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Version 2.0 User's Manual

1. ccccccccccceccccccnuccccccceceeceeeecesnnnaaaueeeeetettsnnnnanneenntetttttsnns 18 ADD POINT ieaicoveiseaveroxsccneseaacidda eur eiincaioaaioce NG NA aka hanna au LAN an haaa 20 SAVE PROGRAM TO DISK cccceccccccccccecccuuccecccucuecuecuueecuenueceenuuseccueaueceecuenuecceteuesuecunennnsuntennunennes 20 a cj Go PROGRAM STATUS ADJUSTMENT OF THE WORKING VELOCITY FOV 2na 22 GRAPHIC REPRESENTATION 200000000000 n 0a NANANA ANA ANNA NANANA 22 BOG AA waka ee wawa mai eee 22 UPLOAD PROGRAM FROM THE CONTROLLER ccsssecccccccccccccecennncacuuecceeceeeceenuauauaueeeeeeteteennugunuennneees 22 LOAD PROGRAM FROM FILE mmm a 23 STEP BY STEP EXECUTION cccccccccccccccccccccccuccuececueceuuecnuuecsuuecnueucnuecnuuucnuenenueueuueucueesuuetsuneennuns 23 BACH V2 0 USER S MANUAL SAAN 23 ce KI START THE PROGRAM AT THE BEGINNING 220200 a 23 SHOW THE DRAWING Ga salum i Eg STOP PROGRAM ON 23 PROGRAMMING WINDOW 2200 00000 AA NANANA Aaaa annant GRAPHICAL REPRESENTATION cccccceccccccccceccccccccecuccteceuecenguueeeuenaauueeeeenuauseeetnagauneeeenaauueetecsngunetttnengaunntntss OP AO E NEA AAA AAA AA AAA aa NEW PROGRAM saan LOL kakaba Gana ka alak hn D a NGA ENG nh GG GLO nak 27 SAVE PROGRAM TO THE CONTROLLER ccccccecccccccccencccccucennauuececenuauuueeeeenuuueeeecnnuuuetttenuuntentennunneness 27 DELETE PROGRAM FROM THE CONTROLLER cccccccceccccccnnccccccccccceecccn
2. 61 copia lo stato dell ingresso 2 sull uscita 2 62 and 2 i indi Nome Valore HEX 63 equ 2 0 ooo 6 6 I O 64 endblo 216 216 217 00000000 66 se e attivo l ingresso 3 presetta il timer O 67 dell ingresso 3 poiche viene caricato ogni 68 e attivo 69 and 3 i 70 settim Oit VARI carica 1 timer 71 entim Oit nella variabile 72 endblo 74 abilitazione del conteggio del numero di trans 75 il punto associato al counter O verra attive dell ingresso 5 C Programmi SEH Bach EXAMPLES PLC DEMO Ist and 4 i gt Watch point Program name Fig 40 Panel of the program debugger for the PLC I O window PROGRAM WINDOW This area shows the listing of the program being debugged To be checked properly the program must be running Therefore it must have been successfully compiled previously Entering this mode it will be necessary to load the program and transfer it to the controller which will automatically put it into execution Remember that the PLC functions of the S amp h controllers are options that must be ordered separately and are not included unless specifically requested If the system contains more than one controller not all of these necessarily contain the PLC option and therefore it may not possible to verify the PLC program on all of them It is possible to move the cursor in this window to place the watch points It is not possible to modify the listing of the
3. The correspondence between the inputs and the programs that are run is summarised in the following table 9 109 129 6 106 126 8 108 128 It is clear that if input 1 has been defined as active only when pressed the program 121 even if it has been written will never be run automatically If input 2 has been disabled the programs 102 and 122 even if they exist will never be run automatically If the input has been defined as active when pressed and when released but the programs 103 and 133 do not exist the pressing of the pushbutton associated with this input will produce no effect Only one input must always be dedicated to a selector switch that indicates to the controller that it is set in Manual or in Automatic and this input must be defined as active as Selection AUTO JOG Remember that if the PLC option is available and there is a PLC program being executed it has precedence over the controls of the operator panel In other words if the PLC orders the controller to put itself in Automatic the controller will execute that command ignoring the input state dedicated to this selection The selection Selection PROG LINE is not used at the moment and remains available for future developments 51 BACH V2 0 USER S MANUAL Some inputs can be dedicated to the choice of program to be executed For this purpose it is possible to define up to eight inputs that form a single word of eight bi
4. BACH Version 2 0 User s Manual Em Bach la SIA Kia BEERS totoro tatato tata tatottetatatamtota NAN UNA ANA mauwa MM NSS AAA AAA NAM SA MISA ASAS AAA AA AAA NAA AAA AAA AAA AAA AAA AAA SAANA AAA LEE EEE ELLE MANUAL CODE MA BCH U STD 1 10 DATE 10 APRIL 2000 BACH V2 0 USER S MANUAL The contents of this manual are the property of S amp h and they may not be reproduced in whole or in part without the written consent of S amp h The information contained in the manual is subject to modification without notice and it does not imply any commitment on the part of S8h Copyright 2000 S amp h All rights reserved BACH V2 0 USER S MANUAL GENERAL GANG 7 INSTALLATION an NAGA ANA AA ANA ANA Ana 7 CONFIGURATION 200 0aaa nanan AG NN KNA NN K NAKU NK NANG NUN KNA NN KELAN UKE LENA NE KELAN KK E LAN ENG ennn nnna 7 8k IA AA 8 3 LANGUAGE AA AA APA 10 MODES TOOLBAR 22 aaaaaana nan N GN KKK KAKA NG NG KKK KK KKK KAB N NN KKK KKK HELEN KNEE NS KEN SEE ELENE nnen 11 E Db i wh DISPLAYING CNC STATUS 2200000 2a aaa lana NN NAAN aasa 12 DISPLAYING THE AXIS STATUS ccccccceccccccncccccccuccucncueecnnnuueuengueeesnuueecnuueeennuneeenanteeenunetsnuntetsnunentnnnunttenunenss 12 MANUAL DISPLACEMENT cccccceccccceccccccncccceccceucnuueceeguueucnuueeesnuneucnnuteeenneeenaneeeenunetsnuutetengunensnantetsnunenss 13 INCREMENTAL CO ORDINATES ccccccceccccccccccccecuccucnuuecenuuueeuenuueet
5. TOOLBAR LOAD PARAMETERS FROM FILE This instruction is used to an entire set of parameters from a file using a typical file opening window of Widows 98 LOAD PARAMETERS FROM THE CONTROLLER This instruction is used to load an entire set of parameters resident in the controller LTA SAVE PARAMETERS TO DISK This instruction is used to save an entire set of parameters to a file using a typical file saving window of Windows 98 SAVE PARAMETERS TO THE CONTROLLER This instruction transfers the whole set of parameters saved by Bach to the controller replacing those existent m UPLOAD FROM DOWNLOAD TO THE CONTROLLER The instruction is used to copy all the data in the controller memory parameters and programs and to save them in a single file with the extension cfm It is also possible to start from the file of this type and download the whole memory to the controller In this way it is possible in one simple operation to substitute a controller that may be defective with another identical unit and maintain all the same settings 54 BACH V2 0 USER S MANUAL Fig 57 Transferring the entire contents of the controller memory Pressing the Li button opens a normal file opening window of Windows in which a file can be selected from those on the disk with the extension cfm When opened its attributes and eventual description can be highlighted as seen in the following figure Ex Bach Ea 18 4 2000 17
6. The component of open loop gain FFO feedforward output is defined by the following formula Kff V FFO OUTmax 100 Vmax in which OUTmax is the maximum output voltage that the controller can generate V is the velocity that is required in this instant and Vmax is the maximum velocity at which the axes can move Kff is one of the parameters that can assume values between 0 and 100 chosen by the user who can this adjust the value of this component between zero and its nominal value For the proportional reaction component it is possible to define the parameter number expressed in millimetres or inches according to the units of measurement selected which expresses the amplitude of the dead band of the reaction loop Until the error in absolute terms reaches this limit the proportional reaction does not intervene The values for the knee point are also expressed in millimetres or inches This is the level at which the second coefficient of proportional reaction intervenes So is the error value that determines the emergency condition for server error Note that if the value for se is zero the reaction loop is disabled This choice enables the axes to pass rapidly into operation without losing the values set for the various closed loop parameters The coefficients Kp1 Kp2 ki and Kd are integers between O and 2047 where the value 0 determines the disabling of the relative branch of reaction Also an integer betwee
7. The type of movement can be continuous or in finite steps If the __ Step key is seen as shown here the movement is continuous It begins when one of the or J keys is Step pressed and it ends when the key is released Pressing the button its field changes to where the number 10 represents the entity of the finite step of the movement This value can be varied at will by defining the manual parameters which wili be seen later When the button is seen as o dq the displacement will end when the movement has completed the specified distance even if the T button or the button remains held down However if the i button or the button is released the movement will stop even before completing the distance INCREMENTAL CO ORDINATES Normally the display of the position of the axes is expressed in absolute co ordinates referred to the machine zero In some cases it is useful to know directly the difference in positions between two points or to establish a local origin to which to refer the co ordinates without losing the reference to the machine zero To measure the difference between two points the Diset button can be used This moves the axis to the position of the first of the two points for which the difference is required The position display normally shows the absolute co ordinate for example x 100 0 When the __ Ofiset is pressed the co ordinate displayed will show two fields K 0 Om and li kia If
8. USER S MANUAL This window indicates which axes must be considered and the interval in milliseconds between one reading and the next Alternatively choosing Variation it is possible to record a reading only when there is a variation of the actual co ordinate with a maximum resolution of 4ms It should be pointed out that this mode will not enable the correct reconstruction of the space time graphic since the interval between two successive readings is unknown ce STOP PROGRAM This button is pressed to interrupt the current program M BEGINNING OF PROGRAM This button resets the elapsed time of the recording to zero and enables the viewing of the initial section of the recording The key on the PC keyboard has the same effect Dl END OF PROGRAM This button places the the time reference at the final section of the recording for viewing this part The ie key on the PC keyboard has the same effect gt FORWARD This button is used to to move to the next instant on the movement recording If the sampling rate is set at 4ms the co ordinates and the velocities are displayed will be those of 4ms later The gt key of the PC keyboard has the same effect If the cia and keys are pressed simultaneously the scanning of the recording is accelerated considerably dl BACKWARDS This button will move the position displayed to the previous historical reading mm The key of the PC keyboard has the same effect If the an
9. Graphic representation Fig 18 Panel for Automatic operation PROGRAM STATUS This section shows the name of the program currently loaded into the Bach s memory complete with path and indication of the last line executed Clearly if the program has yet to start as in the figure the last line executed is that in front of line 1 i e line O Name and path of the program C Program 5 EH 3bach gatto gio Number of the last line executed ME Fig 19 Indications of the program status 21 BACH V2 0 USER S MANUAL ADJUSTMENT OF THE WORKING VELOCITY FOV Fig 20 Adjustment of the working velocity Fov This linear adjustment can apply an increment of up to 100 or a decrement of up to 99 of the velocity of movement specified in the program GRAPHIC REPRESENTATION When the program is resident on file and not in the controller it is possible to see the graphic representation of the movements of the two axes X and Y in this area To load the graphic use the key as described in the description of the Toolbar TOOLBAR Many of the buttons on the Toolbar are identical and their operation exactly the same as in the panel of the Manual mode so their description will not be repeated a second time The following describes only those buttons specific to the Automatic mode UPLOAD PROGRAM FROM THE CONTROLLER This button is used to select the program to execute from those present in the controller The window fro
10. Ingresso C 4ProgrammiN5EH bach Aga File Uscita Annulla Profondita Jo Decimali fo Fig 38 Window for assigning the parameters for the compensation of the radius of the tool It is usually possible to define the resolution of the process in the Decimals field The program that the process produces does not contain any more G4n codes and it will present the profile compensated by the co ordinates of the displacements Using the ability of the window for drawing more than one profile simultaneously it is possible to visibly compare the result that is obtained using the operations of linkage and off tool radius compensation with the original path and thus check whether there are anomalies or errors 36 BACH V2 0 USER S MANUAL Hoa This mode is used for editing a PLC program and for compiling it eliminating all the formal errors For details of the programming language of the PLC adopted by S amp h refer to the relative manual 4 COMPILER FOR THE PLC Editing window Toolbar assign 2481m assign 249 m B4 assign 2500 NG OO gt assign 252 m assign 253 m assign 251m assign 255 m Input da campo input 0 011 acquisizione ingressi input 32 1 1 andnot 10 m set 10 m movil 14 0 A Memol prg Program Na Compilation messages window Fig 39 PLC program compiling panel EDITING WINDOW This area is used for editing a program treating it like a text file in Not
11. applications do not require all the facilities provided To meet the economic requirements of the some purchasers only some parts may be provided The rest of the program facilities are available options that will be activated on request These options that were not requested with the original purchase can be activated at a later date This is possible when the serial number of the hardware key is known with instructions given over the telephone with one of our technical personnel They will explain how to enable the further options required without reinstalling the program or updating any files 60 BACH V2 0 USER S MANUAL USING THE PROGRAM WITHOUT A MOUSE In many applications Bach software is installed on a PC that must operate in an environment where the use of a mouse is very inconvenient For this reason all the functions that are accessed by the mouse can also be accessed from the keyboard E E E The key activates the menu keys under the toolbar The and keys are Ei m i used to select the menu The 2 key brings up the whole menu The keys are used the scroll up and down to select the item on the menu and Inside a window it is possible to move around the buttons and data fields using the Tab key to go forward and Shift Tab to go back The set and reset of the flags is made using the space bar Other keys with specific functions have already been described in this document in the chapter they are used A few atte
12. emergency of the various control axes in order to avoid conflicts It is also important to avoid conflicts with the definition of the signals from the operator control panel The functions that can be assigned to the inputs are listed in a pull down menu that appears when the x button is pressed after having activated the specific input 52 BACH V2 0 USER S MANUAL Start Stop Stop a fine blocco Stop immediato Start Set RAeset Emergenza Reset Emergenza Annulla comandi Attesa U T basso Attesa UT alto Fig 54 Selection menu for the input functions For the meaning of the various possible functions refer to the programming manual The sensitivity to the rising or falling signal front or to the state of the input that is indicated in the window for each single input is rigidly associated to each function With the FF button normally open contact that closes when the pushbutton is pressed and the button normally closed contact that opens when the pushbutton is pressed it is possible to define what the active condition of the input is Remember that the switches must always be connected on one side to the positive of the auxiliary power supply and on the other side to the controller input in order to supply current to the controller when closed L M2 w e Emegerca O a M4 mj fae fstas A Fig 55 Functional modes of the inputs TANGENTIAL TOOL PARAMETERS The tangential tool function is conceived and referre
13. files must have a numerical extension for example rounding 5 When Bach encounters a movement for which the code is 5 in the programming convention that has produced the file to import it will insert the file whose extension has the same numeric value of the colour code N B every program for graphic processing has its own personal colour code so it is not possible to suggest a table of corresponding colours codes that has general validity The user must refer to the documentation of his graphic program or if the information is unavailable by trial and error Mee J DELETE A PROGRAM FROM MEMORY This function enables the deletion from the Bach memory of the program that is represented graphically in the appropriate window The deletion does not change the program contained in the GIO file and so the program does not reguest confirmation of the operation GRAPHIC PROPERTIES This button is used to assign different colours to the various types of interpolation that will be used to follow the segments It is therefore possible to highlight for example circular interpolation with respect to linear interpolation and this latter with respect to rapid positioning of GO It is also possible to activate and disactivate the highlighting of the extremities of the segments C 4Programmi5eH4Bachat f2 Mark Point Pails bA 316 Uk Cancel Fig 34 Drawing parameters window The window indicates the total number of lines t
14. modification graphically it is necessary to save the program in a file or in the controller and then reload it again into the memory 26 BACH V2 0 USER S MANUAL TOOLBAR The and buttons have already been described for the Manual and Automatic modes Their functions are absolutely identical to those that have been described previously NEW PROGRAM This command empties the whole programming window If there is already a program in the window that has been modified before clearing the window Bach asks for confirmation The new program will contain only the heading and the closure The default heading is ProgName which must be changed by the user so that it is recognisable in the future as a program AN Cancellare il programma Annulla Fig 25 Request to confirm deletion SAVE PROGRAM TO THE CONTROLLER This button is used to transfer the program to the controller It goes into the non volatile memory the contents of which are not lost when power is removed from the unit and can be executed directly when instructed from the operator interface of the controller itself or from the remote operator control panel Salva su controllo 001 PRA MARTINO 004 Gatto QUE Coperchio 116 SET POINT 007 Fig 26 Window for saving to the controller 27 BACH V2 0 USER S MANUAL If wished the program can be saved with a new name by writing the sequential number in the lower field of the
15. pressed at any time the execution of the program is suspended and the first line of the current program will be executed when the button is pressed 23 BACH V2 0 USER S MANUAL Show the drawing This button is active only if the program has been loaded from file When pressed it shows the trajectory of the machine on the X and Y axes represented in the Graphic representation window 24 BACH V2 0 USER S MANUAL 4 OPERATOR PANEL The operator control panel is a simple display derived from the same structure of the manual and automatic commands whose purpose is limited to informing the operator about the operational status of the system It is designed to be used when the machine control is being handled by an external control panel connected directly to the inputs and outputs of the controller NEE MEME EEE i Se 0 0 gm a EI kunuia O eae 2 iln 6 0 Comment og 217 FO000 Comment o ity 0 Comment Fig 22 Operator Panel The main part of the screen is filled with elements that have already been described for the other modes and they have the same functions Terminal Programmin Automatic Manual Last line executed EBEE Na Fig 23 Display of the system status Only the group of indications that describe the system status requires particular attention Since all the normal operational functions are handled remotely from the external panel it is consid
16. program If it is found necessary to correct the program the only way of doing this is to return to the Compiler for the PLC mode make the correction recompile the program and return to the Debugger mode to continue the debugging I O WINDOW This area is used to display the states of the inputs and outputs and the values of the variables 39 BACH V2 0 USER S MANUAL Valore HEX 000 8 6fI O 216 216 217 00000000 Fig 41 I O window The left hand column shows the physical address of the displayed element the central column shows the name and in the case of the inputs and outputs the type of element The right hand column shows the values expressed in hexadecimal notation WATCH POINTS WINDOW This area displays the contents of the accumulator before the execution of the instruction that is defined as a watch point Valore HEX BB sil o B 62 i O Fig 42 Watch points window The left hand column shows the progressive number of the line that has been defined as a watch point Just to the right of this number is the content of the accumulator before executing the instruction The centre column shows the name of the operand which is used to execute the instruction while the value on the right is the current value of the operand In the example in the figure instruction 51 requests a logic AND operation between the accumulator and the input O The content of the accumulator before the execution is 1 The valu
17. stepper motors while it is not normally used for d c motors whose direction of movement is defined by the polarity of the analogue signal The fields for the configuration of the analogue input and its polarity are not meaningful for a stepper motor FUNCTIONAL RATIOS In the field ui encoder pulses the ratio is specified between the measured displacement in engineering units and the number of pulses that the encoder generates for the same displacement Remember that the controller multiplies the number of pulses per revolution is multiplied by four For example imagine a linear slide moved by a screw with a pitch of 6mm that drives an encoder with 50 pulses per revolution A complete revolution of the screw will generate a displacement of 6mm while the controller will receive 200 pulses from the encoder The ratio is therefore 6 200 or 12 400 Or 3 100 The field ui motor step has no meaning for d c motors It specifies the relationship between the measured displacement in engineering units and the pulses sent to the stepper motor For example if the slide described in the previous paragraph is moved by a stepper motor that requires 800 pulses to complete a full revolution the ratio will be 6 800 or 3 400 SOFTWARE LIMIT SWITCH This field is used to assign the minimum and maximum co ordinates outside which a Software limit switch emergency is generated It should be remembered that if an axes has the zero position a
18. the axis is now moved to the second point the display will show the difference between the absolute co ordinates of the two points To define a local origin press the Diset button of all the interested axes When the Dist button is pressed a second time the co ordinate displayed will return to be that referred to the machine zero and the position of the local origin will be lost DISPLACEMENT VELOCITY With this cursor it is possible to adjust the velocity of manual displacement between the minimum and the maximum set in the parameters window for manual mode The current value is indicated in white in engineering units 13 BACH V2 0 USER S MANUAL DISPLAYING THE CONTENTS OF THE VARIABLES Most of the time it is useful to be able to see the states of the inputs and or the outputs and the contents of the program variables of the system To this end the following window is provided Type Name Value Comment ah In 6 o Comment in 7 o Comment ln 8 0 Comment In 94 0 Comment Out 0 Comment Out 1 0 Comment Og 27 Foo Comment CJ go 218 PED aCCeso Immagine uscite 4 Fig 8 Inputs outputs and variables In this section of the panel the operator can add or remove displays at will so that all the elements he needs will be clearly visible at any particular time INSERTING AN ELEMENT To add a new element simply make a double click in any position within the window that is not showing the name of
19. the operation of the machine to be inserted at the right places For example at the start of the program file it will be necessary to insert the lines program name Paa as well as other instructions that from time to time change and are necessary when the machine starts up This sequence of instructions can be contained in a program called Begin gio If the name Begin is specified in the field Beginning of program The instructions contained will automatically be entered at the beginning of the program The field End of program enables a file to inserted at the end of the program that contains all the instructions to stop the machine The field Beginning of displacement is used to insert lines that precede every displacement GO and contain a sequence of fixed instructions for example lift the spindle stop the spindle stop the cooler pump Similarly the End of displacement is used to introduce a sequence of fixed operations at the end of a displacement GO before a G1 G2 or G3 for example start cooler pump start spindle lower spindle The field Layer is used to insert a series of instructions before every change of layer and is used in the event that different layers are associated with different types of working 32 BACH V2 0 USER S MANUAL The field Colour is used to insert a series of instructions before beginning to execute a movement of a certain colour The relative
20. was written the available languages were English and Italian The selection is also associated with the user who makes the choice so that users who prefer a different language can use the same program and it is not necessary to redefine the language each time the new user requires 10 BACH V2 0 USER S MANUAL MODES TOOLBAR a Ce Glo The series of ten buttons in the upper left hand corner of the screen is the so called Modes Toolbar Each of these buttons can be used to enable a specific operational mode of the program As we have already seen in the User section not all the keys are enabled in every situation This manual will explain these in order from the most frequently used to the most rarely used 2 GO In this operation mode the motorised axes can be controlled manually usually with the purpose of checking the operation or to read the co ordinates The relative panel is reproduced and commented on below MANUAL Displacement velocity Toolbar Cnc status status of the axes Selecting axis and CNC ERC H BEEBE a el displaying X 0 0 Sennen al co ordinate FEE 500 mmn se On ee EEN ka Tipo Nome Vaore Commento ou 0 0 Comment in 7 0 Comment Din 6 1 Commen t OQ 217 F0040 Comment ile 1 Comment Self learning window Inputs outputs and variables Fig 5 Manual Control Panel 2 le Po U 11 BACH V2 0 USER S MANUAL DISPL
21. 18 O GUYA W2 73 CNLPLE Rel 3 52 CNT Rel 3 22 00 2 PA 100 prova Gapa 14 04 2000 Fig 58 Attributes of the cfm file The following information will be recognised from top to bottom on the grey background the date and the time of generation the model and the version of the controller from which the contents have been taken and the number and type of axes present on the same In the white field any comments that can be inserted when the file is created and they help to identify it in the future In a similar way it is possible to generate a file with the cfm extension using the button Also in a similar way it is possible to load the controller memory with the contents button of a file of this type using the 3 N B after this operation the controller memory will only contain what was present in the file Any eventual programs that existed in the controller before this operation will be deleted and this could include modifications made since the configuration was last saved 59 BACH V2 0 USER S MANUAL FE DB As it will be understood while reading through the relative appendix of the users manual the setting up of the axes parameters and the loop reaction is not exactly straightforward and free of risks z RECORDING MOVEMENT This instrument enables the comparison of the actual movements of the axes with the theoretical profile that the controller generates so that it can hig
22. AYING CNC STATUS Me te NG CA Position in target zone EMERGENCY FOR CAUSE OF Cnc in stop instruction from immediate instruction CNC EASE po gt IN ZANA from execution from axes controller IN IN In movement PLC active from Cnc input Probe ready Fig 6 Cnc Status This section regroups the indications of operation and the emergency conditions of the Cnc process For greater detail of the conditions displayed refer to the programming manual DISPLAYING THE AXIS STATUS Each of the controlled axes has its display panel that shows the current status of its operations On the top row the operational conditions are seen The lower row indicates the cause of an eventual emergency Machine zero performed Controller in saturation Direzione movimento Axis in position In movement Axis in stop Axes status gt pa FEES Emergency po ey KG ey fe EE from servo from emergency input from physical limit switch positive from request of motor drive from software limit switch negative from physical limit switch negative from software limit switch positive Fig 7 Axes Status 12 BACH V2 0 USER S MANUAL MANUAL DISPLACEMENT Displacement of the axes is performed manually by pressing the gt and El keys of the PC keyboard after having selected the axis that is to be moved by clicking on the letter X Y that identifies it Step
23. P EXE program present on the disk e Follow the instructions that are displayed on the screen At the end of the installation it is possible to run the program immediately or simply close the installation session CONFIGURATION COMMUNICATION Before the Bach software can be used two parameters must be configured to enable the program to communicate correctly with the S amp h controller being used The first time the program is run after having connected the serial link to the controller or after having set up the board and mounted it in a slot inside the PC see the users manual for the controller press the key The following configuration window will appear Here it is possible to specify the type of controller and the COM port being used Connessione i Mir Comi f Forti C Rubens f Com Porte Annulla Goya f Eoma Porta 1 Picasso 2000 omi Ereni Fig 1 Example of the serial link connection If a controller driven by a serial link is being used Mir Goya or Rubens select the serial port to which it is connected and the correct model in the list of controllers In the example shown in figure 1 Bach dialogues with a Goya controller and uses the COM 2 serial port BACH V2 0 USER S MANUAL As the Picasso 2000 controller is a board that is installed on the internal bus of the computer it must be configured to respond to the right address To establish the communications correctly the selections in th
24. a reprocessing operation that would slow down its operation It would have also introduced the risk of a situation in which it could be impossible to compensate for the radius of the tool during the operation with the result that the piece would be abandoned in the middle in a state in which it could be impossible to continue and restart Consequently the compensation for the radius of the tool whenever necessary must be performed by modifying the co ordinates of the extremities of the movement Bach performs this operation automatically if the program in the memory contains G4n codes complete with the numerical value of the radius of the tool to be compensated for and the positionings are the theoretical ones For a correct use of the ISO G4n instructions see the relative appendix 35 BACH V2 0 USER S MANUAL The Depth field is used to specify how many lines of program ahead must be considered in order to establish whether the compensation is realisable or not For example for the working of the cut out shown in figure 37 errors can be made in assigning a linkage radius that is less than the tool radius or the width of the hollow can be less than the tool diameter The first error condition is recognised by simply analysing the current line of the program while the second is recognised only if seven lines of program are examined following the current one Fig 37 Impossibility of compensating for the radius of the tool File
25. aa 116 gio ai gattoS gio la adda gio PI jojo gio a coperchio go fas PROVZ SAT gio framartino gio lak PROV3 SAT gic lak gatto gio lak PROVA_SAT gio gatto2 gio lag SET_POINT gio Tipo file gio files Annulla nG Fig 30 Window for opening a file in Drawing mode Pressing the hal button beside the File type field opens a pull down menu in which one of the three allowed file types can be selected If the file is already a Cnc program the procedure for opening it concludes with the confirmation of the name of the file to open If on the other hand it is required to generate a Cnc program starting from a graphic file the following window is displayed in which it is necessary to specify name of the output file 30 BACH V2 0 USER S MANUAL Era FormConyDlg O x File Ingresso CAPragammisE A bach 4lbero1 0 dit File Uscita Scala Decimali 3 Ok Cancel Fig 31 Graphic file conversion window When the File Uscita button is pressed a normal Windows 98 window appears that is used to specify the name of the GIO file which will contain the generated program It is also possible to specify the number of decimal digits to which the conversions need be made when considering the dimensions and scale factors to apply to the drawing Other conversion parameters are defined in the other two pages in this window Eim FormConyDlg 10 f Sequi Pecorsi Smeta Sta C Dire
26. an already displayed element The following window will appear Porma tO Nama Tag tO O Fig 9 Window for defining an element to display The operator can at this point choose the type of element to display between input output and variable Q Once the type is chosen he can select the number of order if an input or output or its name if a variable Q The Comment field is useful to indicate the nature of the signal or parameter For example if input 7 is connected to a pressure switch the text Pressure switch can be inserted Similarly the display of the state is more legible if instead of the values O and 1 the operator can read the text Air FAULT and Pressure OK 14 BACH V2 0 USER S MANUAL To obtain this simply insert this text in the Tag column to the left of the corresponding logic value as shown in the figure below Watch Porma tO Nama Prezgone OF Tag tO int Pressostato Fig 10 Customising an input The selection window for a variable is only slightly more complex Watch Porma Tag Value a Normal Tag t Limit Comment Fig 11 Selection of a variable Once the element Q is selected the name of the variable must be specified Remember that variables with names from Q01 to Q199 with few exceptions are for general use and can be defined and used by the user in his programs The variables greater than 199 are specialised
27. argets The window will show all the axes that the controller is handling Selecting one of these and entering the co ordinates required the axis will move to the indicated position If before the us button is pressed the button is pressed the value entered will be algebraically summed to the current position of the axes For example if the value 50 is entered and the T button pressed while the axis is at co ordinate 200 it will move towards co ordinate 150 pa MACHINE ZERO Pressing this button runs the machine zero seeking procedure Normally it is program 116 that is run but this can be changed in the Manual Displacement Parameters window MANUAL DISPLACEMENT PARAMETERS This button will display the following window for customising the parameters that define how the manual displacement instructions are interpreted 18 BACH V2 0 USER S MANUAL Minimum velocity of movement Software limit switch positive Maximum velocity Fine corsa software negativo Entity of the step Minimo Massimo F Minima F Massima Passo x m fiom E fa e yY Pe fa f0 zp f p fom fo wi w e fm e Setpoint 116 SET POINT Xx Lancel Current program for machine zero seeking Select machine zero seeking program Fig 16 Manual movement parameters Setpoint The __ Setpoint button is used to reveal the following window in which all the programs in the controller are listed From this list the operator can cho
28. ble to write a program especially and run it using this button Pressing this button opens the following window Pra Comandi Diretti a Oy Cancel Fig 60 Window for the direct control for the recording Any Cnc program can be written in this window and it will be saved when the O K button is pressed and will be run when the 1 button is pressed LOAD MOVEMENT RECORDING FROM FILE It is often necessary to review the behaviour of the system before taking corrective action in order to appreciate the difference that the corrections will make For this reason it is possible to reload a previous recording that has been saved with the appropriate command When this key is pressed a standard Windows 98 file opening window will appear Loading the recording will replace the contents of the memory and so the currently displayed recording will be lost if it has not been precautionarily saved to file LM SAVE MOVEMENT RECORDING TO DISK This button is used for saving the displayed recording to a file using a typical Windows 98 file saving window I RUN PROGRAM This button is used when it is required to run the program that has been selected from the controller or that has been written in the direct control window When pressed the following window appears Ass tt Yarazione WA fe 4 UE NG i Cancel ABT 20 ft 24 C a y S2 F 536 E Fig 61 Recording mode selection window 57 BACH V2 0
29. cccunnneuueeeeeeeteennnaangennntetttttsens 28 Che o NAME OF THE PROGRAM Hi GRAPHICAL REPRESENTATION WINDOW esana 29 LINE OF PROGRAM wwwamamamwamanma manana wamama AA 30 LIMITS OF THE INTERESTED AREA 22mb kkk kA AA AA AA 30 FOO PAR ARU UTII EIA UE MAE GA KUMBE MBAKA WANA NIA SU ABANA MARA MOSE ee E entrada KAWI WAJUA MWE NN ARU SEALUO MUA MKU LAU ETTE 30 LOAD A PROGRAM FROM EILE vecececccccccccccccceccecetttteteeececececeeeeteeieiiiiittteeeeettetereeetiiitininiittttteteeenenns 30 N DELETE A PROGRAM FROM MEMORY cscecececececeseeceeeesteeteeeececcececececececcetececscsesecseeeceeseceececeecee 33 LA GRAPHIC PROPERTIES ceccceccecccccccccccccucecuccaueceucecauecauecatecauecuuecnuecauecunecauecuuecutecuuecunecuecuueeuneeas 33 M BEGINNING OF PROGRAM awatia AA a AA aa daa ieaiai 34 LI ENPOPPROCRA Na AA AA AA ery er err re 34 gt BO 5 ee ce ee ee eee 34 dl BACKWARD aa AA aaa 34 a AUTOMATIC LINKAGE ii awa 35 BACH V2 0 USER S MANUAL LOAD PROGRAM FROM FILE u 222200000 00099 SNN SS SNN 37 JITU SAVE PROGRAM DONON 38 bee PACO NP LE ca AA DA AKN AG AA ee Sr ee 38 Ps Dia PROGRAM WIND WA 39 BF INI N AA wre tec oceans este ee DON NANA NANANA ADAN ee eas aie nie PINAG NG NONA NANA AGA eects 39 WATCH AG NAKA Be 40 NOOBS Sa KANIN KIE NUNA HANA KANAN AN adele AA tend AN AA 40 LOAD PROGRAM FROM FILE ccccccccccccccececnccccccccccececnceunnnnaueueeeeeeeeeennnnauauueeeee
30. ceseceececcuceeeeeeseeeuseeeuseeueueeueueeuaeeusaueusaueueaueeeuuaeeeuaneess 54 a UPLOAD FROM DOWNLOAD TO THE CONTROLLER cececececeeececeeeeeeeeeeeneeceeeegeneueeeeneaeeeegeneeneneneass 54 Ol Gl AA UPLOAD PROGRAM FROM THE CONTROLLER 220207101 56 Bil DIRECT CONTROL aaa waa ki ki aaa O THA AA AA CA HU 57 BACH V2 0 USER S MANUAL LOAD MOVEMENT RECORDING FROM FILE 20200 00 a 57 HY SAVE MOVEMENT RECORDING TO DISK NA wamama 57 I BUNIPROCRAN AA AA AA II 57 o 1 ml TO PRO BA ii ia ai AA WA Wa aa ua Wa ka Wa AA 58 PECINNING OFPROER Mwa GAGA AA AA AGA 58 END OF PROGRAM wi AA AA IA 58 Ip FORWARD aaa GG AA KA AA E Aa Aa 58 dl BACI NARD ii AA E sense deat AASA 58 L SELECTION OF THE AXES TO DISPLAY AS A DRAWING w swamanwamanwamanzananzananuanwananwazanuazanuazanunzanuna 58 VERTCALAMPOIFICATION o a AA AK ANA NAB ai 59 E lv E KET A INFORMATION ii AA Aa 60 USING THE PROGRAM WITHOUT A MOUSE cccccecccccccecccccccccncccccescnnccccensanneeeeessnnuacenssanseaeensnnnaees 61 BACH V2 0 USER S MANUAL GENERAL Bach is a virtual panel to use with the Miro Rubens Goya and Picasso 2000 controllers The tool enables access to all the listed controller functions in a simple and intuitive fashion using the graphic interface of Windows 95 and later INSTALLATION To install the Bach software on your personal computer e Insert disk number 1 of Bach in drive A e Execute the SETU
31. d keys are pressed simultaneously the scanning of the recording is accelerated considerably L SELECTION OF THE AXES TO DISPLAY AS A DRAWING This button will bring up the window shown in the following window in which it is possible to choose the two axes whose trace will be displayed as a drawing in the plane in the display field on the left 58 BACH V2 0 USER S MANUAL Fig 62 Selecting the axes for the drawing VERTICAL AMPLIFICATION These two buttons can be used to expand and compress the vertical scale of the displayed graphic of the velocity with time 59 BACH V2 0 USER S MANUAL In this operational mode Bach makes available a true terminal such that could be obtained by serial linking the controller to a physical terminal The written characters on the screen Invio are sent simultaneously over the serial link and on closing a string with the jia key the monitor displays the reply from the controller For the syntax of the communication by terminal refer to the programming manual A INFORMATION This button opens a window that shows the user the address of S amp h the version of the program being used and the most important piece of data the serial number of the hardware key that enables the program to work Bach 2 0 kep 00050 00063 By Sih via Primo Maggio 8 20068 Peschiera Boromeo MI Italy Fig 63 Information window The Bach program is described here with all its parts Often
32. d to the case of a blade that cuts a sheet held in the XY plane The tool can be made with only one cutting edge and then before inverting direction of movement it will be necessary to lift it rotate it 180 and lower it again or double blade in which case it can reverse direction without reversing the blade A button is used to define Single edge blade and Double edge blade and this information is used to tell the controller how to act on inversion of direction Similar considerations are valid for the maximum angle that can be executed without stopping the motor drive and raising the tool In the field Limit angle the maximum angular value that can be executed without interrupting the work is set in sexagesimal degrees The field Raise time is set in milliseconds and defines the delay time that is necessary between the sending of the instruction to raise the tool to the moment that the blade can be rotated without damaging the workpiece 53 BACH V2 0 USER S MANUAL The field Lower time is set in milliseconds and defines the delay time that must be respected from the moment the instruction is sent to lower the tool and the moment it can begin to continue the work Controllo Assi Yari Pannello Ingressi Programmabili Utensile tangenziale Lama a un solo taglio Lama a doppio taglio Angolo limite fo Tempo salita fo Tempo discesa Jo Fig 56 Tangential tool parameters
33. ded Thus the movement can proceed to the next instruction 45 BACH V2 0 USER S MANUAL VELOCITY PROFILE Fig 47 velocity profile parameters In this area the theoretical behaviour for a displacement that takes place at the maximum velocity allowed velocity by the system is represented The parts of the graphic are seen to be starting from the left e A vertical trace that corresponds to the velocity that the motor will assume instantaneously starting from rest The value of this velocity can be indicated in the relative field in the lower left It will be expressed in Hertz pulses second for stepper motors and in ui mm or inches minute for d c or brushless motors Usually this value is only meaningful for stepper motors and can be set to zero for d c and brushless motors e A slanting trace with a positive angular coefficient that represents the acceleration ramp On this the value for the maximum velocity and the time required to reach it The maximum velocity is indicated in the field on the upper left and expressed in Hertz For a stepper motor this is expressed in motor pulses second For a d c or brushless motor it will be encoder pulses already multiplied by four second The duration of the ramp is indicated in the field at the bottom centre and it is expressed in milliseconds A horizontal trace at the maximum velocity A slanting trace with negative angular coefficient that represents the deceleration ramp The
34. e C H L Misura Soglia asse in posi 0 Senso Conteggio C Inv Nor Tipo Asse ce Lin C Ang Numero Decimali i Bo ei 22000 AV Hz Velocity profile Type of movement Resolution and accuracy Fig 45 Axes parameters PROGRAMMING INPUTS For each of the inputs listed it is defined whether the input is active in the left hand tick box and which state corresponds to the indicated condition Ingressi Generico CA eL Emergenza CH fe L ff FC Avanti H ff L f4 FE Indietro UH L OK Azionameno CH W ZeroMacchina H CL Zero Trasduttore C H L Senso Conteggio 1 Inv f Nor Fig 46 Programming inputs Figure 46 shows the programming of the limit switches If the forward limit switch is a proximity switch whose signal jumps from OV to 424V at the moment it is intercepted while the limit switch backwards is a normally open microswitch which closes to ground and has a pull up resistor to 24V In the same area it is possible to invert the encoder count Count direction and assign the correct phase to the encoder zero signal Transducer zero 44 BACH V2 0 USER S MANUAL PROGRAMMING OUTPUTS Similar to the window for the inputs in this section it is possible to activate and disactivate the outputs and set the phases of the output signals generated by the controller to be coherent with the characteristics of the application The signal for the direction of movement is essential for
35. e configuration of the Bach software must be coherent with the positions of the switches SWn on the board swi sw2 sw3 swa Pot2 OFF ON 4 Pos ON oF o Pora o o o PENE OF C Mi ery Lo Pom E C Rubens KC Eoma f Porte Annulla C Goya C Com3 f Port3 f Picasso 2000 C Comt Po Fig 2 Picasso 2000 on Port 1 Pressing the OK key Bach will try and establish communications with the controller If the attempt is successful the keys of the Modes Toolbar will be activated see the relative chapter in this manual Otherwise after a few seconds the configuration window will reappear E USER The program is conceived in a way that offers differentiated levels of access based on the ability of the user The system user would not normally be expected to access the definition of the physical parameters of the system An error in a value in this assembly of parameters could compromise the operation of the whole system creating a dangerous situation or cause damage to property and injury to persons A normal user is not expected to understand the meanings and the correct usage of these parameters Every user has his own password for access which must be written in the appropriate field while the program is active so that the program will activate the necessary buttons on the Modes Toolbar see later The system installer has an independent application available in which he can define the users wit
36. e of input O is O Therefore after executing the instruction the accumulator will contain 0 TOOLBAR LOAD PROGRAM FROM FILE The button is used to load an already compiled file in the memory using a typical Windows 98 window 40 BACH V2 0 USER S MANUAL SAVE PROGRAM TO THE CONTROLLER This button is used to transfer the program in the working memory of Bach to the controller which immediately puts it into execution D DISPLAY ELEMENT Press this button to display the window for selecting the elements to be displayed Yarabili 6 iI 216 21 coca f Input C Flag C Marker C Out CNC C Output Counter C Markera 32bit C Seq i Timer C InCNC 7 Sum Fig 43 Window for selecting the elements to display The list on the left contains all the elements that may be displayed for the type selected from lower type selection area excluding those already displayed The list on the right contains all the displayed elements To add or remove an element from the right hand side simply highlight it with a single click and use the and 4 buttons to move it from one list to the other For all information regarding the meaning of the categories and the format of the elements refer to the PLC programming manual XU z2 ACTIVATE DISACTIVATE WATCH POINTS This button is used to activate a watch point at the line of the program listing on which the cursor is currently placed or to remove it if it is already pr
37. ent proportional to the required speed that is present even in the event of perfect coincidence current and historical between the theoretical and the actual position e O nde dt 0n Je dt 0 Dead band nr no reaction the maximum error between the actual position and the theoretical position that is ignored by the reaction loop First proportional reaction the component proportional to the instantaneous error that is present up to a maximum error defined by the user the so called knee point Gp G point Second proportional reaction the component proportional to the instantaneous error that is present beyond the knee point Derivative reaction the component proportional to the difference between the current error and previous error averaged over a time defined by the user the so called sampling time st sample time Integral reaction the component proportional to the algebraic sum of all the errors verified during the operation This component has a limit in absolute value the so called integral limit ib integral band that is defined by the user 42 BACH V2 0 USER S MANUAL One last parameter at the discretion of the user is the maximum error within which the controller tries to recover the so called server error limit se For instantaneous errors greater than this limit value the controller abandons trying to follow the program and places itself in emergency
38. enuneucnaueeenauneuenuneuesnunenenuueeengunenenuunteesnunenenas 13 DISPLACEMENT VELOCITY cccccceccccceccccccncucccccuueuenuaueecenuueucnuueeesnneeenaueeennunenennnetesnuneusnantetennunenenunetenunenes 13 DISPLAYING THE CONTENTS OF THE VARIABLES ccccccccecccceccccccnucccnuuueucesuueuenuneeecnuueuenaueeeenuneuenunteesnunenenas 14 INSERTING AN ELEMENT ccccccecccccecccccccuececcuceecnuuueeeuaueeeenuueecnuuueeenuueucnuneeeennsusnuueetsnunenenuuneeesnunenenanes 14 MODIFYING THE DEFINITION OF AN ELEMENT cccccecccccceccccceccccecnccecccsnuueucnuueetsnuuenenuueeeenuuetenuntetsnunenenas 16 DELETING AN ELEMENT cccccccccecccceccccccnccccecutecucnuueuenauueeengusetnunneuenaueuenuuteeenunsnsnuutetsnunettenutetsnunenenas 16 SELF LEARNING WINDOW ccccccccccccccccccucccccccccceuccuauueueuaueuenauueucnuueueuauueucauetsnaueeusuausussaunetecsuusetsunenesaus 16 Raa i7 gt a a BU aa PP AAO ES ee GA AB AA 16 Est Gi PEGE NIC AA AA EE EE EE EEE AEE EEEE EEEE 16 F4 SE EMERGENCY RESET wwa wawa mawa heii yeti eeititbititetietititetintititeiinneiinnnes 16 R ACTUAL AND THEORETICAL CO ORDINATES AND ERROR ccccccccccccccecccccccecuueucsuueeeeenuueuenuueeesnunenenas 17 ASSIGN OUTPUTS wwwwwmanwnanwanww aw AN EEEE EEEE GAAN AA KA 17 c po 78 DISPLACEMENT TO INDICATED CO ORDINATES ccccccceccccccncucuceuucccenuueucnunuueeenaueuenuutetenunenenuneesnunenes 18 pa MACHINE TAO 18 x MANUAL DISPLACEMENT PARAMETERS
39. epad Bach does not perform any checks on the formal correctness of the text typed in this window Any eventual errors will be indicated only when it is compiled MESSAGES WINDOW This area displays the messages that the compiler sends to the operator when it attempts the compilation TOOLBAR LOAD PROGRAM FROM FILE This button opens a typical Windows 98 window for opening a file enabling the selection of the file to be opened 37 BACH V2 0 USER S MANUAL 820 SAVE PROGRAM This button is used to save the modified program with the same name as the original file or with a different name using a typical Windows 98 window bal 2194 COMPILE This button starts the compilation of the program that is displayed in the editing window and produces a series of files having the same name as the source file and different extensions according to their function 38 BACH V2 0 USER S MANUAL se Ce Galo This mode is used to monitor the operation of a PLC program making the contents of the accumulator visible at critical observation points watch points displaying the states of the inputs and the outputs and the values of the variables 1 DEBUGGER FOR THE PLC Program window Watch point window Toolbar boi Lineala DD Nome Valore HEx 50 se e attivo l ingresso O attiva l uscita O B 51 1 Oti O 52 set Ofo 57 ana INGRE5501 58 clear USCITAO 56 se e attivo l ingresso 1 disattiva l uscita
40. ered useful to display the mode in which the controller is operating On the right of the group of colour coded indicators is the display of the last line executed 25 BACH V2 0 USER S MANUAL eked cL The Programming mode enables new programs to be written or existing ones from a file or from the controller memory to be edited 1 PROGRAMMING Toolbar Programming window Graphic representation window ee Gatto jfile non presente JNI CONY G006x 15 322Y20 505 lor 7 COlOT jfile non presente Jayer 1 jfile non presente G01 15 547Y19 819 G01X 15 322Y19 082 G01x 15 169Y19 447 G017 14 941Y17 939 Fig 24 Programming panel PROGRAMMING WINDOW A program may be written and corrected in this window just like any text in Notepad The program does not perform any checks on the correctness of the text that is written any errors of syntax will be identified when an attempt is made to run the program or when tt is transferred to the controller GRAPHICAL REPRESENTATION The path of the tool in the X Y plane will be displayed graphically in this area A small cursor highlights the position of the line being edited in the specified plane or the last line that has a defined position in the X Y plane N B The graphic representation is not updated dynamically when the program is edited It is loaded and displayed only at the point of loading the program To see the result of a
41. esent The watch point can be activated and disactivated also by clicking with the mouse on the bar to the left of the listing at the point corresponding to the instruction required 41 BACH V2 0 USER S MANUAL sz MACHINE PARAMETERS This mode is used to assign all the operation parameters of the system The panel has six pages Each of these pages contains a complete family of parameters For more details on these parameters refer to the programming manual of the particular controller used CONTROL PARAMETERS This page displays the parameters related to the generation of the output signal of the controller based on theoretical data and to the position errors verified dynamically axes by axes For more details on what these parameters mean refer to the appendix in the documentation of the specific controller Controllo Assi Yari Pannello Ingressi Programmabil Utensile tangenziale _ ib 0 2047 nr mm inch Gp mm inch se mm inch st ms FFO SKFF 100 0 IntO pet foo Kp jo Al 8 1 w ete Kp 16 0 OUT Le ska 00 PROCESSO Fig 44 Control parameters In all S amp h controllers the output signal is the algebraic sum of four components feedforward proportional correction derivative correction and integral correction calculated according to the following considerations Open loop gain feedforward the compon
42. eteennnnnnaeentettttttsnnens 40 SAVE PROGRAM TO THE CONTROLLER 20220220 00000 A NANA AA 41 BB an AN 41 z Ch Sp Bi ACTIVATE DISACTIVATE WATCH POINTS e cecceceeceeceeceaeeaeeaeeaeeaenaeeaeeaenaeeaeeaenaenaenaeneeueeneeaetgetneeaeeas 41 yr cj ja KEE MACHINE PARAMETERS 0cscsesececsceecess 42 CONTROL PARAMETERS saa NA GNUNG aNG NANANA ADA ne perue sanatouasiaesturtatacdumentadeatneusnatetaunn 42 AKES PARA METERS wi AA PK 43 PROGRAMMING INPUTS 2 cecceceeceeceececeeceeceeceeeceaeeaeeceecenceeceesensenseeseseaeeaseaseaseaseaeeaeeaeeeeeeeeasecenenseees 44 PROGRAMMING OUTPUTS w wwwwnnaanwwwwnanzwwwwanananww wananunua NA NANANA NAN NANANA 45 PUNGTIONAGRATIO e ANNA AA em sig nn A E 45 SA AA 45 PEO MO YE MEN TA ANAN NANANA AA AA AAO ANAN 45 FRE SOLUTION AND ACRE 45 WEO IPE See eee tm Rae re er ee eee 46 SII RI IER a ree a inn AGA etek nes ees ANA A 46 OPERATOR PANEL PARAME TERS aa aaa eed cee See 50 SETTING PROGRAMMABLE INPUTS 2 ceccecceceeceececeeceaeeaeeaeeaeeaeeaeeaenaeeaenaenaenaenaeneeneeneeeeaeeaeeaeeaenaenaenaenaeens 52 TANGENTIAL TOOL PARAME TERS uawa 53 WOOL sama tessa EWE AA MAROA WA MAE AONGEZA MAA AA MA AR KASI SE SAMAKI KWANI MADIKO YE a een 54 LOAD PARAMETERS FROM FA 54 LOAD PARAMETERS FROM THE CONTROLLER 0c cccceccecececeeceececececececcececcecceececcecececececeeeeeteseceeeeeeeeeeees 54 m SAVE PARAMETERS TO DISK ii AA aa 54 SAVE PARAMETERS TO THE CONTROLLER cc
43. field is pressed In the fields underneath it is possible to define the transfer function that sets the level of the quantity that has been chosen as independent variable with the voltage that is generated by the controller A value can be assigned to Parameter S directly from the program for example with instruction S3000 as for the parameter F In this way the analogue output can be controlled by the program without any relation to the movement of the axes In the overwhelming majority of applications a directly proportional transfer function is chosen when assigning the value to quantity that is controlled by the analogue signal to parameter S To do this it is sufficient to specify in 47 BACH V2 0 USER S MANUAL the first pair of fields under the pull down menu the value that S must have in order to obtain a voltage of 10V as will be explained later 48 BACH V2 0 USER S MANUAL In the case where the output voltage is correlated to a value of velocity the function in question is a straight line in the Cartesian Velocity Voltage plane if only one pair of values is specified it means that the straight line passes through the origin and the indicated point and therefore it is treated as a directly or inversely proportional function without offset For example Velocity mm s Voltage V Velocity mm s Voltage V O 0 C AO e 50 Or 40 08 100 06 100 8 amp 8 o 100 Co 6 Rapporto tenzione ana
44. for example Q218 is the image of the outputs For the complete list of specialised variables and their functions refer to the programming manual Remember that variables up to Q99 are not buffered their values will be lost when the controller is powered down while those between Q100 and Q199 are non volatile even when power is removed from the controller For the variables three modes of display of the contents are possible The Normal mode is the representation in hexadecimal format The Tag mode enables the association of personalised text to the various values that the variable can assume this is particularly helpful for the inputs and outputs The Limit mode treats the value as a floating point decimal value complete with sign in which it is possible to define the number of decimals that will be displayed and the maximum and minimum limits of the value that can be entered by the operator 15 BACH V2 0 USER S MANUAL MODIFYING THE DEFINITION OF AN ELEMENT To change the customisation of any element already displayed simply double click on the name of the element itself The definition window for the element will appear This contains all the customisation data already entered At this point these data can be modified at will DELETING AN ELEMENT To delete a displayed element simple select it click once on its name and then press the Canc key on the keyboard of the PC SELF LEARNING WINDOW In this section it is possible
45. g 52 Selection menu for input activity 50 BACH V2 0 USER S MANUAL The label AUTO indicates that the variation of input state has effect when the controller is in the Automatic operating mode while the label JOG indicates that the effects will be produced when the controller is in Manual operation mode In the case where AUTO and JOG are specified it means that the same effect is produced in both modes An example of a pushbutton that must be active in both conditions is that destined to start the machine zero seeking procedure A pushbutton that is used to move the axis manually should not be active in Automatic Some pushbuttons then must have a type of effect when pressed and another when released For example if a pushbutton is used to allow continuous manual movement of an axis in reality it must run a program that puts the axis into movement with the defined target of the maximum co ordinate that it can reach Because on release the axes must stop it is necessary to run another program with the instruction to stop the axis in the position it finds itself The input to which this pushbutton is connected must therefore be defined as active as Pressed and released JOG The pushbutton that runs the machine zero seeking program must be connected to an input defined as active in Pressed AUTO and JOG if the machine zero seeking is not to be interrupted when the pushbutton is released and so that it can be used in both modes
46. h their names enable the functions they can access and define their password When the list must be modified the engineer responsible for the plant must be called to modify this list of users or relative data BACH V2 0 USER S MANUAL Era Utente a Utente Laura Password E Utente ER Password Ec Cla Modes Toolbar for Giovanni D DI L Modes Toolbar for Laura pinag h Fig 3 Selecting user In the example above Laura will have access to all the functions of the system while Giovanni will only be able to operate in Manual Automatic Programming Drawing and Operator Panel modes Apart from disactivating the buttons on the Modes Toolbar it is also possible to limit access to reserved programs those above 99 and some save functions When a password is typed the screen shows only asterisks so that third parties cannot read the word If the password is typed incorrectly the program will enable only the Si following buttons SY E B and 4 On delivery the users defined are Supervisor Expert and User The password for User is User and that for Expert is Expert BACH V2 0 USER S MANUAL 3 LANGUAGE Using the following window which is enabled by pressing the button with the globe symbol it is possible to change the language of the program E f Francats Ok English E m enteh pan ID Espana Fig 4 Language selection panel At the time this manual
47. hat make up the program beside the symbol L and the number of movements that the program contains beside the symbol M Pressing one of the buttons related to the type of interpolation a window appears for selection of the colour associated with it 33 BACH V2 0 USER S MANUAL Colore Ei Colori di base a eT al See EE EEEE toe ne im Color personalizzati UU ee ee UU NE Detinisc colon personalizzati gt gt Annulla Fig 35 Colour selection window M BEGINNING OF PROGRAM This button positions the cursor at the first line of the program whose graphic is displayed The same result is also obtained using the E key of the PC keyboard pi END OF PROGRAM This button positions the cursor at the last line of the program whose graphic is displayed The same result is also obtained using the ia key of the PC keyboard Ib FORWARD The pointer moves to the next line of program If it corresponds to a positioning the cursor will be seen to move on the graphic The same result is obtained with the Pagt key of the PC keyboard dl BACKWARD The pointer moves to the previous line of program If it corresponds to a positioning the cursor will be seen to move on the graphic The same result is obtained with the Peat key of the PC keyboard 34 BACH V2 0 USER S MANUAL E AUTOMATIC LINKAGE In many cases the path of the tool cannot be reduced to a logical composition of geometric elements as happens w
48. hlight the conditions in which there are deviations The analysis of these anomalies provides precious indicators for correcting the parameters rapidly in order to attain the required end product Window of the space time graphics Window of the drawing Data of position and velocity xX Vt o0000 000 Ve 00000 000 Qt 00000 000 Ge 00000 000 Yt 00000 000 Ye 00000 000 Ot D0000 000 Ge00000 000 Vt 00000 000 IK Ve 00000 000 Qt 00000 000 Pil Qeooo00 o00 116 SET POINT Oms Vt 00000 000 dl Ve ooo000 000 Qt oo000 000 Qeoo0000 000 Program name T N Toolbar l Elapsed time since the beginning of the recording N lt cle mr al Fig 59 Recording panel All the graphic windows show the theoretical trace in green and the actual trace in red The co ordinates and the velocities correspond to the moment on the space time graphic at the vertical line in the centre of the graph while the elapsed time from the beginning of the recording at that moment is indicated in the field under the trend window TOOLBAR UPLOAD PROGRAM FROM THE CONTROLLER To use the facility it is necessary to run a program One possibility is therefore to select it from those resident in the controller using this button A window identical to that in figure 21 will appear in which the program to execute may be selected 56 BACH V2 0 USER S MANUAL Fa DIRECT CONTROL Alternatively it is possi
49. ified start and finish it is necessary to check that the two points are equidistant from the centre defined within the tolerance specified here in engineering units If the radius and two points are specified for the circle it is necessary to check that the two points are found at a distance between them that is less than or equal to double the specified radius e Target reached is the error within which the axis must find itself so that the target flag is activated to indicate to the controller that the target has been reached Controllo Ass Yari Pannello Ingressi Programmabil Utensile tangenziale Varie Rapporto tensione analogica Abilitazione linea in esecuzione Disabilitato v MV Abilitazi tringhe errori Velocita Tensione N Abilitazi locit PO MW Inte ja aaa C Potenziome tro Secondi invio 2 bell h Soglia errore centro 0 0 Obiettivo raggiunto 1 0 Fig 48 Sundry parameters The heading Analogue voltage ratio enables the generation of an analogue output signal whose voltage is between 10 and 10V and is proportional directly or inversely with or without offset to one of the following four quantities e Parameter S independent spindle function Velocity of the X axis Velocity of the Y axis Velocity of the point on the XY plane in interpolation The choice between these options is made from a pull down menu that appears when the x button to the right of the upper
50. ith technical drawings Imagine for example the sole of a shoe In this example the only possibility is to identify a series of points along the outline and that will be positioned closer where the profile is more irregular Proceeding thus a program is obtained with a very long list of movements G1 that form a closed segment Automatic linkage defines an area around the segments whose amplitude is defined by the Tolerance parameter The series of lines on which the linkage can be performed must be preceded by the code G57 and followed by the code G58 interpolazione File Ingresso C AProgrammis SEH Sbach2sgg File Uscita A Massimo fioo Decimali T Tolleranza Fig 36 Window for assigning the interpolation parameters Inside this area Bach draws a series of arcs that make a profile very much similar to that of the segment and well within the specified tolerance In this way the length of the program is reduced considerably and the resultant profile is more uniform The R maximum field is used to avoid conditions that cannot be resolved mathematically above the specified value it is assumed that the movement is linear The Decimals field enables the required resolution to be imposed on the interpolation process Al COMPENSATION FOR THE RADIUS OF THE TOOL By choice S amp h controllers do not support the ISO codes G40 G41 and G42 It has been preferred to avoid overloading the operation of the Cnc with
51. logica Rapporto tenzione analogica Velocita Tensione Velocita T ansinne pi ho AA oOo moho AA AA EO AA Ee Eoo Fig 49 Definition of straight line through the origin It will be noticed that in the example on the left it is indifferent whether 100 8 is specified or 50 4 or even 25 2 because the three points are all on the same line If both points are specified it means that the line passes through those points and need not pass through the origin thus introducing an offset For example Velocity mm s Voltage V 10 Oppure 0O AAA AA 1400 oo 6 amp 6 Velocity mm s Voltage V a aa 10 dl 8 10 0 The parameters can therefore be entered as shown in the following figure Rapporto tenzione analogica Rapporto tenzione analogica Velocita Tensione Velocita Tensione mao Ww o o o po ma Ww o opo m Pe a E m P2 Mo fo Fig 50 Definition of a straight line that does not pass through the origin Even though it has not been illustrated in the examples there is nothing to prevent the parameters being entered as numbers with one or more decimals 49 BACH V2 0 USER S MANUAL OPERATOR PANEL PARAMETERS The S amp h controllers have been designed to operate with a remote operator control panel made up of a set of pushbuttons whose signals are sent to the logic I O of the controller Take special care with the specialised controller inputs Bach purposely does not prevent the assignment of an ope
52. m which it is possible to choose the file to execute is shown in figure 21 0K Clicking on the line of a program selects it Pressing the O x button then causes the program to be uploaded and its name and line number to be shown in the Program Status window If the number of the program to be loaded is known with certainty its number can be entered in the field in the lower window The display of the program list will update immediately showing the chosen program as already selected If an attempt is made to load a non existent program an error message will appear 22 BACH V2 0 USER S MANUAL Carca da controllo Fig 21 Window for selecting the controller program LOAD PROGRAM FROM FILE When this key is pressed the typical Windows 98 window is shown that enables the operator to choose the file and to load it while showing all files of the same type that exist on the disk E STEP BY STEP EXECUTION This button will only be active if the program is resident on the controller and it enables this program to be executed line by line The last line executed will always be indicated in the Program Status window 1 START PROGRAM The key is used to run the previously selected program normally ce STOP PROGRAM This button suspends the program being executed The execution can be continued from the point at which it was interrupted by pressing the sili Button M START THE PROGRAM AT THE BEGINNING If this button is
53. mpts are usually enough to become confident with this mode of operation that in many cases is even faster and more convenient than using the mouse 61
54. n O and 2047 is the parameter ib integral limit The value 2047 signifies that only the integral correction can determine the maximum velocity of the motor The value O disables the integral correction The parameter st sampling time is expressed in milliseconds with a minimum of 1 and a maximum of 9999 The higher the value set the less energetically the system reacts to rapid changes in the working conditions To optimise the values of these parameters refer to the appropriate appendix that is attached to the users manual of the particular controller AXES PARAMETERS In this page it is possible to assign all the characteristic parameters of each of the controlled axes The mask shows all the fields necessary both for stepper motors d c and brushless motors 43 BACH V2 0 USER S MANUAL Programming outputs Functional ratios Programming inputs SW limit switch Controllo Assi Yari Pannello Ingressi Programmabili Utensile tangenziale Ingressi Uscite Rapporti Generico CH Fi IV Direzione Azioname H C L M20 wi 400 impulsi encoder r Emergenza or GL T Ab Azionamento CH s00 wi 400 step motore FC Avanti Or wt ieee Aa Limiti HU FC Indietro KO 1H e L Tipo C Unipolare 1 Bipolare Quota limite massimo jo M OK Azionamento C H L Polarit C Y Avanti 7 V Indietro Quota limite minimo TIA M ZetoMacchina H CL Precisione Zero Trasduttor
55. o know how many windows are open press the 7 button a pull down menu will appear in which all open programs are listed and in which it is possible to choose the one to display in the foreground GRAPHICAL REPRESENTATION WINDOW This area shows the representation of the path of an ideal pointed tool that moves according to the instructions contained in the program loaded into the memory A small cursor identifies the point the end of a segment or of an arc to which the axes have been moved by the last line of the program executed The cursor can be moved with the mouse or the PC keyboard using the following keys d 29 BACH V2 0 USER S MANUAL LINE OF PROGRAM This field displays the last line of the program that has been executed and the position in which the cursor finds itself LIMITS OF THE INTERESTED AREA These are the co ordinates of the two opposite angles of the rectangle that contain the displayed drawing They are highlighted to allow the user to check that the programmed movements do not overrun the physical limits of the axes TOOLBAR Even though the functions of some of the commands have already been mentioned previously some of them are used in a specialised manner in this mode and will be described again LOAD A PROGRAM FROM FILE This command is used to generate a program starting from a file of type DXF or HPGL or to simply load a file with the extension GIO Apri Cerca in bach Es
56. ordinate The type of data displayed is indicated by the letter that appears on the button for the different cases T l theoretical co ordinate R actual co ordinate E position error ASSIGN OUTPUTS This button is active only when an element displayed in the Inputs Outputs and Variables window is selected More precisely it is active when an output or variable Q is selected as only these can be assigned a value by an operator on his own initiative Pressing the button in question after selecting an output in which the states have been defined as O free 1 blocked the following window will appear Em FormE dit atch Uk Cancel Fig 14 Window for assigning outputs 17 BACH V2 0 USER S MANUAL Pressing the button for displaying the pull down window will produce a list of the defined Tags Free and Blocked among which it is possible to choose the value to assign to the output Similarly if the button is pressed after selecting a variable Q a window appears in which it is possible to enter a value to assign to the variable in conformity with the mode of display selected za DISPLACEMENT TO INDICATED CO ORDINATES This button can be pressed if it is required to assign explicit targets to the various controlled axes Pressing this button the following window will appear Em Bach lel ka Jo l H ve Jo Cancel Fig 15 Window for assigning explicit t
57. ose the program that will be run when the button is pressed Selezione Programma 116 SET POINT a Fig 17 Machine zero program selection window 19 BACH V2 0 USER S MANUAL When this button is pressed the co ordinates shown on the axes co ordinates display will be transferred to the cursor position in the self learning window In this way it is possible to create a program that automatically repeats a series of positions that are located experimentally using manual movements SAVE PROGRAM TO DISK This button will reveal a typical file save window provided by Windows 98 that enables the selection of the destination of the file to be saved and shows all the files that are present on the disk The program files have the extension gio and are ASCII texts of ISO lines that may be read directly by any text editor 20 BACH V2 0 USER S MANUAL a HD The operator panel in the Automatic mode is substantially identical to that of the Manual mode and the function of the common features is identical The following describes only the parts and the functions that are different or specialised AUTOMATIC Program status Velocity of work Poem ses maat CNC fa gt o FE LE fc r Ww ee Ci a x 0 0 mm m m m m NG M FESS R Y O Om a 1 Tipo Nome Valore Commento GE o 0 Comment in 7 0 Comment in 6 0 Comment Og 217 FO000 Comment ou 1 0 Comment
58. rator control panel function for example to the input of the Limit Switch Forwards even if enabled as a limit switch In this way it is possible to use the controller s resources more fully on the understanding that it is clear what is happening under all possible conditions Each of the 16 inputs always present on the controller have two associated sequential program numbers and if they have been written and if the input is suitably defined one will be executed on the activation and the other on the disactivation of the input For the definition of the inputs as a function of their purpose in the operator panel Bach makes a page available shown in figure 51 in which the functional mode of each input can be defined Pressing the x button beside the relative field for an input reveals a pull down menu seen in figure 52 and which will be illustrated later in detail Controllo Assi Wari Pannello Ingressi Programmabil Utensile tangenziale Fig 51 Operator panel parameters Disability pressione JOG pressione AUTO pressione JOG e AUTO pressione e tlascio JOG pressione e nlascio AUTO pressione e lascio JOG e AUTO selezione AUTOMOG elezione PRUG LINE Selettore programmi bith Selettore programmi bit Selettore programmi bitz Selettore programmi bit3 Selettore programmi bit4 Selettore programmi bit Selettore programmi bith Selettore programmi bitz Fi
59. slope the starting point and the finishing point of the deceleration ramp are presumed to be the mirror image of the respective parameters for the acceleration ramp e A vertical trace that corresponds to the velocity from which the motor will stop instantaneously This velocity is presumed to be identical to that that the motor can assume instantaneously starting from rest SUNDRY PARAMETERS On this page some particular functions of the controller can be specified e Enable line in execution enables the display for example in Automatic mode only the number of the line currently being executed or the number of the line and its text e Enable error strings enables the display of only the error code recognised by the controller or the error code and its description e Enable velocity variation allows the enabling or disabling of the adjustment potentiometer of the FOV when it is handled by Bach when it is handled directly by the controller and when it is adjusted from an external potentiometer on the operator control panel 46 BACH V2 0 USER S MANUAL e Bel code sending interval expresses the interval in seconds between one transmission and another of the G character that the controller sends periodically when in emergency e Centre error limit is the tolerance allowed when verifying that a circumference step passes through the indicated points For example if the centre and two points of a circle are spec
60. t one extremity of the travel in the machine zero seeking procedure it will almost certainly find a position that corresponds to a negative value for the co ordinate even if of a very small value For this reason it is advisable to leave a certain margin between the theoretical limits of the useful travel and the intervention point of the software limit switch in order to avoid system emergencies TYPE OF MOVEMENT For controllers that implement the function angular movement means that when the position of 360 or 360 is reached the position counter will automatically reset to zero The software limit switches will be disabled RESOLUTION AND ACCURACY In the field of Number of decimals the resolution with which the controller handles the values for the co ordinates is specified As well as this the resolution cannot be higher than the resolution of the encoder when present or of the stepper motor For example the axis described in the Functional ratios section has a maximum resolution at the level of the stepper motor that subdivides a revolution into 800 elementary steps with a resolution of 6mm 800 7 5 um In this example the maximum number of decimals that are meaningful is 2 if the engineering units chosen are millimetres and 3 if they are in inches In the field Axes in position a figure is specified for the error that is allowed to exist around the target and within which the movement is considered conclu
61. to edit a new program that is being constructed by acquiring the position co ordinates of successive positions assumed by the axes using the button The program can then be saved to disk ProgN ame Fig 12 Self learning window TOOLBAR Every button in this area enables a specific action to be performed within the selected mode of operation As seen in the User paragraph not all the buttons are active in every condition They are described here in order from the top towards the bottom Ezr Gi EMERGENCY Pressing this button puts the Cnc into emergency which consequently freezes any current movement F4 Pam S EMERGENCY RESET Pressing this button any type of emergency is cancelled Nevertheless if the emergency condition persists for example because the fault signal from the motor drive is still present the emergency condition will return as soon as the button is released 16 BACH V2 0 USER S MANUAL R ACTUAL AND THEORETICAL CO ORDINATES AND ERROR This button is used to select whether the co ordinate displayed is that indicated by the controller theoretical that measured based on the encoder count actual or the difference between the two error If the axes have stepper motors and no encoder feedback the theoretical and actual positions will always be identical so the error will always be zero Ei Visualizzazione Mi i Teonche i Errore Ok Cancel Fig 13 Select the displayed co
62. ts byte that the controller interprets according to BCD notation where each group of four consecutive bits is used to represent the the figures from O to 9 In this way connecting the correct inputs to two Contraves decade switches with BCD coding it is possible to select any program with sequential numbering from 1 to 99 Logically if for example a system is installed that needs not run more than four programs the inputs required to select these programs are only two They can be connected to a rotary selector switch with two poles and 4 positions wired up suitably leaving the other six inputs free for other purposes Remember that the number of the program to run is read only at the moment in which the controller passes into Automatic mode therefore changing the number of program selected while the controller is in Automatic has no effect SETTING PROGRAMMABLE INPUTS Controllo Assi Yari Pannello Ingressi Programmabili Utensile tangenziale tis 22 nar o eis a rmi aoa rae oxul ruomesr Ja inf oai reas r oo rsEm aocx rvom me fo a eis ad rsr on 7 D J rom g J4 Z re Wgl THI rei ml 2 Fig 53 Setting programmable inputs S amp h controllers allow the assignment of the inputs of the Cnc to particular functions that are performed independently of the program Even here it is necessary to take great care with the dedicated inputs limit switches zero and
63. window as shown in the figure If wished an existing program in the controller can be replaced by the one just completed To do this simply select the name of the program to replace and press the w button Bach will request the confirmation of the replacement with the following message Sovrtascrivere il programma Fig 27 Confirmation of replacement Gf DELETE PROGRAM FROM THE CONTROLLER This command is used to delete a program resident in the controller and free up the number attributed to it Elimina da Controllo 001 FAA MARTINO 004 Gatto Wb Coperchio LIE Coroa Fig 28 Window for deletion of a program in the controller Bach always requests the confirmation with the same message already shown in figure 25 28 BACH V2 0 USER S MANUAL Fe cf63 Ca This mode is used to generate a new program starting from a drawing in DXF or HPGL format or to modify an existing program file type GIO or apply circular interpolation or apply compensation for the tool radius independently of how the profile has been generated DRAWING Line of program Name of program Limits of the interested area Max 10 59500 25 99400 Min 25 76500 7 49500 Graphical representation window Toolbar Fig 29 Drawing panel NAME OF THE PROGRAM This field displays the name of the program whose profile is displayed complete with path Bach handles several levels of window T
64. zione Gimsta Hassa C Nessuna Wesha la Wesha passa Chiusi Ultimi pa ordina Ealar Ok Cancel Fig 32 Order of execution page In this page it is possible to specify the order in which the interpolated displacements G1 G2 and G3 must be executed Choosing Follow path Bach seeks all the continuous paths and creates the program instructions so that they will be followed with continuity If the choice Close last is 31 BACH V2 0 USER S MANUAL selected the program will execute first all open paths and then finally the paths that close to the starting point Choosing Direction the displacements will be ordered to conform with the order in which their extremities are encountered starting from the indicated point for example upper left and moving towards the opposite point to lower left Choosing None the instructions will be entered in the order in which the various drawing elements have been defined in the imported file Activating the option Order Colours the instructions will be grouped according to the colour of the trace and executed to successive groups Es FormConyDlg NO Inizio Programma begin Fine Programma end Inizio Spostamento reco Fine Spostamento postGO Layer layer Colore color Ok Cancel Fig 33 Selection page for accessory procedures The third page of the conversion window enables parts of program that are necessary for

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