RUBENS user manual (3.9 MB )
Contents
1. NIRO QI Bi 2 FAO FAO lt lt Notes The factory default configuration for the encoder is DIFFERENTIAL a ee ITVENC 2 ENC 0V 1 CONNECTORCASE j s MACHINE ZERO microswitch HOME It is strongly advised to use a DIFFERENTIAL type of encoder interface and it is indispensable if the distance to the encoder exceeds 3 metres or if the environment in which the system operates is subject to electrical interference of any kind Use a screened twisted pair cable for the connection to the encoder The screen must be isolated and connected to ground only to the casing of the connector at the controller end Furthermore the screen connections must be made as close as possible to the connector casing Maximum encoder input frequency for the RUBENS is of 800KHz with intemal RUBENS multiply we have 800 x 4 3200Khz real counting frequency 19 RUBENS USER S MANUAL ENCODER SUPPLY The supply for the encoder can be taken from the RUBENS power supply or supplied from an external power source ENCODER SUPPLY FROM THE RUBENS In this case the supply that can be used for the encoder is 5VDC the maximum corrent is 100mA ENCODER SUPPLY FROM AN EXTERNAL POWER SUPPLY2. PROXIMITY PROXIMITY SWITCH INPUT SWITCH RUBENS PROXIMITY CONTACT 29 RUBENS USER S MANUAL CAN BUS CONNECTION REMOTE REMOTE IO 2 3 5 5 2 7 X3 3 X3 7 A NO VA we A I I 1 4 I O lt O U C E m The termination resistances 12042 are placed at the beginning in the connector to the CNC and the end of the cable see figure The devices connected in intermediate positions do not require a termination resistance Belden type 3082A or equivalent cable is recommended The screen must be connected to the casing of the connector INSTALLATION RECOMMENDATIONS 1 The network units must be connected in cascade 2 Avoid completely any star or tree topography for the connections see the following figure MASTER MASTER PERMITTED FORBIDDEN CONFIGURATION CONFIGURATION CAN Network Configuration 3 Use the same type of cable for the whole installation screened twisted pair 30
3. RUBENS STD 1 USER S MANUAL DATE 20 LUGLIO 2000 RUBENS USER S MANUAL This documentation has been produced by S amp h for the exclusive use of purchasers of the Rubens manufactured by the same S amp h Its contents are the property of S amp h and may not be reproduced in whole or in part without the written consent of S amp h The information contained in the present documentation is subject to change without prior notice and does not constitute a commitment on the part of S amp h Copyright 1998 S amp h rights reserved J int Manuali P2000 Eng RUBENS_E Doc RUBENS USER S MANUAL Index GENERAL aia 5 INTRODUCE MON inci 5 A es eee 5 FIRMWARE GENERAL nhau Rasa RR RR RR Resa Roa 6 OPERATION MODE ERE 7 COMMUNICATION o ale a 8 CUSTOMISING THE SYSTEM 8 INSTALLATION AND CONNECTION Sa e uu uyu 9 UNBAGKING u u ds 9 a be da o ee ano a e ama 9 PRELIMINARY CONFIGURATION dia 10 CONFIGURATION OF THE PC a 10 COMMUNICATION SOFTWARE 10 BACH SOFTWARE INSTALLATION AND CONFIGURATION ppp 10 CONNECTION EXAMPLE ER 11 TECHNICALDATN uu e D C M kima CR DUE aha 13 DIMENSIONS
4. Js 5 lt Note The cable screen must be connected to the casing of the controller Note If the DRIVER does not have internal pull up resistors these must be provided externally Note Frequency output Pulse is maximum 800KHz with 50 duty cycle 22 RUBENS USER S MANUAL DIGITAL INPUT CONNECTIONS TERMINALS X18 X17 X16 X14 DESCRIPTION 1 INP1 DIGITAL INPUT No 1 X18 OREF SUPPLY 0 DEL 24VDC PNP 24Vnc EXAMPLE OF A DIGITAL INPUT CONNECTION 24VDC 12VDC 35VDC RUBENS USER S MANUAL RUBENS IMAGE OF INPUTS 31 0 IMAGE OF INPUTS 31 0 lf oro Bit Input Description Connector pin 00 INP1 DIGITALINPUTNO1 18 03 INP4 DIGITAL NO 4 X18 4 06 INP7 DIGITAL INPUT NO 7 X18 7 08 LsO ILIMITSWITCH FORWARD nme 09 LSO LIMIT SWITCH REVERSE X17 10 LIMIT SWITCH FORWARD LIMIT SWITCH REVERSE 16 MACHINE ZERO AXISO X16 17 19 MACHINE ZERO AXIS X16 20 FAULT INPUT DRIVER FAULT INPUT DRIVER G 1 Note To read the inputs from the CNC program use the instructions G66 P0 P23 G65 P0 P23 G69 P0 P23 24 RUBENS USER S MANUAL DIGITAL OUTPUT CONNECTIONS TERMINALS X15 DESCRIPTION DIGITAL OUTPUT No 1 O O OREF SUPPLY INPUT OV DEL 24VDC OUTPUTS TYPE PNP 24Vpc EXAMPLE OF AN OUTPUT CONNECTION RUBE
5. Motor is the component driven by the drive unit and coupled with the mechanical parts physically performs the movements along an axis RUBENS USER S MANUAL Encoder is the electronic component that supplies the position information for the mechanical axis displacement transducer It may not be used if the system is designed as open loop e g with stepper motors COMMUNICATION The Personal Computer can control the 1 Cnc and 2 Plc processes directly using the BACH support software that enables the operator to upload download programs setup and calibration of the axis parameters writing compilation debugging of the Plc program etc CUSTOMISING THE SYSTEM The commands may be used to customise the system by assigning values that differ from those of the default parameters Forafull description of these commands refer to the manual supplied with the Picasso 2000 board RUBENS USER S MANUAL INSTALLATION AND CONNECTIONS UNPACKING The Rubens package contains the following components PROGRAMMING USERS MANUAL MANUAL A INSTALLATION FACTORY AND CONFIGURATION CONFIGURATION SHEET OF BACH SOFTWARE BACH SOFTWARE INSTALLATION DISKETTES CHECKING THE BOARD Before installing the Rubens controller check that there are no obvious anomalies In spite of all the careful checks performed in the factory it is possible that they can become damaged during the p
6. will light up Although this is not fitted if the encoder has external power supply Power up the controller inputs and outputs as shown in the drawing If the F2 indicator illuminates the connection is correct Run the BACH program Click on the connection key If the connection is not effected automatically the Connection window will appear Select the Rubens controller and the communication port used Now it will be possible to communicate with the controller t2 RUBENS USER S MANUAL TECHNICAL DATA CONSUMPTION 24VDC 700mA 5VDC ENCODER 400mA DIMENSIONS 180 0 RUBENS USER S MANUAL RUBENS PANEL LU gt lt gt LU LL F1 1 encoder supply NN 0 5 RUBENS supply EMEN E 7 4 9 EMEN j gt 90090 E RA 2 m sss I A E e 14 RUBENS USER S MANUAL CONNECTORS ON THE RUBENS PANEL CAN BuS ANALOGUE INPUTS SERIAL PORT ANALOGUE OUTPUTS 9 POLE MALE 9 POLE FEMALE 9 POLE MALE 9 POLE MALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X8 X11 Pin u RS232 u RS422 D Nias Rx Re TX 10 RIO N RIO al al 6 6 Ll Tx CTs ME RX N N CO CO ENB ENABLE 2 AXIS 3 2 DRIVER 9 POLE MALE 9 POLE MALE 9 POLE MALE 9 POLE
7. E RUE S 13 RUBENS ERR EC RE e 14 CONNECTORS ON THE RUBENS PANEL 66 15 TERMINALS ON THE RUBENS PANEL 17 SERIAL PORT CONNECTIONS isis iico dose aera Bc dau 18 gt u eka 18 ENCODER SR RR SR DR 19 KUO KAI 19 ENCODER uz D D mel 20 DRIVE CONNECTIONS ANALOGUI T 21 CONNECTORS X3 X12 21 DRIVER CONNECTIONS 1 1 1 22 CONNECTORS X5 lt AAA tn 22 DIGITAL INPUT CONNECTIONS maakaardid 23 TERMINALS X18 X17 X10 X14 23 RUBENS IMAGE OF INPUTS 31 0 24 DIGITA
8. In this case the encoder supply must be provided by an independent power supply external to the PC and connected to terminals 42 and 43 X14 4 5 5 12 24 VDC ENCODER SUPPLY 20 RUBENS USER S MANUAL DRIVE CONNECTIONS ANALOGUE CONNECTORS X3 X6 X9 X12 Axis 1 X DRIVER Axis 2 Y DRIVER POLE MALE 9 POLE MALE D CONNECTOR D CONNECTOR AOO VOUT AGND AN REF bs ENBO ENABLE 5 FLT FAULT x w w A ee ee SS Axis 3 Z DRIVER Axis 4 W DRIVER POLE MALE POLE MALE D CONNECTOR D CONNECTOR X12 ENABLE Note The cable screen must be connected to the casing of the controller Note If the DRIVER does not have internal pull up resistors these must be provided externally Analogue output VouT is 10V 16 bit resolution 24 RUBENS USER S MANUAL DRIVER CONNECTIONS FREQUENCY CONNECTORS X3 X6 X9 X12 Axis 1 X DRIVER Axis 2 Y DRIVER Axis 3 Z DRIVER Axis 4 W DRIVER 9 POLE MALE 9 POLE MALE 9 POLE MALE C9 POLE MALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR RUBENS PULSEO ENBO ENABLE 5 FLT FAULT GND DRV OV CONNECTOR CASE 12 I DRIVER 3 ph gt ME 8 R T fyi 297 i NABLE D 2 lt 4
9. L OUTPUT CONNECTIONS nd 25 TERMINAES dd su 25 RUBENS IMAGE OF THE OUTPUTS 1 es 26 ANALOGUE INPUT CONNECTIONS e 27 CONNECTOR a a X 27 ANALOGUE OUTPUT CONNECTIONS RR RO sr seras 28 ON 28 CONNECTION OF THE PROXIMITY RR SR RR SR Rasa 29 CONNECTION cis 30 INSTALLATION RECOMMENDATIONS Ne 30 RUBENS USER S MANUAL RUBENS USER S MANUAL GENERAL INTRODUCTION The present manual contains all information regarding the technical characteristics and the performance of the on the Rubens board It is designed as a useful guide which can be referred to for a quick understanding and for efficient application of all its functions The Rubens CNC is a NUMERICAL CONTROLLER packaged in a metal case for rear of panel mounting It is designed to control up to 4 axes that can be STEPPER DC or BRUSHLESS motors both in point to point positioning and in linear or circular interpolation It can handle the machine I O 16 inputs and 8 outputs both in sequential mode and as PLC program optional The I O can be expanded up to 128 inputs and 128 outputs Can Bus Main features e Power supplie
10. MALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X12 9 POLE FEMALE 9 POLE FEMALE 9 POLE FEMALE 9 POLE FEMALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X10 X13 t5 RUBENS USER S MANUAL SERIAL PORT PROXIMITY 9 POLE MALE 9 POLE MALE D CONNECTOR D CONNECTOR X19 RS232 RS422 8 16 RUBENS USER S MANUAL TERMINALS ON THE RUBENS PANEL DESCRIPTION DIGITAL INPUT No 1 X18 7 OREF POWER SUPPLY INPUT OV OF THE 24VDC OREF ENCODER SUPPLY OF THE _ 5 12Vpc OREF POWER SUPPLY INPUT OV OF THE _ 24VDc OUTPUTS TYPE PNP 24 300MA INIDIITC TVDE PNP 24Vnr 17 RUBENS USER S MANUAL SERIAL PORT CONNECTIONS CONNECTOR X8 X19 SERIAL PORT SERIAL PORT SERIAL PORT RS232 RS422 O POLE MALE b D CONNECTOR SERIAL PORT SERIAL PORT SERIAL PORT RS422 9 POLE MALE 5 D CONNECTOR X19 Notes Factory default configuration RS232 b Supplied when specified STOP BIT N B Use a screened cable for the connection with the screen connected to the case of the connector 18 RUBENS USER S MANUAL ENCODER CONNECTIONS CONNECTOR X4 X7 X10 X13 Axis 1 X ENCODER ENCODER Axis 2 Y Axis 3 Z ENCODER Axis 4 W ENCODER 9 POLE FEMALE 9 POLE FEMALE 9 POLE FEMALE 9 POLE FEMALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X10 X13 aid 3 Aid 3 N N 2 s
11. NS OUTPUT 24VDC 12VDC 35VDC LoAD lt 300 25 RUBENS USER S MANUAL RUBENS IMAGE OF THE OUTPUTS 31 0 IMAGE OF THE OUTPUTS 31 M 0 s 15 foros Bit Output Description Connector pin 00 OuT1 DIGTAOUTPUTNO 1 15 21 X15 22 X15 23 03 OUT4 DIGITAL OUTPUT NO 4 X15 24 X15 25 X15 26 06 OUT7 DIGITAL OUTPUT NO 7 X15 27 X15 28 08 DRO IDIRECTION OUTPUT DRIVERO ENABLE OUTPUT DIRECTION OUTPUT DRVERG DRIVERG 16 ENB ENABLE OUTPUT DRIVERG 11 7 11 8 ss Note To write the outputs from the CNC program use the instructio ns G67 P0 P7 G68 P0 P7 26 RUBENS USER S MANUAL ANALOGUE INPUT CONNECTIONS CONNECTOR X5 ANALOGUE INPUTS O POLE FEMALE D CONNECTOR AN ANALOGUE INPUT CONNECTION RUBENS ANALOGUE INPUTS e 10V 12VDC 10V 10V 27 RUBENS USER S MANUAL ANALOGUE OUTPUT CONNECTIONS CONNECTOR X11 ANALOGUE OUTPUTS O POLE MALE D CONNECTOR Our2 RUBENS AoO VOUT A ECC NE ENBO ENABLE ENABLE wam a ee ee s ENBO ENABLE ENABLE x UEM umo s s AoO V p tanner E bs GND AZN 0V x 28 DRIVER RUBENS USER S MANUAL CONNECTION OF THE PROXIMITY SWITCH PROXIMIT Y 9 POLE MALE D CONNECTOR
12. acking or transport If this is the case please contact our factory immediately RUBENS USER S MANUAL PRELIMINARY CONFIGURATION CONFIGURATION OF THE PC Check that the number of the serial port COM selected for the communication with the PICASSO2000 board is different from serial ports already present on the PC In you wish to install the Picasso2000 board on a serial port that is already occupied on the PC then it is necessary to disactivate the serial port of the PC in the system BIOS COMMUNICATION SOFTWARE The BACH program is support software created by S amp h It is designed to be installed on a PC running Windows 95 98 operating system BACH SoFTWARE INSTALLATION AND CONFIGURATION the instructions provided 10 RUBENS USER S MANUAL CONNECTION EXAMPLE SERIAL CONNECTION RS 232 WITH PC CONTROLLER POWER SUPPLY AAA lt gt gt gt M SI f ea INPUT OUTPUT POWER SUPPLY 9 4 2 RUBENS USER S MANUAL Connect the Rubens controller to the serial port of the PC COM1 or COM2 using a PC PC serial cable and configure the port as indicated in the section Serial link connection Power up the controller as indicated in the figure If the connection is made correctly the RUN indicator on the front of the Rubens will flash for a few seconds and then will become fixed At the same time the F1 indicator
13. em 3 AUXILIARY PROCESSES CNC This is the task for the control of the axes PLc This task handles the machine as PLC section AUXILIAR Y PROCESSES Performs the service tasks communication error handling timing alarms watchdog etc 9 Real Time Operating System RUBENS USER S MANUAL OPERATION MODE The operation mode of the Rubens controller can be illustrated by the following drawing in which the components that are described later are divided into groups by function BACH E wass GENERAL POWER SUPPLY EEA ELECTRICAL CABINET POWER SUPPLY Rubens Po Bd 3H L WALSAS TIVOINVHO3IN Power supply unit the group of components that make up the electronics that are used to supply the correct power to the control unit and other parts of the system Usually made up of a transformer and the associated protection and manoeuvring devices that must be provided by the user Controller electronics of the mechanical displacement system that takes care of together with other parts of the system the movement along the axes the electromechanical actuators and any sensors present on the machine Drive Unit the electronics of a mechanical displacement system that receives and transmits analogue and digital signals from the external controller and drives the motor in such a way that it performs the movements required by the controller
14. s 24Vdc e Maintains data and programs even in the event of a power out e 1 4 axes STEPPER DC OR BRUSHLESS e PID control algorithm and programmable feedforward action e Point to point positioning linear interpolation circular interpolation e Programmable velocity profiles e Encoder feedback even for stepper motors e 16 in and 8 out that can be handled sequentially or in PLC logic optional expandable to 1287128 using industrial Can Bus e Programming language ISO extended for the axes control section AWL in the PC for the PLC section e Fast input for acquisition of the axes co ordinates touch probe e Auxiliary analogue inputs max 8 e Handling the program Variables e Serial port definable as RS232 422 485 for connecting the machine control panel MCP 4 incremental encoders e Parallel process control e Interface for DC or BRUSHLESS motor drives REF 10 16bit DIR ENABLE FAULT e Interface for STEPPER motor drives PULSE 800KHZ DIR ENABLE FAULT VERSION The information in this manual refers to the Rubens Software Version COVer The message showing the software version installed in the Rubens can be read using the 9099 instruction shown on the RUBENS USER S MANUAL FIRMWARE GENERAL STRUCTURE The Rubens has an operating system inside that performs the control of several processes in parallel in particular the following tasks are executed RUBENS RTOS Operating Syst
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