PICASSO2000 user manual
Contents
1. 22 e OMe bd 0 Pa e o 1NO SO IWNV TT rm tinvs OOOOOOOOOOOOOOOOOOOCO L 2 6 F 89 Z 8 L b Z 6 C 6 v 1 1 3INOH L 2 rtr 6 9 1 8 OO Ad v 0 A SA SA OS 19 P2000 USER S MANUAL BOARD LAYOUT PiCASSO2000 aL 9 oJolofalololo GTOTOTOTOTG OTOTOT GT OTOTOS Jollee jo ep 590 Ok 5 et Jo 1 9 1 22. 9 O 3 RR RA canem 1 1 F2 24 1 0 2 5A 20 P2000 USER S MANUAL BOARD LAYOUT 5502000 T Ed EEE ES 1 Lt F H a Lodo 21 P2000 USER S MANUA
3. 9 POLE FEMALE D CONNECTOR X10 Axis 4 W ENCODER 9 POLE FEMALE D CONNECTOR X13 P2000 USER S MANUAL SWITCH 9 POLE MALE D CONNECTOR X1 17 P2000 USER S MANUAL CONNECTORS OF THE PICEXP PICASSO2000 BOARD TERMIINALS PIN SIGNAL DESCRIPTION i YO 1 INP1 DIGITAL INPUT NO 1 DIGITAL INPUT No 3 DIGITAL INPUT No 6 DIGITAL INPUT No 8 _ LIMIT SWITCH FORWARD LIMIT SWITCH REVERSE LIMIT SWITCH FORWARD _ LIMIT SWITCH FORWARD LIMIT SWITCH REVERSE MACHINE ZERO AXIS D DIGITAL OUTPUT No 1 DIGITAL OUTPUT No 4 DIGITAL OUTPUT No 6 DIGITAL OUTPUT No 8 24 OREF POWER SUPPLY INPUT OF THE 24VDC 24VDC POWER SUPPLY INPUT OREF ENCODER SUPPLY OF THE _ 5 12VDC ENCODER SUPPLY OurPUTS TYPE PNP 24 INPUTS TYPE PNP 24Vpc 18 P2000 USER S MANUAL PICASSO2000 PANEL cOd LU
4. 21 SERIAL PORT CONNECTIONS U 22 yaa pa as Esta asa pa 22 ENCODER CONNECTIONS uu u a eee ecce ce cet a e ea Ee c Eee ce a re Ee ere ee a ce Cet ee e e rere au dus 23 CONNECTOR X10 13 23 0 tata 24 DRIVE CONNECTIONS ANALOGUE cional FN Eia ks CIC 25 CONNECTORS 12 25 DRIVER CONNECTIONS FREQUENCY 1 3 26 CONNECTORS X6 12 III meme remet sere emere metre temer re rens 26 DIGITAL INPUT 8 u U u uu u u T T J J 27 TERMINALS X18 X17 A O 27 P2000 IMAGE OF INPUTS 31 0 pp 28 DIGITAL OUTPUT 8 u u 29 TERMINALS etie ER sede de De VR iE d 29 P2000 IMAGE OF THE OUTPUTS 31 0 pp 30 P2000 USER S MANUAL ANALOGUE INPUT nnn nana na RR RR RR RR RR RR uuu 31 2 uer io 31 ANALOGUE OUTPUT CONNECTIONS
5. P2000 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 1 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 For a full description of these commands refer to the manual supplied with the Picasso 2000 board P2000 USER S MANUAL INSTALLATION AND CONNECTIONS UNPACKING The Picasso 2000 package contains the following components PICEXP eu al 2 m E 2 8 ali 8 ee 48 Lol lo SO 2 3 AAR 494 36 949 9 19 0 Lo 3 PICASSO 2000 essc 49 810 BOARD 91 0 72 3 8 B GG 5 o Lo Lo Vn nr or E o PIC EXP l BOARD CABLE CO NFIGURAZIONE DI FABBRICA PROGRAMMING MANUAL USERS MANUAL INSTALLATION
6. PICASSO 2000 STD 1 USER S MANUAL MANUAL VERSION 1 02 DATE 22 MAGGIO 2000 P2000 USER S MANUAL This documentation has been produced by S amp h for the exclusive use of purchasers of the Picasso 2000 and Picexp boards 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 9 Copyright 1998 S amp h All nights reserved JAntWManualiV 2000XEngVP2000 E Doc P2000 USER S MANUAL Index GENERAL MI M 5 INTRODUGTION eot eta ce ee coo e eerte Dee 5 VERSION 5 FIRMWARE GENERAL nana 6 OPERATION MODEL S Su TUN R N S um QS 7 COMMUNICATION 2 8 CUSTOMISING THE SYSTEM III u u 8 INSTALLATION AND 6 9 UNPACKING 12
7. 26 P2000 USER S MANUAL DIGITAL INPUT CONNECTIONS TERMINALS X18 X17 X16 TERMINALS PIN SIGNAL i DESCRIPTION 1 INP1 DIGITAL INPUT 1 DIGITAL INPUT No 3 DIGITAL INPUT No 8 LIMIT SWITCH FORWARD LIMIT SWITCH REVERSE LIMIT SWITCH FORWARD LIMIT SWITCH FORWARD MACHINE ZERO AXIS OREF SUPPLY INPUT pEL 24 INPIIT PNP 24 EXAMPLE OF A DIGITAL INPUT CONNECTION 24 12VDC 35VDC P2000 INPUT W 3K3 vu P2000 IMAGE OF INPUTS 31 0 P2000 USER S MANUAL IMAGE OF INPUTS 31 0 rout 31130 29 28 27 26 25 24 23 22 21 20 19118 17 16 15 14113 12 11 10 09 08107 06 05 04 03 02101100 Bit Input Description Connector pin 00 INP1 DIGITAL INPUT NO 1 X18 1 01 INP2 DIGITAL INPUT NO 2 18 2 02 INP3 DIGITAL INPUT X18 3 03 INP4 DIGITAL INPUT NO 4 X18 4 04 INP5 DIGITAL INPUT NO 5 X18 5 05 INPG DIGITAL INPUT NO 6 X18 6
8. 00mA 29 P2000 USER S MANUAL P2000 IMAGE OF THE OUTPUTS 31 0 IMAGE OF THE OUTPUTS 31 0 313012912827 2625 24 23222120 19 18 17 161 15 14 131211110109108 0706105 04103102101 100 Output Description Connector pin 00 OUT1 DIGITAL OUTPUT NO 1 X15 21 01 OUT2 DIGITAL OUTPUT NO 2 X15 22 02 OUT3 DIGITAL OUTPUT NO 3 X15 23 03 OUT4 DIGITAL OUTPUT NO 4 X15 24 04 OUT5 DIGITAL OUTPUT NO 5 X15 25 05 OUT6 DIGITAL OUTPUT NO 6 X15 26 06 OUT7 DIGITAL OUTPUT NO 7 X15 27 07 OUT8 DIGITAL OUTPUT NO 8 X15 28 08 DIRO DIRECTION OUTPUT DRIVERO 7 09 ENBO ENABLE OUTPUT X3 8 10 DRO DIRECTION OUTPUT I X6 7 11 ENBO ENABLE OUTPUT DRIVERS X6 8 12 DIRO DIRECTION OUTPUT DRIVER 9 7 13 ENBO ENABLE OUTPUT E X9 8 14 DIR DIRECTION OUTPUT 12 7 15 ENABLE OUTPUT DRIVERS 12 8 16 ENABLE OUTPUT DRIVERG 11 7 17 ENABLE OUTPUT DRIVERO X11 8 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Note To write the outputs from the CNC program use the instructions G67 7 G68 7 30 P2000 USER S MANUAL ANALOGUE INPUT CONNECTIONS CONNECTOR X
9. 06 INP7 DIGITAL INPUT NO 7 18 7 07 INP8 DIGITAL INPUT NO 8 X18 8 08 LsO LIMIT SWITCH FORWARD x AXISO X17 9 09 LS LIMIT SWITCH REVERSE X17 10 10 LS LIMIT SWITCH FORWARD MSO X17 11 11 LSO LIMIT SWITCH REVERSE X17 12 12 LS LIMIT SWITCH FORWARD X17 13 13 LsO LIMIT SWITCH REVERSE X17 14 14 LsO LIMIT SWITCH FORWARD MEO X17 15 15 LS LIMIT SWITCH REVERSE X17 16 16 HOME MACHINE ZERO AXISO 16 17 17 HOMEO MACHINE ZERO AXISQ X16 18 18 HOMES MACHINE ZERO AXISO X16 19 19 MACHINE ZERO AXISO 16 20 20 FAULT INPUT DRIVER X3 2 21 FLTQ FAULT INPUT DRIVER Q 6 2 22 FLT FAULT INPUT DRIVER x9 2 23 FLT FAULT INPUT DRIVER 12 2 24 25 26 27 28 29 30 31 Note To read the inputs from the CNC program use the instructions G66 23 G65 23 G69 23 28 P2000 USER S MANUAL DIGITAL OUTPUT CONNECTIONS TERMINALS X15 TERMINALS PIN SIGNAL DESCRIPTION DIGITAL OUTPUT No 1 DiGITAL OUTPUT No 3 DIGITAL OUTPUT No 6 DIGITAL OUTPUT No 8 29 24V OREF SUPPLY INPUT DEL 24 OUTPUTS PNP 24 EXAMPLE OF AN OUTPUT CONNECTION P2000 OUTPUT 24VDC 12VDC 35VDC PNP LOAD lt 3
10. 5 ANALOGUE INPUTS 9 POLE FEMALE D CONNECTOR X5 EXAMPLE OF AN ANALOGUE INPUT CONNECTION P2000 ANALOGUE INPUTS e 12VDc 10K 10V 10V 1 24 P2000 USER S MANUAL ANALOGUE OUTPUT CONNECTIONS CONNECTOR X11 ANALOGUE OUTPUTS 1 5 dee 6 9 9 POLE MALE D CONNECTOR X11 Pin Signal 79 iOu2 iO 32 P2000 USER S MANUAL CONNECTION OF THE PROXIMITY SWITCH PROXIMITY 9 POLE MALE D CONNECTOR X1 PROXIMITY PROXIMITY SWITCH IPUT PICASSO 2000 SWITCH 10K TASTD X44 10N PROXIMITY J CONTACT 0 k X11 A LED lt X1 5 ALED 33 P2000 USER S MANUAL CAN BUS CONNECTION REMOTE REMOTE I O MODULE MODULE X2 3 X2 7 X37 Cae ipara Y 1 1 1 I Car O Zo 1 gt 1 4 Xn The termination resistances 1209 are placed at the beginning in the connector to the CNC and the end of the cable see figure JA I1dON ALOWSY 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 RECOMMENDATION
11. 9 SYSTEM COMPONENTS I u u u 10 PIGASSO 2000 Re cei hi reli merid oi n a ale 10 PIGE XP 55 5 220522 uy m yma dient PS 11 VIEW OF THE SYSTEMASSEMBLY 11 PICASSO2000 CONFIGURATION u u 12 CHECKING THE BOARD pp 12 PRELIMINARY 12 CONFIGURE THE JUMPERS SELECT THE COM PORT 000002 12 CONFIGURATION OF THE pp 13 INSTALLATION OF THE PICASSO2000 BOARD IN THE 222 13 COMMUNICATION SOFTWARE eee iihi titi u 14 BACH SOFTWARE INSTALLATION AND CONFIGURATION 14 TECHNICAL DATA o 15 CONNECTORS ON THE PICEXP PICASSO2000 BOARDS 16 PICEXP PICASSO2000 0 0 00 40 0 19 BOARD LAYOUT PICEXP PicAsso2000 u u u u u uu u 20 BOARD LAYOUT 5502000 2 4
12. FACTORY AND CONFIGURATION CONFIGURATION SHEET OF BACH SOFTWARE BACH SOFTWARE INSTALLATION DISKETTES P2000 USER S MANUAL SYSTEM COMPONENTS Optional processor board PICASSO 2000 E ee il 21 32 bit Flash RAM ES ia ERI Motor Analogue outputsi interf 1 Encoder PC BUS 2 2 9 10 P2000 USER S MANUAL PICEXP TERMINALS 1 OPTOISOLATION SS SSSSSSSSS 0909090090 HT 4 DRE HOME LIMIT Encoder OUTPUT digit 2 00000000000000000000 power L FAULT SUDDM s CAN BUS Analogue IN Ls eee a A T m leuc Emtec uA DM rues Md EE A e ee ENCODER INTERFACE CONNECTOR VIEW OF THE SYSTEM ASSEMBLY 11 P2000 USER S MANUAL PICASSO2000 CONFIGURATION CHECKING THE BOARD Before installing the Picasso 2000 board into the PC 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 packing or transport If this is the case please contact our factory immediately PRELIMINARY CONFIGURATION The operation of the boar
13. L SERIAL PORT CONNECTIONS CONNECTOR X8 SERIAL PORT SERIAL PORT SERIAL PORT 1 5 oo RS232 RS422 9 POLE MALE b D CONNECTOR Notes a Factory default configuration RS232 b Supplied when specified N B Use a screened cable for the connection with the screen connected to the case of the connector 22 P2000 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 X4 7 10 13 Notes The factory default configuration for the encoder is DIFFERENTIAL To change the encoder interface from DIFFERENTIAL to UNIPOLAR the internal jumpers 7 19 on the board must be changed Signal pin FAO FAO FBO FBO ZEO ZEO VENC GND_ENC 0V 7 CONNECTOR CASE 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
14. S 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 34
15. U u 32 32 CONNECTION OF THE PROXIMITY SWITCH pp 33 CAN BUS CONNECTION u 34 INSTALLATION RECOMMENDATIONS 34 P2000 USER S MANUAL GENERAL INTRODUCTION The present manual contains all information regarding the technical characteristics and the performance of the CNC on the Picasso 2000 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 PICASSO2000 CNC is a NUMERICAL CONTROLLER on a board for inserting in a PC which can control between one and four axes of the types Stepper dc or brushless both in point to point positioning and in linear and circular interpolation It can handle machine 16in 8out both in sequential mode and as a PLC program optional The can be expanded to 128in 1280ut via Can Bus Main features Power supplies 5 12Vdc 12Vdc 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 Programmable velocity profiles e Encoder feedback even for stepper motors e 16 in and 8 out that can be handl
16. d is determined not only by the application program but also by a few fixed preset options that may be changed by moving jumpers on the board jumpers jp Before using the board read the following instructions carefully and set up these jumpers properly to ensure the best performance and best possible coupling between the board and your system In particular use the jumpers to preset the COM port The tip of a ballpoint pen may be used to shift the jumpers OFF CONFIGURE THE JUMPERS TO SELECT THE COM PORT Use the jumpers on the Picasso2000 board to select the serial communication port to which you wish to connect the Picasso2000 board see the following table for the available choice To move the jumpers ON OFF use the point of a biro SW1 SW2 SW3 SW4 COM1 3F8 IRQ 4 OFF OFF OFF OFF COM2 2F8 IRQ 3 ON OFF i COMBS 3E8 IRQ 4 OFF ON 2 8 IRQ 3 ON ON BUS1 300 301 hex ON ON ON OFF BUS2 302 303 hex OFF ON BUS3 304 305 hex OFF 8054 306 307 hex OFF OFF UPDATE FIRMWARE 2L 12 P2000 USER S MANUAL 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
17. ed sequentially or in PLC logic optional expandable to 128 128 using industrial Can Bus 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 BRUSHLESS motor drives REF 10V 16bit DIR ENABLE FAULT e Interface for STEPPER motor drives PULSE 800KHZ DIR ENABLE FAULT VERSION The information in this manual refers to the Picasso2000 Software Version shown on the cover The message showing the software version installed in the Picasso2000 can be read using the 99 instruction P2000 USER S MANUAL FIRMWARE GENERAL STRUCTURE The Picasso2000 has an operating system inside that performs the control of several processes in parallel in particular the following tasks are executed PICASSO 2000 RTOS Operating System 3 AUXILIARY PROCESSES Cnc This is the task for the control of the axes Pic This task handles the machine as PLC section Auxiliary Processes Performs the service tasks commu
18. nication error handling timing alarms watchdog etc Real Time Operating System P2000 USER S MANUAL OPERATION MODE The operation mode of the Picasso 2000 board can be illustrated by the following drawing in which the components that are described later are divided into groups by function Pic2000 AAA GENERAL POWER SUPPLY lt lt ELECTRICAL Power supply AHL IWALSAS 1VOINVHO3IN 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 Motor is the component driven by the drive unit and coupled with the mechanical parts physically performs the movements along an axis
19. of the PC in the system BIOS INSTALLATION OF THE PICASSO2000 BOARD IN THE PC The installation of the board need the execution of a sequence of operations you can see forward You must do the sequence with attention Caution Do not ever open the computer when this is connected to the electrical supply Turn this off together with any supply connected to peripheral equipment that may be connected The computer must remain off for all the installation time Carefully remove the board from its packaging and hold it by the edges avoid touching the electronic components on the board itself as they are sensitive to electrostatic discharges Remove the cover of the PC letting it slide along its guides Choose a free slot on the motherboard for each board to be installed and remove the rear cover for each slot chosen e Insert the board in the slot with great care following the guides and the supports Fix the PICASSO 2000 board in place e Close the PC and connect the expansion cable of the signals and relative PICEXP board to the PICASSO 2000 taking care the fixing is made correctly listening for the click that can be heard when it is correctly inserted e Reconnect any peripherals that were disconnected as well as the power cable and switch the computer on e Install the BACH support software Preparation of the expansion slot 13 P2000 USER S MANUAL COMMUNICATION SOFTWARE The BACH program i
20. s 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 See the instructions provided 14 2000 TECHNICAL DATA USER S MANUAL POWER SUPPLY VOLTAGES 5VDC 12VDC 12VDC CONSUMPTION 5VDC 600mA 1000mA with expansion 12VDC 100mA 12VDC 150 5VDC 12VDC ENCODER 500 STORAGE TEMPERATURE OPERATING TEMPERATURE 5 40 RELATIVE HUMIDITY 2096 8096 NON CONDENSING WEIGHT 0 4 KG DIMENSIONS WIDTH 185mm HEIGHT 115mm 185mm lt d Re 115mm 15 P2000 USER S MANUAL CONNECTORS ON THE PICEXP PICASSO2000 BOARDS CAN Bus 9 POLE MALE D CONNECTOR x2 Signal ANALOGUE INPUTS 9 POLE FEMALE D CONNECTOR SERIAL PORT 9 POLE MALE D CONNECTOR X8 ANALOGUE OUTPUTS 1 5 ems 6 9 9 POLE MALE D CONNECTOR X11 RS232 RS422 6 Vour 9 i Our2 Signal 9 POLE MALE D CONNECTOR 9 POLE MALE D CONNECTOR 9 POLE MALE D CONNECTOR Axis 4 W DRIVER 9 POLE MALE D CONNECTOR X12 12 FAULT 5 Dnv 0V Signal 9 POLE FEMALE D CONNECTOR 9 POLE FEMALE D CONNECTOR 7 16
21. te DIRO SIGNAL must only be connected if required 5502000 Ao VouT AGND AN REF DRIVER ENBO ENABLE ENABLE 5 FLTO FAULT T L 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 is 10V 16 bit resolution 25 P2000 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 MALE 9 POLE MALE 9 POLE MALE C9 POLE MALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X3 X6 X9 X12 Signal Signal Signal Signal PicAsso2000 PicExP DRIVER 4 2 lt D gt E L 8 me L ENBO ENABLE 7 ENABLE Tm I I 1 1 1 1 1 1 FLTO 2 1 1 1 1 1 0V 5 gt 1 T Note If the DRIVER does not have internal pull up resistors these must be provided externally Note Frequency output Pulse is maximum 800KHz with 5096 duty cycle Note The cable screen must be connected to casing of the controller
22. 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 PICASSO2000 is of 800KHz with intemal PICASSO2000 multiply we 800 x 4 3200 2 real counting frequency 23 P2000 USER S MANUAL ENCODER SUPPLY The supply for the encoder can be taken from the PC power supply or supplied from an external power source ENCODER SUPPLY FROM THE PC In this case the supply that can be used for the encoder is 5Vpc or 12 The factory default is 5Vpc ENCODER SUPPLY FROM AN EXTERNAL POWER SUPPLY 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 REF ENCODER SUPPLY 0V OF THE 5 12 24 ENCODER SUPPLY 24 P2000 USER S MANUAL DRIVE CONNECTIONS ANALOGUE CONNECTORS X6 X9 X12 Axis 1 X DRIVER Axis 2 Y DRIVER Axis 3 Z DRIVER Axis 4 W DRIVER 1 5 1 5 1 5 1 5 9 POLE MALE 9 POLE MALE 9 POLE MALE 9 POLE MALE D CONNECTOR D CONNECTOR D CONNECTOR D CONNECTOR X3 X6 X9 X12 Pin Signal i YO Pin Signal VO Pin Signal i YO Pini Signal i YO No
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