USER'S MANUAL - ACP & D, Ltd.
Contents
1. 29 CHANGE PARAMETERS cscecescecececececccceceaucececacaeceueneneautersuecaeueueaeneaetenstecueaeueneneneretstseauctaeaeaeneterstetauaeceaeaeaursnsuneaenenes 29 PROGRAMMING tadwauceansaaadtadavesweanieeencnendadtedssecwet aes 30 ELEC TP ROG RAM si II 30 ORGANISATION OF THE 30 RETE TNNT 31 AFROGRAM hae cA ID Mu M MR CAI A Ac 31 ere 32 EE LE 32 INSERT OVERWRITE A CHARACTER LA LIE MR DE A E M spe MM D 32 DEE TNG OR PRACT R un aL REL ee op aruis 33 INSERTING ANEW KINE oed euros ihe Seien RO Ra OY d D ei eene 33 D M EL EA EDDA AA MSIE Mente aan ates aoe 332. S RM ELE 21 MOVEMENT OF TRE AXES E EE ERE v 22 MACHINE ORIGIN SEEKING Ub D M LODS 23 23 JOG 2 3 DISPLAY THE STA MUSES OF THE INPUTS 24 JOG 3 3 DISPLAY THE STATUSES OF THE 15 8 24 PARAMETERS 25 Ds 26 SEEEGCT PROGRAM 22 26 AUTOMATIC PROGRAM EXEGUTIONS 26 27 SJEO JERE EEIN I M E iL eL m M A d A 27 TE P a a eee 27 SEI EMERGENO MM e LOI dps 28 I LS opc 28
3. doch ECL DU se 33 E Xf FROM ua 33 34 CONNECTION TO A PG du ira doe Eu va Evan ruv wa du i o a oa 34 GING SEEECTIONG 34 OPERATOR PANEL 34 AUTOMATIC PROGRAM LAUCH 5 36 ING A EEEE EE 36 GOV A CONNECTORS aa 37 GOYA STD 1 USER S MANUAL GOYA BACK vevxxk VxaE 38 GOYA POWER SUPPLY Li IA CRI Qe DA ID LE D AME D LR 39 CONNECTORS X10 DU DU ALD tea oe ad 39 CONNECTION TO SERIAL PORT NO T iG va anne ee wean 40 CONNEC OR AZ Berens th RUE OP cct cof Peers teat 40 ENCODER
4. 48 ISTAPEEATIONSADUIG E EIE UE pet IM IO E 48 APPENDIX 1 3 AXES CONTROL i APP 1 1 Duca cL MI I lO APP 1 2 DRIVER CONNECTIONS APP 1 3 CONNECTORS X5 aod dna Wis EM D ilie APP 1 3 DIGITAL INPUT CONNECTIONS eree eu ox dE Rave one ee er es UM xut iue APP 1 4 a rer APP 1 4 GOYNTIMAGE OF INPUTS uie Rr UE APP 1 5 APPENDIX 2 SERIAL APP 2 1 GOYA STD 1 USER S MANUAL GOYA STD 1 USER S MANUAL GENERAL INTRODUCTION This manual contains all the information regarding the technical characteristics and performance of the GOYA It is intended as a useful guidebook to which the user can refer for a rapid understanding of its functions in order to be able to use them efficiently The GOYA is a Numeric Controller mounted a DIN container complete with operator interface keyboard
5. 2 Sentence e bese D p CEDE EDI 41 41 DRIVE CONNECTIONS ANALOGUE det Wee 42 CONNECTORS C AU atic ot a e CELUM EE sivi ie M Lua Co cles e 42 DRIVER CONNECTIONS 1 1 1 1 43 CONNECTORS X4 69 daw aaa 43 DIGITAL INPUT CONNECTIONS iios Ea ace 44 44 GOYA IMAGE OF INPUTS ace nd ct Ero cho d asco oe 45 GOYA IMAGE OF OUPO dd stab er E EE 46 ANALOGUE INPUT 85 47 usus puc p T esata 0 47 CANBUS CONNECTION 2 1
6. GOYA SID 1 USER S MANUAL MANUAL VERSION 1 05 GOYA 2 68 CNC PLC 3 38 Refers to software version MANUAL CODE MAGOYISTD11 5 DATE 14 MARCH 2000 C GOYA STD 1 USER S MANUAL This documentation has been created by S amp h to be used exclusively by users of GOYA equipment Its contents are the property of S amp h and may not be reproduced in whole or in part without the written permission of S amp h The information contained in this document is subject to change without prior notice and does not represent a commitment by S amp h Copyright 1998 S amp h All rights reserved C Temp GOYA_E DOC GOYA STD 1 USER S MANUAL Contents GENERAL 7 25052020 7 5 H E 7 GENERAL ee ie ea ees 8 OPERATOR 8 oM O 8 nike Tee 8 AUXILIARY PROCESSES 4 4 0 444 4 4 4 666666666
7. 0 0 600 sss seen 17 a 17 Ee re Eee e redi o deer e reser na Ed RE eee 17 DISPLAY AND SELECTION OF LINES OF 4 44 4 4 4 3 naa 18 CONFIRMATION OF THE LINE 5 4 0 2 2 202 1 22 2 2 4 4 72222442 4 2 2 2444 41 4 4 4 4 5 2 2211 sess en en 18 ESGAPINGEROMJZ MENU Eius Lf E E 18 19 2 20 TERN RU TM RR we ese ae hee 20 ENTERING DATA 20 COPPE IO IN a ERE 20 CON FARIA SCA eo E ne rode d ole ete ede aed ec lane cana aba etek doc el chee Det 20 CHECKING THE ENTERED 5 1 27 7 1 1 4 4 4 4444444124 4 2 4 2 2 4 41 1 4 0 20 Mo RTT Er 21 MOVEMENT OF THE AXES
8. 14984 0 20 4 7 read the inputs from the program use the instructions G66 0 15 G65 PO P15 G69 PO P15 To see the image of the inputs use the instruction 81 0217 see the programming manual N B see appendix 1 for 3 axes Goya 45 GOYA STD 1 USER S MANUAL GOYA IMAGE OF OUTPUTS 31 0 IMAGE OF OUTPUTS 31 eal ol eo ingresso Bit Output Description Connector pin pDemaOurPUTN 1 0 2 06 JDemAOUTPUTN7 KNB To write the outputs from the program use the instructions G67 PO P7 G68 7 To see the image of the inputs use the instruction 81 0218 see the programming manual 46 GOYA STD 1 USER S MANUAL ANALOGUE INPUT CONNECTIONS CONNECTOR X7 ANALOGUE INPUTS O POLE FEMALE D CONNECTOR EXAMPLE OF AN ANALOGUE INPUT CONNECTION GOYA ANALOGUE INPUTS 47 GOYA STD 1 USER S MANUAL CANBUS CONNECTION MODULE MODULE X2 3 yon X27 3 3 2 X37 25252 Gt 2 2 55 E T m O The termination resistances 12002 are placed at the beginning in the CNC connector and at the end of the cable see figure connection devices in intermediate positions do not require a termination resistance Belden 3082A or equivalent cable is recommended The screen must be connected to the casing of the connectors INSTALLATION ADVICE
9. 08 INP9 LsO DIGITALINPUT 9 FORWARD LIMIT AXIS 09 INP10 15 DIGITAL INPUT 10 REVERSE LIMIT AXIS 0 X1 10 DIGITAL INPUT 11 FORWARD LIMIT AXIS 16j w X JDPSWTCH 0 0 9 O i7 S 141 gt 0 18 Sw3 X JDPSWrCH 0000 00 19 Sw JDPSWTICH _ Note To read the inputs from the CNC program use the instructions G66 0 15 G65 0 15 G69 0 15 To see the image of the inputs use the instruction 7081 0217 see the programming manual 1 5 APPENDIX 2 SERIAL PROTOCOL The serial communications have been conceived presuming that the Goya will behave as a slave device This means that it will not take the initiative in any dialogue but will merely reply to interrogation and respond to instructions The only exception to this rule is when in the emergency condition In this event the Goya will continue to transmit periodically the character lt Ctrl G gt 07h until the emergency is cancelled The Goya leaves the factory with the following configuration for the serial transmission STOP BIT Strings sent to the Goya must be terminated with the Carriage Return character ODh while it is indifferent to whether the Line Feed character 0Ah is added or not On power up the Goya does not return the echo of what it receives over the serial link and in transmission it closes
10. gt m ENBO ENABLE ENABLE 5VDC FAULT GND AZN 0 1 CHASSIS 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 The frequency of the drive output Pulse is a maximum of 100kHz with a duty cycle of 50 43 GOYA STD 1 USER S MANUAL DIGITAL INPUT CONNECTIONS TERMINAL X1 INPUTS OUTPUTS EXAMPLES OF DIGITAL INPUT CONNECTIONS 24 12VDC 35VDC 4 3K9 3 POLE FEMALE D CONNECTOR E EXAMPLES OF DIGITAL OUTPUT CONNECTIONS 24VDC 12VDC 35VDC 22 LoAD lt 300ma Outputs type PNP 24 Inputs type PNP 24Vpc N B see appendix 1 for 3 axes Goya 44 GOYA STD 1 USER S MANUAL GOYA IMAGE OF INPUTS 31 0 IMAGE OF INPUTS 31 Bit 20 rm 15 14 13 12 14 10 o9 08 ojos oso ozo oo Bit Input Description Connector pin 00 pDemAlNPUTN 1 06 INP7 HoMEO DiGITALINPUT N 7 HOMEINPUT AXIS Xt7 08 INP9 50 DIGITALINPUT 9 FORWARD LIMIT AXIS 09 10 15 DIGITALINPUT 10 REVERSE LIMIT AXIS 40 2 2 DIGITAL INPUT 11 FORWARD LIMIT AXIS 16j w JDPSWrCH 0 0 i7 S 141 0 S 18543
11. DB 9 MALE CONNECTOR 3 PIN CIRCULAR FEMALE CONNECTOR X11 GOYA STD1 USER S MANUAL GOYA BACK PANEL A O 38 GOYA STD 1 USER S MANUAL GOYA POWER SUPPLY CONNECTOR X10 POWER SUPPLY 3 PIN CIRCULAR MALE CONNECTOR X10 3 24 The CNC GOYA requires a power supply voltage of 24VOLT d c This can be supplied via the X10 connector found on the back panel The technical data of power supply are 24VDC 19VDC 35VDC CONSUMPTION 39 GOYA STD 1 USER S MANUAL CONNECTION TO SERIAL PORT NO 1 CONNECTOR X2 Note SERIAL PORT 1 SERIAL PORT 1 SERIAL PORT 1 RS232 RS422 a b DB 9 MALE CONNECTOR Segnale ini Segnale 5i COM OV __ I RTSO O E 8 80 ReO I 9 9 a Factory set 5232 b Only on specific order To connect a GOYA with a PC trough serial line RS232 perform these steps Connect the PC serial port COM1 or 2 with the GOYA serial port n 1 connector X2 with a serial cable cross over standard for PC Cable pin connections 1 4 2 3 3 2 4 1 5 5 7 8 8 7 9 9 Note the power must be removed from the PC and the GOYA Power up the GOYA With the arrow keys and move the cursor and select the menu line Connection to then confirm with key Power up the PC and use the BACH software program or another standard PC communic
12. EDITING a program it is possible to use two different modes of working 1 INSERT ENABLED cursor _ If the insert function is active pressing an alphanumeric key will cause a character to be inserted starting from the position of the cursor The characters to the right of the cursor will consequently move to the right to make room for the new characters inserted The INSERT ENABLED mode is activated by the 1 2 INSERT DISABLED cursor F If the insert function is disabled pressing an alphanumeric key will cause the character to be typed on top of the character over which the cursor is placed The INSERT DISABLED mode is activated by the 9 32 GOYA STD 1 USER S MANUAL DELETING CHARACTERS When the key is pressed the character immediately to the left of the cursor will be deleted INSERTING A NEW LINE To insert a new line of program 1 Enable the mode INSERT ENABLED cursor 2 Position the cursor immediately to the right of the last character of the line after which it is required to insert the new line 3 Press the key to insert the new line The following lines will automatically be shifted one place towards the bottom Naturally if the line of program is the last the e key adds the new line automatically at the end of the program DELETING A LINE Position the cursor on the first character of the line following the line that needs to be deleted and
13. Pressing the key or the or 1 keys or the Or keys disables the panel returning the control to the initial menu to re enable the panel press the key AUTOMATIC PROGRAM LAUCH ON START UP If there is a program number 100 it will be executed each time the controller is powered up Remember that each time the unit is restarted the machine zero seeking procedure must be performed as the unit cannot possibly keep track of any movements that could have taken place while it was not operating and it does not store the co ordinates in non volatile memory If it is necessary to perform a movement it will always be necessary to perform the zero seeking procedure for the axis concerned TECHNICAL DATA 24VDC 19 0 35VDC 0 to 50 C 5 to 40 20 80 NON CONDENSING 0 8 kg DIMENSION WIDTH 144 5 mm HEIGHT 144 5 mm DEPTH 156 4 mm sable for wiring R tps fo G 7 ES C gt UL W 2 nr Ww E LLL 156 4 mm 36 GOYA STD 1 USER S MANUAL GOYA CONNECTORS INPUT OUTPUT 19 0555555 5658565 OUTPUT TYPE PNP 24Vpc 300MA INPUT TYPE PNP 24Vpc POWER SUPPLY 3 PIN CIRCULAR MALE CONNECTOR X10 SERIAL PORT 1 AMPLIFIER Axis 1 X DB 9 MALE CONNECTOR DB 9 MALE CONNECTOR X2 Pin RS232 RS422 DB 9 MALE CONNECTOR CAN BuS DB 9 MALE CONNECTOR 37 AMPLIFIER Axis 2 Y
14. equipment s memory to be selected and run AUTOMATIC SELECT PROGRAM When the AUTOMATIC mode is entered the screen displays the programs that are present in the GOYA Each line carries the letter P for program the No of the program the name of the program P 001 Program n 001 P 002 Program n 002 P 004 Program n 004 ANE Dranram n Use the and keys to position the cursor on the program to be displayed the program selected is seen in REVERSE colour lt Alternatively to go directly to the required program press the iJ to enter the DATA ENTRY mode and enter the number of the required program 1 100 and press the e key to confirm the selection Once the program has been selected press the e key to move to the PROGRAM EXECUTION mode AUTOMATIC PROGRAM EXECUTION In this mode the screen will show number of the program P 025 and its name example on the first row at the top after the status line number of the line currently being executed and the information regarding the variation in 9o of the work speed F override on the second row at the top after the status line co ordinates of the axes are displayed on the rest of the screen 26 GOYA STD 1 USER S MANUAL OFF AUTOMATIC 025 Fov 15 123456 78 Y 123456 78 The number of the line currently being exec
15. 1 The devices on the network must be connected in cascade 2 Star or tree configurations must be avoided see following figure MASTER MASTER CONFIGURAZIONE CONFIGURAZIONE ALLOWED NOT ALLOWED CANBUS network configuration 3 Use the same type of cable for the whole installation screened twisted pair 4 The screen must be connected to the casing of the connector at the Goya end It must not be connected to the casing of connectors for intermediate devices It is also connected to the last connector in the line at C1 48 APPENDIX 1 3 AXES CONTROL This appendix describes the features of the 3 axes control of the Goya where they differ from the control on 1 or 2 axes For all the features not specifically mentioned in the following presume that these are identical for all three types of control APPENDIX 1 3 AXES CONTROL GOYA CONNECTORS INPUT OUTPUT SERIAL PORT 1 AMPLIFIER Axis 1 X AMPLIFIER Axis 2 Y 19 0555555 5658555 9 9 9 FEMALE CONNECTOR MALE CONNECTOR MALE CONNECTOR MALE CONNECTOR X1 DB 9 MALE CONNECTOR hel ch CRM DS due MALE CONNECTOR 3 P IN C IRC ULAR FEMALE CONNECTOR OUTPUT PNP 24 X11 INpirT 24 POWER SUPPLY 3 PIN CIRCULAR FEMALE CONNECTOR X10 9 9 3 24V COM DC EES APPENDIX 1 3 AXES CONTROL DRIVER CONNEC
16. active operational status as well as another 2 LED s to indicate the active status of the key FRONT PANEL STATUS LED S LED 2 LED 1 GQ 92 8 STOP Display LCD a START 1 FUNCTION KEYS CAUSE CONFIRM KEY OPERATION KEYS NUMERIC KEYPAD 12 GOYA STD 1 USER S MANUAL If the power supply has been connected and the eventual error message RAM cHECK ERROR has been cancelled the screen will show the following image AUTOMATIC d In this situation pressing F key it is possible to adjust the contrast of the display U N The adjustment is made using the or keys until the right contrast is obtained To exit from this mode press the e KEY This key is used to confirm data or instructions entered If this key is pressed after entering a numerical data value it confirms the value entered to the controller Pressing it now confirms the choice of jog operation and the display becomes as shown here JOG A 1 3 X 123 45 mm amp Y 67 890 mm 123456 78 The status line at the top of the screen informs us that the mode of operation is currently jog displacement of the axes JOG AXES and the displayed screen is the first of three and that there is a function associated with this screen that can be accessed by pressing the F key F The symbol informs us that the origin of the displ
17. line will show a letter meaning Output the number of the output and the description of the output The status of the output is seen as or DISACTIVE LI displayed on the left of the line JOG O 3 3 001 Output n 1 002 Output n 2 004 Output n 4 I i v Use the and keys to position the cursor on the output to be displayed the output selected is seen in REVERSE colour 24 GOYA STD 1 USER S MANUAL PARAMETERS In this operational mode it is possible to associate twenty variables used in the program to twenty memory locations in the Goya operator interface In particular it is possible to specify the number indicative of the variables Q the description or physical significance TAG the limit values that they can assume MIN and the number of decimals with which the numerical values will be expressed DEC The Goya makes 20 locations available but the number indicated is arbitrary Therefore there is nothing to stop associating variable 2103 to location 1 In the status line at the top the sequential number of the location that is being operated is displayed LOCATION 1 the AUTOMATIC operational mode during the running of a program it will be possible to assign the current value to the locations defined here and this value will then be assigned to the associated CNC variable Use the n and gt to position the cursor on th
18. strings only with the prompt character without CR LF this described here be changed if required using the appropriate instructions explained in the programming manual
19. the program selected is not present in the memory empty Automatically the DISPLAY MODIFY A PROGRAM mode is entered To exit from the programming mode press the key ORGANISATION OF THE MEMORY From the following figure it is possible to see the organisation of the memory for handling and filing programs where there are two memories Program memory This memory is dedicated for saving work programs It belongs to the CNC process The data inside it thanks to a back up battery are retained even when the power is removed from the equipment The space reserved for the PROGRAM MEMORY is 150 000 characters Work memory This memory contains the program that will be displayed modified inserted in the editing phase The data contained in this area of memory are not retained if the power is removed form the equipment The space reserved for the WORK MEMORY is 40 000 characters 30 GOYA STD 1 USER S MANUAL When EDITING a program in the WORK MEMORY remember that the following limitations apply 1 maximum length of a line 80 characters 2 maximum number of lines of program 999 lines USER INTERFACE CNC PROCESS PROCESS WORK PROGRAM MEMORY MEMORY Program 001 Program in EDITING Program 008 Program 015 Program 047 Program 110 INSERT PROGRAM To insert a new program one that is not yet present in the PROGRAM MEMORY press P lt the Gs key to recall the DATA ENTRY page and ente
20. use the in sequence until all the characters of the line have been deleted STORING A PROGRAM The program being edited is resident in the working memory whose contents are volatile which means that they are not stored after power is removed Furthermore a program contained in this memory cannot be run in the AUTOMATIC mode Once the required modifications have been made the program must be saved in the program memory To store a program which has been worked on by transferring it from the WORK MEMORY to the PROGRAM MEMORY press the B key The display on the screen will ask for confirmation of the request Press the e to confirm A menu will now be displayed showing all the saved programs A questo punto si procedere in due modi 1 If you wish to overwrite a program move to the program to be overwritten and press 2 If you do not wish to overwrite a program use key to enter a new unused program number and press EXIT FROM EDITING Use the key to exit from the EDITING mode Before leaving the EDITING mode the operator will be asked if the program in the WORK MEMORY should be saved in the PROGRAM MEMORY 38 GOYA STD 1 USER S MANUAL TERMINAL This procedure is used to connect the CNC process in direct mode is thus possible to send strings of instructions see CNC instruction manual Type directly on the GOYA keyboard to the CNC process and see the relative reply on the screen T
21. 66666666666666 esee 8 INSTALLATION AND 9 UNPACKING 9 POWER WIRING 10 RAM CHECK EBROR D eb ERE ED end E EO XE Ea 10 CONNECTING THE 11 OPERATOR INTERFACE 12 SCREEN KEYBOARD AND LEDSS 12 mre NW 12 e i 13 zo ES QA eee O X 14 J F ic m 14 1 C3 I am 7 u OB GOYA STD 1 USER S MANUAL PASSWORD TO ACCESS PROTECTED 65
22. AMETER ENTRY J The PARAMETERS mode is accessed by pressing the key In this mode the following parameters can be changed O JOGA P 13 F O PARAMETERS MOVEMENT n VB 123456 7 Velocity SLOW VA mm min 123456 7 Velocity FAST Use the and keys to select the parameter to be modified Enter the new value and confirm it with the key before exiting from the page The step data must be within the range between the minimum and maximum values defined for the AXES PARAMETERS refer to the programming manual 23 GOYA STD 1 USER S MANUAL JOG 2 3 DISPLAY THE STATUSES OF THE INPUTS In this mode the statuses of the digital inputs to the GOYA can be displayed The screen will show a list of the inputs where each line will show a letter 1 meaning Input the number of the input and the description of the input when this has been defined The status of the input is seen as or DISACTIVE L1 displayed on the left of the line JOG 2 3 002 Limit switch 1 003 Limit switch 2 004 Input n 4 Use the and keys to position the cursor on the input to be displayed the input selected is seen in REVERSE colour JOG 3 3 DISPLAY THE STATUSES OF THE OUPUTS In this mode the statuses of the digital outputs of the GOYA can be displayed The screen will show a list of the outputs where each
23. ATION AND CONNECTION UNPACKING The Goya package contains the following articles INSTALLATION AND CONFIGURATION SOFTWARE MANUAL 3 PIN POWER CONNECTOR BACH INSTALLATION SOFTWARE DISKETTES PROGRAMMING MANUAL USERS MANUAL CO NFIGURAZIONE DI FAB BRICA FACTORY CONFIGURATION SHEET BACH software is optional Check that all articles shown in the drawing are present and undamaged Once the package has been inspected the main steps to follow are e Power wiring e Connecting the PC GOYA STD 1 USER S MANUAL POWER WIRING Connect the Goya to a 24Vdc 19VDC 35VDC 320 mA minimum power supply using the three pin connector supplied following the drawing below GOYA Power supply 24 24Vdc 19V 34Vdc 300 mA min 2 2 c Once connected the Goya may be powered up When switched on the Goya emits an audible signal and a message appears on the screen to indicate the model and version of software that has been installed in the internal memory About 3 seconds later the screen will show the Main Menu page with the two items jog e automatic GOYA V2 58 USR TYPE STANDARD USR VERS 1 05 CNC TYPE INTERNAL GOYABOOT REL 2 20 At this point it is already possible to connect the encoders drives can bus etc following the instructions in this manual RAM CHECK ERROR The display of this error indicates that the GOYA has a problem with the data stored in its
24. E abandon the automatic mode This is performed by pressing the Key EXECUTION BY STEP This mode of operation enables the program to be executed step by step which means one line at a time The execution of each step is obtained using the key It is possible to return to the continuous running of the program starting from the line at which it has arrived by pressing the 1 or START key 27 GOYA STD 1 USER S MANUAL N B If the execution of the program has been interrupted with the key and the is pressed Goya executes all the instructions accumulated in the receiving buffer of the CNC Only after this buffer has been emptied it goes into the step by step execution mode SET EMERGENCY If the key is pressed at any point the emergency condition is established on the operators request and the screen will show the text WARNING with an indication regarding the condition that has generated the emergency The functions available in this condition are those referred to in the ALARM ERROR HANDLING mode ALARM ERROR HANDLING During the running of the program the presence of alarms or errors is continually checked Should an alarm be detected the program that is running will be temporarily suspended the screen will show the text WARNING with an indication regarding the condition that has generated the emergency AUTOMATIC 1 2 WARNING L EMERGENCY O Automatic 4 2 OPERATOR
25. E STATUSES OF THE OUTPUTS The presence of the different mode of JOG is indicated on the status line at the top of the screen where the number of the active mode and the total number of functions is displayed 1 3 Furthermore the status line at the top of the screen shows the symbol F whenever there is an associated submenu 1 key is used to switch between the various available functions 1 3 MOVEMENT OF THE AXES 2 3 DISPLAY OF THE STATE OF THE INPUTS 3 3 DISPLAY OF THE STATE OF THE OUTPUTS When in the screen for MOVEMENT OF THE AXES It is possible to switch to the function J PARAMETERS using the F key 1 3 MOVEMENT OF THE AXES PARAMETERS MOVEMENT When in the MOVEMENT OF THE AXES screen the start 9 key be used to activate the SEARCH FOR MACHINE ORIGIN function JOG 1 3 MOVEMENT OF THE AXES In this mode the axes can be moved manually The operator can select the required axis with the and keys The selected axis is clearly identified on the screen inn REVERSE O M JOG A 13 O X 123456 78 mm Y 123456 78 mm 123456 78 mnis The display of the co ordinates can be switched between ABSOLUTE and INCREMENTAL immediately using the Gm key or in the PARAMETERS menu indication of the origin selected and therefore the type of display that is active is shown to the right of the co ordinate where the e symbol appears if it is ab
26. INTERVENTION P 025 example Fov 35 X 123456 78 mm Y 123456 78 mm When the system is in the WARNING mode the available functions are B I 1 SILENCE EMERGENCY the S key silences the active state of emergency The WARNING screen disappears At this point the state of emergency is removed and it is possible to proceed with RUN PROGRAM mode that nevertheless re starts from the beginning 2 SILENCE EMERGENCY pressing first the key all the operational modes be accessed As the emergency condition has not been annulled it will not be possible to move the axes and the CNC ALARM screen is shown returning to the modes and AUTOMATIC For the meaning of the status string refer to the programming manual The string is the reply to the D instruction 28 GOYA STD 1 USER S MANUAL SPEED VARIATION At any moment while in the AUTOMATIC mode the value of the work speed defined in the program to be changed in the range 1 0 200 the value of 0 is interpreted as leaving the value of the velocity defined by the program unaltered u Use the 8 key to increase in 96 the value of the work speed N Use the key to decrease in 96 the value of the work speed If desired using F override data can be entered directly Press to enter into the DATA ENTRY mode Enter the required value 99 0 100 and press the e key to c
27. L active when the key is released The table for the correspondence between the inputs and programs that are run is shown below Some of the programs that are launched in this way correspond to actions in the jog mode For example program 116 is run to perform the machine zero seeking in either jog mode or automatic mode If program 101 is not present the manual displacement key functions as described in the related paragraphs If program 101 does exist to an instruction to make a positive displacement on the X axis the program will be executed of NE dM key down key up key 100 121 X 2 10 1022 6 100 72 12200 ZZ 8 9 47117 10 7180 A 09 1 319 100 100 1T 0 419 J 122 2 1 12 M 13 029 14 174 14 as 5 15 P The OPERATOR PANEL MODE can be activated from the main menu by pressing the key or if the Goya has been programmed with the panel active 097 1 the Goya automatically starts up in this mode each time it is switched on If active the PANEL page is displayed see following figure Fov 0 X 123456 78 mm Y 123456 78 mn 1 The PARAMETERS menu is used to change the value of a variable press the Key the key can be used to change the velocity of the execution of axis movement 35 GOYA STD 1 USER S MANUAL a E U N
28. OLE MALE POLE MALE D CONNECTOR D CONNECTOR Pini Signal V O Pin Signal WO A AGND AN REF 1 _AGND AN REF 2 Faur 2 E Ae d eM d E 5 0 5 AzN 0V _ _ E 6 Ao VouT O 6 00 Vour 0 7 iENBO ENABLE 7 iENBO ENABLE O E 8 DRO 018 DRO Note The DIR SIGNAL must only be connected if required GOYA DRIVER a Ao V LS oG Vour 6 gt gt i ENBOGO ENABLE 4 lt ENABLE D FAULT lt FAULT NPN GND AZzN 0V i CHASSIS imeem ied aj 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 The analogue drive output Vour is 10 with 12 bit resolution 42 GOYA STD 1 USER S MANUAL DRIVER CONNECTIONS FREQUENCY CONNECTORS X4 X5 Axis 1 X DRIVER Axis 2 Y DRIVER O POLE MALE O POLE MALE D CONNECTOR D CONNECTOR X4 X5 D N B see appendix 1 for 3 axes Goya o o ENB ENABLE ENBO ENABLE DIRO N N DRIVER gt
29. PC cross over type Operations to be performed on the Goya the password 74269 to enable the protected functions in the controller The following screen will appear GOYA AUTOMATIC PROGRAMMING TERMINAL CONNECTION TO PC Select the item PC connection pressing the key until this line is displayed in reverse and confirm with the key Operations to be performed on the PC e Install the BACH software following the attached instructions Configure the system following the same instructions For greater technical detail refer to the page entitled CONNECTION TO SERIAL PORT NO 1 in this manual 11 GOYA STD 1 USER S MANUAL OPERATOR INTERFACE This chapter explains how to access all the functions of the Goya using the local keypad without using the Bach program or the serial link to a PC In doing this wherever possible a path will be followed that at the same time illustrates the functions of all the keys that are active at any moment and which will enable the user to perform most of the operations that will normally be needed It is recommended that these pages are read at least once following the operations described on a working Goya that is not attached to the motors SCREEN KEYBOARD AND LED S The GOYA CNC has an LCD graphic screen 128 64 pixel a polyester keyboard complete with the operational keys numeric keys and function keys 4 LED s for indicating the
30. TIONS FREQUENCY CONNECTORS X4 X5 X6 Axis 1 X DRIVER Axis 2 Y DRIVER Axis 3 2 DRIVER O POLE MALE O POLE MALE D CONNECTOR D CONNECTOR O POLE MALE D CONNECTOR X6 o o DRIVER PULSE gt ENBO ENABLE gt ENABLE 5VDC ee GND AZN a FLTO FAULT lt lt NPN e CHAssis 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 The frequency drive output PULSE is a maximum of 100kHz with a duty cycle of 50 1 3 APPENDIX 1 3 AXES CONTROL DIGITAL INPUT CONNECTIONS TERMINAL X1 INPUTS OUTPUTS EXAMPLES OF DIGITAL INPUT CONNECTIONS 3 POLE FEMALE D CONNECTOR 24 12VDc 35VDC bn GOYA INP 3K9 EXAMPLES OF A DIGITAL OUTPUT CONNECTIONS 24 12VDC 35VDC LOAD lt 300ma Outputs type PNP 24VDc 300MA Inputs type PNP 24Vpc 1 4 APPENDIX 1 3 AXES CONTROL GOYA IMAGE OF INPUTS 31 0 IMAGE OF INPUTS 31 rat 61 pe p 26 ps 24 2322 21 20 te 1817 1e 07 06 05 9403 0201 00 Bit Input Description Connector pin X pDemAlNPUTN 1 0 06 INP7 HoMEO DiGITALINPUT N 7 HOMEINPUT AXIS Xt7
31. and LCD graphic display which can control 1 2 or 3 axes of the types stepper d c or Brushless both for point to point positioning and linear and circular interpolation It can handle machine 16in 8out either in sequential mode or as a PLC program optional The can be expanded up to 128 in 128 out using Can Bus the features of the Goya with 3 axes that are different to the controller with 1 or 2 axes will be indicated in the specific section and mentioned in Appendix 1 Main features LCD graphic screen 128x64 pixel Operator and configuration keyboard in polyester Power supply 24Vdc 10W Retention of programs and data even when power is removed 1 2 or 3 axes Stepper d c or Brushless the third axis is for a stepper motor only PID control algorithm with programmable feedforward action Point to point Positioning linear interpolation circular interpolation Programmable velocity profiles Encoder feedback even for stepper motors 16 discrete inputs and 8 discrete outputs that can be handled in sequential mode or in PLC logic optional expandable to 128 128 via industrial Can Bus Programming Language ISO extended for the axes control section AWL on PC for the PLC section Fast input for the reading of the axes co ordinates sensor Auxiliary analogue inputs 6 max Handling of Variables from program 2 serial lines one of which can be defined as RS232 422 485 for connecting an MCP machin
32. ation program e g Hyper Terminal of Windows to communicate with the Goya The protocol parameters of serial line are defined in Appendix 2 Note Use a shielded cable the screen must be isolated and connected to the casing of connectors 40 GOYA STD 1 USER S MANUAL ENCODER CONNECTIONS CONNECTORS X68 X9 Axis 1 X ENCODER Axis 2 Y ENCODER O POLE FEMALE O POLE FEMALE D CONNECTOR D CONNECTOR Notes The encoder interface is factory configured as specified in the configuration sheet supplied with the products pin CONNECTOR CASE MACHINE ZERO microswitch HOME It is strongly advised that a DIFFERENTIAL type of encoder interface is used 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 The maximum count frequency that the Goya can handle is 40kHz which when the x4 multiplier performed inside the Goya itself is considered brings this up to an effective maximum frequency of 160kHz 41 GOYA STD 1 USER S MANUAL DRIVE CONNECTIONS ANALOGUE CONNECTORS X4 X5 Axis 1 X DRIVER Axis 2 Y DRIVER P
33. ayed co ordinates is the machine origin Ls GOYA STD 1 USER S MANUAL l KEY This key is used to switch between the various operations within the active operating mode For the Jog mode these are DISPLACEMENT AXES READ INPUTS and DISPLAY OUTPUTS L OuT 002 Output n 2 JOG I 2 3 MI INP 001 Limit switch INP 002 Limit switch O M JOG A 13 F O X 123456 78 mm Y 123456 78 mm 123456 78 mmimin F KEY Jj Returning to the JOG AXES screen pressing the F key the screen of the jog displacement parameters appears These are the step i e the unit entity of the displacement obtained when using the or keys and the two speeds at which the displacements will be executed O O M JOG AP 13 VB mm min 123456 7 VA 123456 7 Y 123456 78 mm 123456 78 mmmin BB key This is the EXIT key used to abandon the current operation and return to the operational level or previous menu The first time it is pressed the JOG AXES screen will re appear The second time will bring up the general menu screen 14 GOYA STD 1 USER S MANUAL gt nap KEYS Arrow keys move the cursor and or select lines of menu according to the mode These key take on particular meanings in specific modes for example in JOG AXES the key is used to make a continuous movement along the selected axis in the positive direct
34. e control panel and a remote PC 2 incremental encoders Control of parallel processes Interface for d c or brushless drives REF 10 12bit DIR ENABLE FAULT Interface for stepper drives PULSE 100KHZ DIR ENABLE FAULT VERSION The information in this manual refers to the GOYA Software Version indicated on cover The version of software installed in the GOYA is displayed automatically on the screen each time the equipment is powered up GOYA STD 1 USER S MANUAL GENERAL STRUCTURE The GOYA has an operating system that can perform several processes in parallel in particular the following processes are executed Operating System 1 4 OPERATOR AUXILIARY INTERFACE PROCESSES OPERATOR INTERFACE This process handles the operator interface the screen keyboard and various operator inputs etc CNC This process handles the control of the axes PLc This process handles the machine as PLC section AUXILIARY PROCESSES Handles service processes communications errors timing alarms watchdog etc Note 1 When the GOYA is connected via a serial link to a Personal Computer it is possible to handle the processes 2 CNC and 3 PLC directly using the BACH support software this adds the availability of other operational functions such as uploading downloading of programs calibration of the axes parameters editing compiling and debugging of PLC programs etc GOYA STD 1 USER S MANUAL INSTALL
35. e field whose contents are to be modified For example the location 1 could be defined as follows LOCATION 1 Li TAG NO CYCLES And now in the program the variable will be referred to as Q103 it shall be an integer that can assume any value between 0 and 2000 and when its value is assigned Automatic it will be indicated by the description No CYCLES In assigning the indicative number of the variable remember that variables from Q1 o Q100 are volatile their value is not remembered if power is removed variables Q96 Q97 Q98 Q99 and Q100 are reserved by the controller for its own functions among these the only ones that are of interest to the user are Q98 entity of a step jog and 099 current velocity in jog displacement variables from Q101 to Q200 are non volatile The field Q can assume all values between 1 and 199 The fields MIN and MAX are limited to 9 characters including the decimal point but excluding an eventual minus sign If both these fields are set to 0 the variable can assume any value The DEC field can assume the values 0 1 2 and 3 The TAG field is limited to 10 characters 25 GOYA STD 1 USER S MANUAL To display the locations associated use the and keys Press the 1 key to associate a new location To annul an existing association press the key while it is displayed AUTOMATIC The Automatic mode is that which allows one of the programs present in the
36. ge up or down Jo AUTOMATIC PROGRAMMING MACHINE PARAMETERS v CONFIRMATION OF THE LINE SELECTED Once the required line has been selected the choice is confirmed by pressing e key that will cause the execution of the corresponding task ESCAPING FROM A MENU Apart from when in the MAIN MENU it is possible to escape from any submenu and return to the previous level of menu by pressing the key This is independent of the line selected at the time 18 GOYA STD 1 USER S MANUAL MENU TREE JoG 13 MOVEMENT OF AXES SETTING MOVEMENT PARAMETERS l l al MACHINE ZERO SEEKING 2 5 DISPLAY INPUT STATUSES 33 DISPLAY OUTPUT STATUSES AUTOMATIC SELECTION EXECUTION OF PROGRAM PROGRAMMING EDIT PROGRAM SAVE PROGRAM TERMINAL SEND RECEIVE WITH THE CNC CONNECTION TO PC SEND RECEIVE WITH THE PC PARAMETERS INSERT CHANGEABLE VARIABLES IN AUTOMATIC CNC SELECTION INTERNAL EXTERNAL COM1 EXTERNAL COM2 Operational mode accessible with password 29 GOYA STD 1 USER S MANUAL SETTING DATA During the execution of some operations the operator is asked to enter numerical values These can be integers or real numbers with or without sign as a function of the type of data that must be set for this particular operation for example co ordinate velocity program number etc FIELD OF ENTRY When a numerical data entry is reques
37. he instruction string typed can be corrected before being confirmed 2 key using the To send the IMMEDIATE INSTRUCTIONS such as lt Ctrl W gt lt Ctrl O gt etc for their J meanings see the CNC instruction manual press the F key followed by the letter required Use the key to exit from the TERMINAL mode CONNECTION TOA PC This mode is used to work with the relative BACH support software to dialogue and handle the CNC process inside the GOYA from the PC over a serial link For the communication protocol see Appendix 2 For the physical connections refer to the chapter CONNECTION TO SERIAL PORT NO 1 CNC SELECTION This function is used to select an internal CNC external CNC on COM1 or COM2 usually the internal CNC of the GOYA is used If an external CNC is selected all operations to it will be re addressed through COM1 or COM2 To change the selection use the keys then confirm the selection with the key The screen will show a message to confirm that communications have been successfully established or if the attempt has failed an error message To continue press the key again OPERATOR PANEL MODE The operating mode allows a program to be run from the command from a logic input of the Goya When an input assumes its active state the corresponding program is launched The inputs can be defined as active when the key is pressed down and or 34 GOYA STD 1 USER S MANUA
38. ion of the co ordinates and the key is used to move the same axis in the negative direction lt KEY This key is used to make direct entry of numerical data For example in JOG AXES if this key is pressed it is possible to enter the co ordinate to which the axis must move When confirmed with the co ordinate KEY This is used to select one of the characters present on each key For example the key contains the characters Y and gt When there are more than one character key the Goya move the chosen axis to the specified on a key the key is used to select the one to use On power up the LED s are off and the large character at the centre of the key is active The first time the n is pressed the character at the upper left of the key is activated and LED 1 turns on Therefore when the 0 key is pressed the screen will show the character Y The second time the key is pressed the character on the upper right of the key becomes active and LED 2 turns on and LED 1 goes out So when the 0 key is pressed the character appears The third time the is pressed the large character in the centre of the key becomes active again and both the LED s 1 e 2 turn off So when the B key is pressed the character O appears If the key is held down at the same time as another key the character that is activated is the one at the top left of the key LED 1 but this charac
39. memory the most likely cause is that the internal battery is discharged If required the GOYA can be used temporarily in this condition provided that all the lost data is reprogrammed to proceed press the X key The message will disappear The error message will go away leaving the main menu l0 GOYA STD 1 USER S MANUAL CONNECTING THE PC Although the Goya may be used as an independent device its programming is much easier if there is communication over a serial link For this reason if for example the Bach program is available it is recommended that the few operations described on this page are performed and then the Bach programming manual is used This accesses all the functions of Goya in a much more user friendly manner It is however pointed out that the Bach program is only one of the many different ways to supply the Goya with the character sequences that make up its program The user can therefore develop the program on a custom PC operator interface and then transmit the instructions to the Goya over the serial link The execution of the instructions does not depend on the activity of the PC This is only used to transfer the program to be executed to order its execution and if required to delete it from the memory of the Goya To communicate from the PC to the Goya a few steps must be followed Connect the X2 connector of the Goya to the COM1 or 2 port of the computer using a serial cable Standard
40. ne step towards the positive and towards the negative co ordinate direction respectively B Decimal point used during the entry of numerical values to enter the decimal part of the data The STOP key stops the execution of the current program while in AUTOMATIC mode l6 GOYA STD 1 USER S MANUAL While writing a series of characters it disables the INSERTION mode 1 The START key runs the selected program within AUTOMATIC mode In other modes it has different functions For example while writing a series of characters it enables the INSERTION mode PASSWORD TO ACCESS PROTECTED FUNCTIONS The normal display of the main menu is the following JoG AUTOMATIC This allows only jog displacement of the axes machine zero seeking and the selection of a previously written program the other mode functions are protected It is possible to access these by typing the password 74269 After doing this the main menu looks like this GOYA JoG AUTOMATIC PROGRAMMING TERMINAL COLLEGAMENTO PC Typing in the same password again restores the normal display Once the general meaning of all keys and the principles of the display are clear we are ready to expand our knowledge of the Goya and start making it perform its CNC functions With this intention the equipment must first have the parameters regarding the mechanical and electrical characteristics of the moving parts loaded i
41. nto its memory If this configuration has not been performed in the factory refer to the relative appendix which describes the methods for calculating the parameters to be entered MENU The structure of the OPERATOR INTERFACE section of the GOYA is based essentially on the display of menus or lists of possible operations that allow the operator to identify and select the actions to perform from time to time MAIN MENU AND MENU LEVELS On power up after the initialisation screens the GOYA shows the main menu that is a list of the main operations that can be performed with the GOYA itself The selection of one of these functions can bring up the display of another menu this will go on until the action to perform has been defined completely In other words 17 GOYA STD 1 USER S MANUAL different levels of menu are structured so that starting from the main menu and entering into different levels of submenus the action required will be arrived at see also MENU TREE DISPLAY AND SELECTION OF LINES OF MENU During the display of a menu the line selected is displayed in REVERSE colours i e white letters on a black background There is also a scroll bar on the right of the screen last also indicates the displayed lines of the menu and L keys are used to select the next or previous line to one currently displayed as being selected These keys will also cause an update of the screen that will scroll the pa
42. onfirm CHANGE PARAMETERS This command will allow variables defined in the Parameters menu to be changed 1 To activate press the key The first available parameter will be displayed It may be modified by entering a new value the original value will be displayed in brackets N To scroll through the variables use the and aj keys To return to automatic press the ESC key 29 GOYA STD 1 USER S MANUAL PROGRAMMING The Programming mode is the one in which all operations concerning the handling of programs in the GOYA are permitted reading writing insertion deleting Entering in this mode the screen will show the list of programs present in the PROGRAM MEMORY Every line will carry the letter P for program the No of the program and the name of the program o PROGR P 001 Program n 001 P 002 Program n 002 P 035 Program n 035 D NAN Deaanram n nen SELECT PROGRAM Y keys can be used to scroll through the list and position the cursor on the required program The program selected is displayed on the screen in REVERSE colours After positioning the cursor on the required program use the e key to enter the DISPLAY MODIFY A PROGRAM page P lt Alternatively move directly to the number of the program required press the Y key to enter the DATA ENTRY mode enter the number of the program 1 200 and press e 29 to confirm if
43. press the e key to confirm the data and move the axis to to the entered co ordinate 2 Relative displacement to an entered co ordinate Press the 6 key to enter into the DATA ENTRY mode enter the required co ordinate for the selected axis press the o key to confirm the data The value entered will be added or subtracted from the current co ordinate and the axis will move to the resultant position N B Both the absolute and relative displacement values entered are referred to the selected origin e Machine Origin or Origin 22 GOYA STD 1 USER S MANUAL MACHINE ORIGIN SEEKING In the JOG MOVEMENT OF THE AXES mode the MACHINE ZERO SEEKING function can be performed To activate this procedure press the start key 1 The screen will show the screen that will request confirmation for the activation of the procedure JOG A 1 3 F SET POINT CONFIRM SEEKING MACHINE ORIGIN Y 123456 78 mm 123456 78 nin Press the e key to activate the SET POINT procedure The axes will move in the predetermined direction until they activate the respective microswitches that indicate the zero position N B The procedure to seek the machine origin runs the CNC program No 116 This program is not visible on the menu like all those above number 99 but it can still be accessed using the procedure for DATA SETTING PROGRAMMING To interrupt the SET POINT procedure press the STOP key PAR
44. r the number of the program 1 200 Then press the key to confirm If the program is empty the GOYA runs the editing function to insert the first program line DELETE A PROGRAM After positioning the cursor on the required program in the SELECT PROGRAM mode press the key to delete it Before proceeding to delete the program the GOYA asks the operator to confirm the request 31 GOYA STD 1 USER S MANUAL DisPLAY MoDIFY A PROGRAM Entering this mode the program selected will appear on the screen The program is made up of lines strings of characters that define the relative instructions and or comments The number of the program selected the number of the line on which the cursor is positioned and the number of column are displayed on the status line 1 line at the top PROG 003 2 527 Program n 003 The procedure is to all effects a full screen editor which means that it is possible to move the cursor to the required position in order to display modify or insert modifications at any point in the program In particular the functions available are MOVE CURSOR The e keys can be used to scroll the lines of the program up and down in order to position it on the required line gt The e keys can be used to move the cursor backwards and forwards along the line in order to position it on the required character INSERT OVERWRITE A CHARACTER During the operation of
45. solute and the IV symbol appears if it is in incremental 21 GOYA STD 1 USER S MANUAL Pressing the key it is also possible to define the current position of the selected axis as the absolute origin of the co ordinates In this way it is possible to refer all movements to an arbitrary position chosen by the user Goya does however request confirmation before executing the instruction MOVEMENT OF THE AXES The axis selected can be moved in continuous mode forward or reverse respectively pel 2 using the or keys and holding them down When the key is released the movement of the axis will stop The selected axis can be moved just one STEP forward or reverse respectively pressing the We or key During the movement the co ordinate of the axis is continuously updated on the screen Use the key to switch the displacement velocity of the axes immediately between HIGH and LOW The velocity is displayed at the bottom of the screen Pressing the F key it is possible to set the PARAMETERS of the JOG mode i e the dimensions of the STEP the SLOW SPEED and the FAST SPEED The selected axis can be moved to a defined co ordinate using the direct entry of the co ordinate to which it is required to move the axis There are two different cases 1 Displacement to the co ordinate entered Press the 6 key to enter into the DATA ENTRY mode enter the required co ordinate for the selected axis
46. ted an entry field will appear on the screen showing the current value of the data and another for entering the new value The dimensions of this field and the position of this field will change according to the function of the data that must be entered Example O M JOG A 13 F ENTER DATA 123456 78 Y 123456 78 mm 123456 78 ENTERING DATA Data is entered using the numeric keys BE the decimal point key and if required the B or WS key to define the sign of the number positive or negative Only the keys that are required for entering that particular data type are accepted for this operation CORRECTION At any time before the data is confirmed the entry can be corrected using the key When key is pressed the cursor moves one place to the left cancelling the last character entered CONFIRM AND ESCAPE Once the required value has been entered it must be confirmed using e key The is used to exit from the DATA ENTRY mode without entering new data CHECKING THE ENTERED VALUES The Goya performs certain checks on the entered data and if it is incorrect or falls outside the predetermined limits the anomaly is indicated and the data entry is not accepted 20 GOYA STD 1 USER S MANUAL The jog mode allows the following functions 1 3 MOVEMENT OF THE AXES SET MOVEMENT PARAMETERS MACHINE ORIGIN SEEKING 2 3 DISPLAY OF THE STATUSES OF THE INPUTS 3 3 DISPLAY OF TH
47. ter does not remain stable and selected 15 GOYA STD 1 USER S MANUAL KEY If pressed while in the write text mode it is the space character Otherwise it is used as a key for switching between immediate parameters For example in JOG AXES it toggles the origin of the co ordinates of the axes e respectively the O at the machine origin and the O for a local origin vA KEY If pressed in the DATA ENTRY mode it is used to change the sign of the data setting negative values otherwise it is used to switch between immediate parameters For example in JOG AXES it switches between the SLOW and FAST movement of the axes G KEY This is the DELETE key for deleting the previous character entered in the write program or data entry operations otherwise it is used as a key to delete or cancel inside a specific operation KEY This is the SET RESET key used to enable disable the emergency or alarm conditions EB KEYS These are the numeric keys that are used to enter numerical values for example the co ordinates of axes or number of the program to be selected n KEYS The and keys associated with the numeric keypad are used to add the entered value to or subtract it from the current value just like a normal calculator They can also be used for special meanings in specific modes for example in JOG AXES they are used to execute the displacement of o
48. uted the co ordinates of the axes and the F override data are continually updated even during the execution of the program START PROGRAM When the 1 or START key is pressed the program selected begins to run While the program is running the screen will be continually updated with the number of the line being executed the value for the percentage variation of the speed Fov and the values of the co ordinates of the axes The functions available during the running of a program are 1 STOP interrupt the running of the program This is performed by pressing the key If a START d key command is made the program will restart at the point at which it was interrupted 2 SET EMERGENCY the emergency condition can be activated using the S key 3 EXIT FROM AUTOMATIC abandon the automatic mode This is performed by pressing the Li key Once the automatic mode is exited any program that is running will be interrupted STOP and cancelled lt STOP PROGRAM Pressing the STOP key while a program is running will interrupt the program In this condition the functions available are the following 1 START the 1 key recommences the program from the point at which it was interrupted with the STOP command a 2 CANCEL THE RUNNING OF THE PROGRAM the key cancels the execution of the active program Any subsequent START 1 key command will make the program start from the beginning 3 EXIT FROM THE AUTOMATIC MOD
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