting com 14 w GND COMMON M ADC input 5V DC QD N m Figure 12 ADC inputs connectors layout 3 1 2 myCNC UP3 connection example All myCNC XXX peripherals available through PLC controller so all signals can be flexibly reassigned Ther is no fixed configuration for myCNC XXX controller For any profile plasma oxy fuel cutting table mill lathe engraving and so on can be created or modified myCNC configuration Let s see example Oxy fuel cutting machine Simple oxy fuel cuttin
14. imer lt 100 ATTENCION It s important For do while structure each iteration runs every Ims All timing generation in PLC programs is based on this rule Functions There is no feature to define your own functions subroutines in PLC language Some pre defined functions are available for control PLC binary peripherals Table 9 PLC language predefined functions portset int n Set to logical 1 binary output port number n portclr int n Clear to 0 binary output port number n portget int n Return current value of input binary port number n Table 10 PLC function reserved variables timer Ims counter which is available from myCNC control software With this counter can be made ProgressBar or some other on screen info elements message Message from PLC to myCNC controller It s used for start continue break motion program from PLC proc Variable is available from myCNC software and can be used on screen info elements for example during oxyfuel cutting show ignition preheat piercing cutting on screen info eparam PLC program is executed with param value This value is send into PLC variable eparam and can be used in PLC program dac01 dac02 These variables represent DAC outputs By writing to this variable we change value on DAC output pins myCNC CNC control and software O 2010 http www bevelcutting com 18 adc01 adc04
15. myCNC control amp software Manual rev 0 02 Preliminary myCNC http www bevelcutting com email mail bevelcutting com 195257 Russia Saint Petersburg Severny st 73 1 91 myCNC CNC control and software 2010 http www bevelcutting com Using This Manual This user manual provides information for proper installation of the myCNC controllers and operation of machining centers based on myCNC control software WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machinery myCNC shall not be liable or responsible for any incidental or consequential damages Table of content MEN to FRE SR 1 EN Ke e EE 5 2 myCNC XXX Fynetoniluitssuuadspesdeneine deed ee d e 5 Deke CPU gt section EE 6 22s J Wiotor Interfaces LRS 6 232 Communications Seeerei Ge 6 2 4 MyCNE e 6 23 a SPV SUSI E lEMENTS 006552218 ccs dais eden a dana dau te AG 7 3 MyENC XX hard wal easy Sis sick ci deine sas de 7 S JINVENCA UPS controller EE dd 7 3 1 1 myCNC UP3 board connections TEE 9 Power SUPPLY ae tisis tteid nesi nri ees araa uE aaa AERES EA REN KETER Ed aaa Gas 9 Motor EE 9 Motor driver connection samples ere eet ee deet eer 10 Opto 1s lat d inputs Leserne end eege EIER EEN EAR EEN 11 PWM outputs DAC o tp t 5 55355 caseeacus ek Seeerei anbieten geen 13 MADE me NN TEN 14 3 1 2 myCNC UP3 connection example esse eee eee eee 15 Oxy f
16. ograms and arrays Internal flash memory contains the myCNC XXX firmware 2 2 Motor Interface Altera FPGA programmable logic installed on myCNC XXX controllers provide high speed precise and smooth STEP DIR motor interface 2 3 Communication For communication myCNC XXX controllers with HMI control software USB Ethernet and RS485 optional interface can be used The communication interface with the myCNC UP3 controller consists of one USB port with integrated USB to serial converter at speed 500 kbaud and one RS485 interface with speed 115 2 kbaud that can be used as slave interface with HMI Host software or as master interface for myCNC THC RUO1 connection torch height control board for CNC plasma cutting tables In addition to interfaces listed above myCNC ET1 controller board has 10base T Ethernet port which is used for HMI connection 2 4 myCNC peripherals myCNC controllers have wide range of peripherals ADC DAC PWM Inputs outputs Peripherals control is available via integrated PLC There are available operations that synchronized with motion and asynchronous operations which run immediately All peripherals is available via PLC reserved variables myCNC CNC control and software 2010 http www bevelcutting com In a table below there are PLC variable names and peripherals that assigned to it PWM ADC and DAC are 12 bit values Complete range for these variables is 0 4095 in hex 0 0x7ff T
17. reaks and all relays is turned off Source for this procedure is listed below i 0 timer 0 portset i do timer if getport 1 0 portclr 0 if we need to switched off relays portelr 1 immediately we can t use loop myCNC CNC control and software 2010 http www bevelcutting com 19 portclr 2 portclr 3 portclr 4 portclr 5 portclr 6 exit 99 if timer 500 timer 0 i portset i while i lt 7 exit 0 normal exit from procedure Create the source and save with name M101 plc into pdata plc src folder Run ple make bat for MS Windows or plc make sh for Linux Check if in pdata plc bytecode folder compiled file M101 exists To create on screen button we need to study configuration file cnc config xml in pdata folder Graphic items like buttons info labels progress bars etc can be added into widgets which value is mytems Find screen section lt screen gt lt work layouts gt lt current gt layout table 1x1 v1 lt current gt lt layout name layout table 1x1 v1 orientation horizontal gt lt layout stretch 0 orientation vertical gt lt widget widget name widget a stretch 0 gt myitems lt widget gt lt widget widget name w left bottom stretch 0 orientation horizontal gt myitems lt widget gt lt layout gt lt layout stretch 1 orientation vertical gt
18. solated inputs PWS DAC outputs ADC inputs is 1ms 1 8 Mbytes flash memory for PLC program motion program and parameters storage for maximum flexibility myCNC controllers can be interfaced to a variety of drives which accept STEP DIR or STEP ISTEP signals Modes of motion include jogging point to point positioning and contouring Electronic gearing is available via myCNC control software Several motion parameters can be specified including acceleration and deceleration rates For synchronization with outside events the myCNC XXX provides uncommitted I O The myCNC UP3 provides 8 opto isolated inputs 6 relay outputs 3PWM outputs 4 TTL outputs I DAC 0 10V and 2 ADC inputs The myCNC ET1 provides 16 opto isolated inputs 6 relay outputs 3PWM outputs 7 open collector key outputs 1 DAC 0 10V and 5 ADC inputs Committed digital inputs can be configured as abort jog start and home events or can be flexibly used while machining process via PLC controller For communication between controller and HMI software specially designed binary half duplex master slave protocol is used To prevent system damage during machine operation the myCNC XXX provides many error handling features These include software and hardware limits automatic shut off on excessive error user definable abort input With firmware upgrade myCNC ET1 will be able to work in stand alone applications and provide non volatile storage for programs 2 my
19. solated inputs schematic design 12 Figure 8 myCNC UP3 Opto isolated PCB layout sse ee eee 12 Figure 9 PWM outputs DAC output schematic design 13 Figure 10 PWM outputs DAC output board layout sse sees sees eee 13 Figure 11 ADC inputs schematics sss ee eee ee eee eee eee 14 Figure 12 ADC inputs connectors layout La ERA 15 Figure 13 myCNC UP3 inputs connection example sees eee ee eee eee eee 16 Figure 14 myCNC UP3 relays PWM outputs connection example esse ee eee eee eee 16 Figure 15 myCNC siftware Addition on screen buttons sss sees eee 21 myCNC CNC control and software 2010 http www bevelcutting com 4 1 Introduction The myCNC U and myCNC E series of motion controllers were developed specifically multi axes applications This manual covers one USB based and one Ethernet USB based controllers in myCNC series The myCNC UP3 is 6 axes motion controller that communicates with HMI software via the USB The myCNC ET1 is 6 axes motion controller that communicates with HMI myCNC control software via Ethernet or USB can be configured via USB with configuration software Performance capability of these controllers includes STEP DIR output command with maximum pulse frequency is I MHz for myCNC UP3 controller and 3MHz for myCNC ET1 Motion controller processing time is 256us 82us for myCNC UP3 ET1 controllers Virtual machine processing time for integrated PLC controller and peripheral units relay outputs opto i
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