multi axis motion controller - Automated Motion Systems Pty Ltd
Contents
1. BVA san A J CE CEFA ESAE Ellipse G00X297 545Y 139 243 F15000 G00 Z35 F1000 G03X254 908Y216 779R 117 237 G03X209 681Y239 946R 147 444 G03X153 055Y248 310R 187 084 G03X96 551Y239 161R 187 084 G03X51 650Y215 367R 147 444 G03X20 071Y177 844R 117 237 G03X10 095Y137 247R 85 184 G03X20 634Y96 792R 85 184 G03X52 731Y59 711R 117 237 G03X97 958Y36 543R 147 444 G03X154 584Y28 180R 187 084 G03X211 089Y37 329R 187 084 G03X255 989Y61 123R 147 444 G03X287 569Y98 646R 117 237 G03X297 545Y139 243R 85 184 G00 Z0 F1000 G00 X0 YO F15000 M02 lt BACH 2000 PROGRAM EDITING BACH 2000 This is the full version of BACH and allows you to download programs into the GOYA and operate the GOYA from a computer To use this software a dongle is required Computer mouse When running GOYA from a computer functions can be selected using a computer mouse However mice do not survive long in a harsh environment so keyboard arrow keys F10 and return keys can also be used AUTOMATED MOTION SYSTEMS PTY LTD www automotsys com au sales automotsys com au SH GOYA4 Flexible program files The programs saved by the BACH software are basic ASCII text files You don t need special codes to r2. 3 MN Vnan Emergency Stop X Datum Y Datum Z Datum Teach mode When using the BACH software complex shapes can be programmed by manually jogging motors to point positions and clicking enter which automatically generates a line of code in the program This is useful when programming shapes that are not easily mathematically defined and where accuracy is not critical Safety It is the machine manufacturer s responsibility to assess the safety risks and ensure the machine conforms to AS4024 1 AUTOMATED MOTION SYSTEMS PTY LTD www automotsys com au sales automotsys com au CAD files For complex shapes consisting of curves arcs and lines calculating points and typing lines of code can be difficult It is easier to draw them using a CAD software package The BACH software has an option that allows importing DXF and HPGL files produced by CAD software and converting them into motion programs Subroutines for beginning and end of a profile eg tool on tool off can be defined and automatically inserted into the program Program size reduction It is often necessary to machine a profile that consists of many interpolated lines and arcs A typical example is the sole of a shoe Because the shape was probably generated by CAD software it may consist of many small straight lines joined together The program length can be enormous taking up valuable memory
3. can be stored in the controller and executed as required The controller can be used independently of a PC as programs are stored in a non volatile memory Typical applications are XYZ profiling tables pick amp place automatic welding engraving packaging machines glueing amp painting STEPPER DRIVE SIGNALS Step direction drive enable drive fault 100kHz max 15 bit resolution NPN current sink or 5V TTL SERVO DRIVE SIGNALS Velocity direction drive enable drive fault 10V 2 bit resolution ENCODER INPUTS 5V differential Maximum 250kHz CONNECTORS on rear panel Drives D9 male Encoders D9 female Inputs Outputs D37 female RS232 D9 male CAN BUS D9 male Analog input D9 female PROGRAM MEMORY SIZE 200000 characters stored in GOYA AUTOMATED MOTION SYSTEMS PTY LTD www automotsys com au sales automotsys com au SH GOYA1 Number of Axes The GOYA series by S amp H are available with 1 2 or 3 axes of movement The 3rd axis if used must always be astepper motor If more axes are needed the S amp H REUBEN series can control upto 6 axes but it does not have a keypad or display Power Supply The GOYA requires a 24 VDC supply although this may be between 19 and 35 VDC The maximum power requirement is 6 Watts and the supply must be smoothed Motors GOYA versions are available for both stepper and servo motors For steppers the control output signals are step drive enable and d
4. space in the GOYA The BACH software has an option of post processing the program and replacing a long list of linear moves with avery shortlist of arc moves Tool Radius Offset Cutting tools remove material and therefore have a kerf which must be allowed for when programming Rewriting lines of code if the paths are circles arcs and rectangles is easy but when paths are curves or regular shapes on an angle this can become difficult BACH is available with an option extra cost allowing you to change sections of program code to compensate for tool radius offset This uses the G40 G41 and G42 commands When this feature is used the program must be run from the computer using the BACH software and may not be stored in the controller The controller is not able to do the real time processing required Video replay When using servomotors tuning the drive and GOYA can be critical To assist in doing this the BACH software enables you to program a motor move and look at the response on the computer screen graphed as coordinates and velocities with respect to time The theoretical response can be compared to actual response This feature is not available with stepper motors without encoders as there is no way of knowing actual position EMC The GOYA is CE marked and complies with electromagnetic compatibility standard 89 336 EEC and should be installed according to the Appendix to hardware manual CNC1 Appendix to Use
5. this point software set Save current origin Restore origin set by G55 Activate continuous velocity Deactivate continuous velocity Activate accurate stop Deactivate accurate stop Activate don t wait for end of movement Deactivate don t wait for end of movement Wait for input to go low before proceeding Wait for input to go high before proceeding Switch output OFF Switch output ON Assign state of flag Units in inches Units in millimetres Enable Disable cam table Define DISENGAGE cam positions Define automatic cam table Define cam factor Define cam velocity variations Deactivate tangential tool guide Stepper Drive SDC HGD SAC Stepper Drive SDC HGD SAC Stepper Drive SDC HGD SAC Normally Closed switches for ESTOP Datums and Limits Normally Open switches for inputs Continuous development may necessitate changes in specifications without notice Motors drives belts amp pulleys and gearheads also available AUTOMATED MOTION SYSTEMS PTY LTD MAILING ADDRESS PHONE 08 9309 1896 OFFICE ADDRESS FAX 08 9309 5671 UNIT2 7 BARETTA RD EMAIL sales automotsys com au WANGARA PERTH INTERNET http www automotsys com au WESTERN AUSTRALIA P O BOX 1240 WANGARA DC W A 6947 SH GOYA6 A B N 94 009 232 535
6. 50 0 Y20 0 F300 consists of 21 characters so you could fit 7142 lines of code similar to this The maximum number of programs is 100 Downloading Software If you do not wish to use the BACH software to download programs it is possible to do this yourself The motion program just consists of ASCII codes and the GOYA manuals provide all the data transfer commands to send programs through the comms port This is handy if you have a small number of GOYA programs that are used repetitively and are rarely changed However you will need an experienced computer programmer for these applications Programming without Computer Itis possible to edit and enter motion programs into the GOYA using the keypad and display This does not require a computer However the procedure is not recommended for large programs as it can be very time consuming and has a high error rate Manual Jogging It is possible to manually jog axes on the machine either when the GOYA is linked to a computer or running alone When using BACH jogging can be done by clicking on an axis icon and pressing arrow keys for continuous motion or moving a set distance at a time The machine can be datumed by clicking on a datum icon BACH Lite The GOYA is supplied with BACH Lite software at no cost This does not allow you to download motion programs It enables you to set up the GOYA to the correct machine parameters such as scaling speeds accelerations and inputs
7. MULTI AXIS MOTION CONTROLLER 1 2 or 3 axis control Linear circular amp tangential interpolation Standard ISO G Code language Suitable for stepper or servo motors Stand alone or computer operation Optional CAD file DXF HPGL conversion Programs downloaded from PC Compatible with R T A Stepper drives The S amp H GOYA controllers are CNC multi axis controllers for automatically controlling machines using stepper or servo motors They are designed for synchronised motion where two or more axes are run simultaneously Motion programs are written in ISO G Gode which is easy to use and is familiar to most CNC machine operators Programs can be written using the BACH PC based software which allows operators to edit and verify programs before downloading them to a controller via the RS232 port SPECIFICATIONS POWER SUPPLY REQUIREMENTS 24 VDC 6W ENCLOSURE DIN 144 x 144mm panel X 156mm aluminium panel mounting cut out 139 x 139mm WEIGHT 1kg OPERATING TEMPERATURE 0 to 45 C DIGITAL INPUTS 16 off 12 to 35 VDC opto isolated some required for limit limit and datum inputs DIGITAL OUTPUTS 8 off 12 to 35 VDC 300mA opto isolated SERIAL PROTOCOL 9600 baud 8 data bits ODD parity 1 stop bit It is not necessary to the Windows based S amp H software it is possible to send the program files as ASCII characters using other software written by the machine manufacturer Programs
8. Y20 F1000 G00 220 F500 G68 P1 G01 X20 Y50 F300 G01 X60 Y50 G02 X60 Y20 160 J35 G01 X20 Y20 G67 P1 G00 Z0 F500 G00 X60 Y40 F1000 G00 Z20 F500 G68 P1 G02 X60 Y40 160 J35 F300 G68 P1 G00 Z0 F500 G00 X0 YO F1000 DESCRIPTION Goto 20 20 rapidly speed 1000mm min Lower Z to 20mm at 500 mm min Turn output 1 ON Goto 20 50 speed 300mm min Goto 60 50 at same speed Clockwise arc ending 60 20 centre 60 35 Goto point 20 20 same speed Turn output 1 OFF Raise Z axis to Omm at 500 mm min Goto 60 40 rapidly speed 1000 mm min Lower Z to 20mm Turn output 1 ON Arc ending at 60 40 centre 60 35 Turn output 1 OFF Raise Z to Omm at 500 mm min Goto datum 1000 at mm min Precision Theoretical positions are accurate to 6 decimal places however for simplicity the user can program the desired number of places displayed Continuous Execution Using the G57 and G58 commands the GOYA will perform continuous execution of segmented paths This is essential in cutting applications where a stationary cutting tool will burn the workpiece CAM function The GOYA can also perform a CAM function This is to run a motor ata particular velocity profile according toa lookup table of speeds versus distance Master slave The GOYA can also run a motor at a programmed speed ratio to a machine as sensed by an encoder This can be used to control feed speeds at a ratio to spindle speed for thread cutting Variable managem
9. achine a curve in 3 dimensional space by breaking such a curve into small linear segments in XYZ space and running the motors point to point however the programming can be tedious Motor Speeds Motor speed is determined by the maximum step output frequency of 100kHz for the stepper model GOYA and the maximum encoder input frequency of 250kHz for the servomotor or stepper amp encoder models For example if you are using an open loop stepper motor drive with 4000 steps rev resolution the maximum motor speed will be 100000 4000 25 revs sec Time delay Time delays dwell are useful in machines where motors must wait until a machining operation is complete This is possible with the GOYA language using the G04 command Time delays from 0 01 to 9999 99 seconds are possible AUTOMATED MOTION SYSTEMS PTY LTD www automotsys com au sales automotsys com au SH GOYA2 Programming Language The motion language is ISO of G Code which is used on CNC machine tools Machine operators will be familiar with this and it won t be necessary to use computer programmers to program the controller The G Code commands are listed at the end of this brochure Some commands will not be available in models without interpolation An example of a G Code program is shown in the diagram This could be a router oxy cutter laser or plasma cutter PATH 60 50 1 20 50 Speed change Speed is defined by the F command in t
10. be used to switch on cutter tools clamps solenoids punches etc Limits amp Datums Each axis in a machine will require limit and datum switches for each axis limit limit and datum It is usual to use normally closed switches as they are failsafe Upto nine of the inputs depending on model are dedicated to limit and datum switches as follows Limit Y axis Limit Y axis Limit Z axis Limit Z axis Datum Z axis Datum X axis Datum Y axis Limit X axis Limit X axis Input 6 Input 7 Input 8 Input 9 Input 10 Input 11 Input 12 Input 13 Input 14 Emergency Stop When an emergency stop button is hit a normally closed switch connected to one of the inputs the drives will all de energise The machine cannot be re started until the GOYA is reset Normally an emergency stop safety circuit will also cut off power to the drives and other components that could cause injury Interpolation The GOYA controllers are capable of linear and circular interpolation Linear interpolation can be on the XY YZ and XZ planes Also linear interpolation is possible in 3 dimensional space XYZ Circular interpolation can occur on either of the XY XZ or YZ planes Tangential control Apart from interpolation the GOYA can control a knife cutter and maintain its tangent to the path to be cut 3D Motion The GOYA can control motors in 3 dimensional space but it is not intended for full 3D sculpturing Itis possible to m
11. ead them You can read them and edit them on a word processor if you want You can use other CAM packages to generate the program and read them with the BACH software You could even write a program with the mathematics to generate the lines of code for small linear segments such as a 3 dimensional shape and save the file to a disk The BACH software is not particularly sensitive about formatting the lines of code but commas and stops cannot be used G01 X100 Y50 Z40 F1000 OK G01X100Y50Z40F 1000 OK to omit spaces N20 G01 X100 Y50 Z40 F1000 Line numbers OK G01 X100 Y50 OK to omit F command Controller assumes same F as before X100 Y50 OK to omit G command Controller assumes same G as before g01 X 100 Y 50 Z 40 F 1000 Not acceptable No spaces or lower case G01 X100 Y50 Z40 F1000 Not acceptable No commas allowed Gb Seo ke fale 0 00 mm 546 50 mm 20 00 mm 3 BACH 2000 MACHINE CONTROL Terminal Mode When running the GOYA from a computer and when first testing a system it is useful to be able to send single lines of G Code to the GOYA This can be done by the terminal mode that lets you type a single line and download it by pressing return
12. ent The GOYA can also perform mathematical operations on variables eg obtained from analog inputs Operatorsare andsquareroot Housing The GOYA is housed in a panel mounting aluminium extruded DIN 144 x 144mm case CAMA R2082 145 Brackets are supplied to mountitin a panel cut out 139 x 139mm All connections are at the rear of the GOYA Although the depth of the case is 148mm allow 217mm for connectors at the rear Probe For scanning it is necessary to have a probe input to sense position This is possible as the GOYA inputs are high speed An axis is moved at a defined speed using the G06 command and as soon as the probe is hit the motor will stop and the position can be read by the GOYA AUTOMATED MOTION SYSTEMS PTY LTD www automotsys com au sales automotsys com au SH GOYA3 Wait When machining it is sometimes necessary for the GOYA to wait and not move motors to the next position until it is clear and an input is sensed This can be done using the G66 hold input command Loops If you had to machine a large number of identical items the program would be long It is possible to write a program for one item and repeat it many times in an array GOYABOX The standard GOYA is supplied with a keypad and numeric display This enables an operator to select programs and manually jog or datum the machine In applications where the GOYA will be controlled by a computer or programs are rarely cha
13. he program Overall speeds all axes can also be manually changed while the program is still in operation by keys on the front panel or computer screen On the fly speed change At times it is necessary to change speed of a motor according to a program while still in motion and without stopping the motor This can be achieved by the G57 and G58 auto linkage commands P L C Often a machine also requires a lot of logic switching and monitoring as well as motor control The GOYA can be provided with a P L C option expandable up to 128 inputs and 128 outputs using CAN bus The PLC function which is programmed in ladder logic runs independently from the motor control Protection The GOYA has inbuilt password protection preventing unauthorised use of a machine Furthermore when controlling the GOYA from a PC different machine operators can be assigned different passwords depending on competence and level of options available Analog Inputs The GOYA can be supplied with optional 6 analog inputs 0 5V 10 bit and a 5V DC excitation for potentiometers and sensors These analog inputs can be read bya program Analog Outputs The GOYA can be supplied with 2 optional analog outputs 10V 12 bit This option is only available with the stepper versions of GOYA Engineering Units All programming is done in engineering units such as millimeters or inches and not motor revs steps or encoder pulses CODE G00 X20
14. irection For servo motors the control outputs are 10V velocity demand and drive enable with encoder feedback Both brushed and brushless servo motors are compatible Stepper Drives There are two main types of stepper drive input These are voltage inputs and open collector current sink inputs for step direction and enable The GOYA is compatible with both types of drive including the RTA GMD GMH GAC BCW SAC HDG SDC and MIND drives Position Control Stepper motors are usually run in open loop control without feedback However the GOYA can be supplied with optional encoder inputs to close the loop in stepper systems Servomotors are inherently closed loop so don trequire this option The GOYA has 16 digital inputs These are optocoupled and must be switched high to 12 to 35 VDC for logic high Normally 24 VDC is used and this may be the same as the 24 VDC supply for the GOYA These inputs can be read by a motion program Nine of these inputs are dedicated to limit and datum switches for all the axes It is also usual to dedicate one input to anemergency stop Speed profiles The GOYA has built in ramping and is capable of trapezoidal parabolic and S type velocity profiles Outputs The GOYA has 8 digital outputs These are also optocoupled switching 24 VDC at upto 300mA It is permissible to use the same power supply as the GOYA These outputs can be switched on and off by the motion program They can
15. nged alower cost version called the GOYABOX can be supplied The keypad and display are replaced by a blank aluminium plate Settings When setting up the GOYA there are numerous settings such as motor speeds acceleration rates input switch logic scaling factors etc Once these are programmed and stored in the GOYA memory an unauthorised operator will not have access to them Subroutines When run in stand alone mode the GOYA can support subroutines nested to 8 levels to make program size smaller Control The GOYA has a serial port allowing it to be interfaced to a PC running Windows 95 or 98 Using the S amp H BACH software programs are written saved edited graphically verified and then sent to the GOYA The dongle protected BACH software is written by the manufacturers of the GOYA There are two modes of operation with the GOYA In the first mode the computer is controlling the machine and motion programs are sent to the GOYA in packages as the machine is running This is useful for very large programs where you want to view status on the screen In the second mode motion programs are downloaded into the GOYA and then saved in a non volatile memory Then a program can be run by selecting the required program from the GOYA keypad and display and starting The computer does not need to be connected for this operation The memory in the GOYA is about 150000 characters A typical G Code program line like G01 X1
16. r s manual for S amp H Controllers It is the machine manufacturer s responsibility to ensure the machine conforms to Australian EMC Framework Our EMC statement applies and is available on request Installation We strongly recommend that a competent engineer familiar with mechanical electrical electronic and computer systems be involved with the installation and setup of the GOYA controller SH GOYAS5 SUPPORTED COMMANDS G00 G01 G02 G03 G04 G06 G16 G17 G18 G19 G20 G21 G22 G25 G26 G27 G30 G31 G32 G50 G51 G52 G90 G91 Rapid move no interpolation Move with interpolation Clockwise circular Interpolation Anticlockwise circular Interpolation Dwell time delay Run axis continuously Define plane of circular interpolation Select XY plane for circular interpolation Select XZ plane for circular interpolation Select ZY plane for circular interpolation Unconditional jump Jump if flag TRUE Jump if flag FALSE Define minimum limits Define maximum limits Cancel work limits Recall subroutine Recall subroutine if flag TRUE Recall subroutine if flag FALSE Cancel displacement of origin Seek Datum switch Displacement of origin Activate absolute coordinates Activate relative coordinates TYPICAL SCHEMATIC COMS PORT NV AANO O GOYA Multi axis controller l OUTPUTS 24 VDC TNODTO OM BREREREFR S OOO00000 Origin of axes at this point Origin of axes at
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