Beijing RichAuto S&T Co., Ltd.
RichAuto-AutoNow-B15 Motion Control System
User’s Manual
Applied in B15 multi-spindle controller
FREE Download from
www.richnc.com.cn
北京锐志天宏科技股份有限公司
Beijing RichAuto S&T Co., Ltd.
Add：5F, No.4 building, No. 4 Yard, Shengmingyuan Road, Zhongguancun Life Science Park
Beiqing St., Changping District, Beijing 102206 China Tel/Fax：(+86)-010-53275118/53275119
Website1：www.richauto.com.cn Website2：www.richnc.com.cn
Beijing RichAuto S&T Co., Ltd.
Thank you for choosing RichAuto products!
This manual helps you be familiar with the company's products, and get information
about systems’ components、configuration etc.
This manual contains detailed knowledge of the system characteristics、operating procedures,
installation &commissioning, and safety precautions. Please read this manual carefully before
using the system and machine, which will help you to use it better.
Cautions:
1. It’s strictly prohibited in the strong interference and strong magnetic field environment.
Operating ambient temperature：0-70 ℃；Environment humidity： 0-90% (non-condensing).
2. Insert U disk in the correct direction. Do not pull out or insert 50-pin signal transmission cable
when system is powered on.
3. During the perform processing in U disk file, do not pull out the U disk to prevent the
interruption of data transmission.
4. Strictly prohibited metal, dust, and other conductive substances drop into the handheld
controller shell.
5. The machine casing shall be well grounded to ensure work safety and prevent interference.
6. Unauthorized removal is strictly prohibited, no internal user repairable parts.
7. For long time not using, please power off and keep it properly.
8. Be careful to prevent it from water, dust, fire when using.
9. Do not use the corrosive chemical solvents to clean the device.
10. Spindle motor bearing life and its speed is inversely proportional.
11. Graver is very sharp. Do not touch when it is running, in order to avoid injury; Do not use
handkerchiefs, scarves to approach it to prevent embroiled damage.
Beijing RichAuto S&T Co., Ltd.
Important statement:
The Company shall not be responsible for any loss caused by improper using or failure to
comply with the rules of operation.
Beijing RichAuto S&T Co., Ltd owns final interpretation of this manual, we reserves the rights to
revise all information in this manual, including data, technical details, etc.
Beijing RichAuto S&T Co., Ltd.
Content
Foreword……………………………………………………………………………………………………………………………..1
System introduction……………………………………………………………………………………………………..1
Performance characteristics…………………………………………………………………………………..…….1
Product parameters…………………………………………………………………………………………..…………2
Model List……………………………………………………………………………………….……………………………2
1. RichAuto system composition…………………………………………………………..……………………………3
1.1 System composition……………………………………………………………………………………….3
1.2 Components description………………………………………………………………………………....4
1.2.1 Handheld controller…………………………………………….…………..…………….4
1.2.2 Interface board……………………………………………………….………….………….5
1.3 Interface board installation dimensions……………………………………….…………………..5
1.4 System startup methods………………………………………………………….……………………….6
2. Handheld controller buttons introduction…………………………………………….………………………..6
2.1 Buttons introduction………………………………………………….…………………………………….6
2.2 Usage mode………………………………………………………………….………………………………….7
2.3 Detailed annotation for buttons……………………………………………….………………………8
3. Wiring description…………………………………………………………………………….……………………………10
3.1 interface board terminal…………………………………………………..………………………………10
3.2 I/O ports……………………………………………………………………….………………………………….11
3.3 Hardware wiring…………………………………………………………..…………………………………..12
3.4 Adjusting.. of machine tools and control systems……………………..………………..…….16
4. Menu description……………………………………………………………………………………….…………………..16
4.1 Menu classification…………………………………………………………………………………………..16
4.2 Menu details…………………………………………………………………………………………………….17
4.2.1 Machine setup…………………………………………….…………………………….……17
4.2.2 Auto pro setup………………………………………………………………………….…….24
4.2.3 System setup…………………………………………………………………….…………….27
4.2.4 Operate file……………………………………………………………………………..………31
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4.2.5 Version view…………………………………………………………………….…………….32
5. Machine operation……………………………………..………………………………………………………………….32
5.1 Return HOME…………………………………………………………………………………………………..32
5.2 Import processing file…………………………………………….………………………………………..33
5.3 Manual processing operation……………………………………………………….………………….33
5.3.1 Manual speed switching and adjustment…………………………………..…..33
5.3.2 Manual processing mode……………………………………………………..………..34
5.3.3 Manual testing input and output…………………………………….……………..35
5.3.4 Manual switching coordinate system…………………………………….……….35
5.4 Auto processing operation……………………………………………………………………………….36
5.4.1 Set workpiece origin………………………………………………………………………36
5.4.2 Select processing file……………………………………………………………………..37
5.4.3 Set processing parameters……………………………………………..……………..37
5.5 Processing operations………………………………………………………………………………….….38
5.5.1 Speed ratio & spindle state adjusting….………………………………....……..38
5.5.2 Suspend processing &position adjustment…………………………………….39
5.5.3 Breakpoint processing &power failure recover………………………………39
5.6 Advanced processing………………………………………………………………………………….……41
5.6.1 Array work………………………………………………………………………………….....42
5.6.2 Breakpoint processing....………………………………………..……………………..43
5.6.3 Manual tool change………………………….................................................43
5.6.4 Park work………………………………………………………………………………..…….43
5.6.5 Count boundary…………………………………………….………………………………44
5.6.6 Milling plane………………………………………………….………………………………45
5.6.7 Count work time…………………………………………….……………………………..46
5.6.8 View location line No…………………………………………….………………………46
5.6.9 Scale processing…………………………………..………………………………………..47
PS1. System upgrade operation………………………………………………………………………………………..48
PS2. “U disk mode” function introduction………………………………………………………………………..49
PS3. Servo wiring and parameters setting………………………………………………...………………………50
Beijing RichAuto S&T Co., Ltd.
PS4. G code reference list………………………………………………………………………………………………...57
PS5. Tool setting methods detailed explanation……………………………………………………………....59
PS6. Pulse equivalent calculation……………………………………………………………………………………..63
PS7. Common troubleshooting…………………………………………………………………………………………69
PS7.1 Handle screen prompt fault information solution……..............…………….…..69
PS7.2 Common problems during operation………………………………………………….……71
PS7.3 Electrical components and circuit problems……………..................................74
Beijing RichAuto S&T Co., Ltd.
Foreword
System introduction:
RichAuto CNC motion control systems are independently developed by Beijing RichAuto S&T
Co., Ltd. It can be widely applied to machinery, advertisement, woodworking, mold engraving
machines, laser, flame, plasma cutting machines, woodworking lathe, dispensing machine and
soon in the industry machine control field.
RichAuto make DSP as the core control system，High-speed processing operation which are
the microcontroller, PLC systems can’t match；Embedded structure，High degree of integration,
Strong stability, easy to installation and operation；support U disk, Removable storage card
reader，With USB Interface，High speed transfer，Plug and play . Fully offline work.
Performance characteristics:
1. System standard configuration is X, Y, Z axis motion control method, and supports the rotation
axis（C axis）control which enables the switch between rotary machining and plane processing .
Can be extended to X, Y, Z, C four-axis motion control to realize 4 axes linkages control.
2. Multiple I/O ports control. Standard equipped with I/O signal node which has 8 inputs and 7
output signals.
3. Support the standard G code, PLT format instructions; support domestic and international
mainstream CAM software, such as: Type3, Artcam, UG, Pro/E, MasterCAM, Cimatron, Ucancam
etc.
4. Provide with power failed protection. System automatically save the current processing
information in the moment of sudden power down (file name, current line number, work speed,
spindle state)；After powered up and returned HOME position, the system automatically prompts
the user to restore the processing before power down which makes processing operations
become more humanity.
5. Support breakpoint memory, select file line No. processing. Can save 8 different breakpoint
processing information.
6. Multi-coordinate memory function. Provide 9 working coordinate system. The User can switch
among the 9 coordinates, each coordinate system can save a process origin information.
7. Support adjusting spindle operating frequency (or spindle rotate speed). The spindle frequency
is divided into 8 shifts. During processing, user can adjust shifts directly by keys without suspend
processing.
8. Support adjust speed ratio during operation. To adjust the speed ratio so as to change the
processing speed and travel speed, speed ratio values from 0.1-1. Increasing or decreasing 0.1 per
time.
9. Simple manual operate mode. In manual mode, the system provides 3 kinds of move modes,
including continuous, step (crawl), distance, become more simple and convenient.
10. Identifies M code, F code and other extended instructions, and it can also open a special code
based on user’s needs.
11. Built-in 512 M memory. Adapt USB communication port with high efficiency for file transfer.
Can read files in U disk and card reader directly.
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Beijing RichAuto S&T Co., Ltd.
12. Unique handheld structure which can be hold with one hand. With LCD display and 24 keys
operation keyboard, intuitive and flexible operation, no longer rely on the computer, completely
offline operation.
13. Self-detection function. The system comes with I/O ports signal detection function, easy
remote maintenance.
Product parameters:
Model No. RichAuto-B15
CPU DSP Power down protection Support
Built in memory 512MB Breakpoint processing 8
Display screen 128*64Monochrome LCD External supply voltage DC 24V
Communication
port
Linkage axis No. 3to 4axes Interpolate method
Control signal 5V common anode Soft / hard limit Support
Driving system Stepper / servo motor Maximum pulse frequency 1MHz
Minimum input
unit
Languages
Standard layout
U disk Manual mode
0.001mm Password protection Support
Simplified Chinese, English, traditional Chinese, other languages can be
customized
Handheld controller with USB adapter 1pc；50 pins cable 1 pc、I/O interface
board 1 pc, USB data cable 1 pc
Continuous, step,
distance
Straight line, arc,
spline curve
Model List:
AutoNow
3 inches Monochrome screen
B1Xseries motion control
system
Model No. Name
B15 Cylinder multiple spindle
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1. RichAuto system composition
1.1 System composition
RichAuto control system contains the following parts：1pc of hand-held controller
(handle), 1pc of interface board, 1pc of 50-pin data transmission cable, 1pc of USB
communication cable.
RichAuto schematic diagram of system accessories
Hand-held controller Interface board
Both ends tenon type USB communication cable
data transmission cable
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RichAuto LOGO
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1.2 Components description
1.2.1 Handheld controller
As shown below，including 6 parts:
U Disk Adapter
LCD Screen
USB Communication
Interface
Key Area
50-pin Cable Socket
1) LCD screen: 128 * 64 resolution LCD display，to display the machine motion, system settings
and other information.
2) Key area: Contains 24 buttons to set system parameter information and the machine
movement control operation.
3) U disk adapter: External memory like U disk and the card reader throw-over access port. It can
identify the files from external memory; System format is FAT16/32 format. This part can be
removed separately if it is damaged.
4) RichAuto LOGO
5) 50-pin cable socket: To realize the connection between the system and the machine tool via
50-pin cable. The motion signal given by the system is transmitted to the machine tool motion
actuator.
6) USB communication interface: The port of USB communication cable. It is used to connect the
handle and computer.
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1.2.2 Interface board
Between handle and machine tool is controlled by the interface board connection. The
connection ports contain 5 parts, as shown in the following figure:
X AXIS
50-pin cable socket
J7: Output signal terminal
Motor
driver
control
Y AXIS
Z AXIS
C AXIS
J8: Input signal terminal
J10: Power supply terminal
DC24V
Interface board
50-pin cable socket:To connect the handle and machine tool via 50-pin cable, and transmit
motion signal from system to the machine tool motion actuator.
Output signal terminal: To control spindle ON/OFF and spindle speed shifts etc.
Input signal terminal: The input end of machine origin, tool setting, servo driver alarm, hard
limit, E-stop, foot switch signals.
Power supply terminal: The input terminal of system switching mode power supply (DC 24V,
3A).
Motor driver control terminal: Driver control signal output terminals.
1.3 Interface board installation dimensions
Scale 1:1, unit mm
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1.4 System startup methods
RichAuto-B1X motion control system contains 2 starting methods:
Normal starting: Normal power on the system, after boot it will enter into HOME TYPE interface
and manual control interface.
Emergency starting: If normal starting cannot show any words or manual interface, emergency
starting is required.
Power off the system first, then push “ ” and keep pressing, power on the controller
and waiting for 3-4 seconds. Release“ ”, will get into Emergency State interface, user
could either select System Update or Format System or don’t restart the system directly without
any selection.
2. Handheld controller buttons introduction
2.1 Buttons introduction
RichAuto handheld control system has defined 24 operation buttons, each one provides
one or more functions in different working states:
Real photograph of pressing keys
2.2 Usage mode
RichAuto provides 2 modes of button operations, including one-touch key & Combination keys.
One-touch key：Press one key on the handheld controller keypad is executing the single key
operation.
Combination keys：Press two keys at the same time to achieve certain function is executing
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combination keys operation；The operation steps: press one main function key not release it,
meanwhile press a second auxiliary function key, and then release the two buttons at the same
time to realize the combination keys operation. For instance, the system upgrade combination
keys are “ ” + “ ”. When operation, user could push the main function key
“ ”first, push auxiliary function key“ ” then, at last release both of them at the
same time.
Commonly used combination keys:
1
Combination Keys Function
Coordinates systems switching keys
0 is mechanical coordinate system
“ ”+“0-9” numeric key
1-9are working coordinate system
2
Switching spindle shifts in manual mode
“ ”+ “ ”
3
Repeat last processing
“ ”+“ ”
4
Set current position as parking position
“ ”+“ ”
5
System upgrade
“ ”+“ ”
6
“ ”+“ ”
7
Input coordinate parameter to move the
equipment to that position
Exit keyboard detection interface
“ ”+“ ”
Note: Users can also find the corresponding combination keys operations list at the back of the
handle.
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2.3 Detailed annotation for buttons
Key Name Function
X axis positive/negative movement;
Menu up/down selection;
figure 1,5 input
Yaxis positive/negative movement;
work speed up/down selection;
figure 2, 6 input
Zaxis positive/negative movement;
spindle speed up/down selection;
figure 3,7 input
Set X axis and Y axis work origin;
Operation of return machine zero point (HOME) in manual
FAST/LOW motion state switching in manual mode;
work coordinate/ mechanical coordinate switching in auto
mode; figure 0 input
spindle ON/OFF in manual mode
figure 4 input
Set work origin of Z axis;
Figure 8 input
mode; Figure 8 input
Decimal input;
Enter MENU setting;
View work information during processing;
Return reference point operation;
OK key of all selections, inputs, operations
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negative sign
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Manual motion states;
Cancellation of various options, inputs and operations during
Continuous, step, distance 3 modes switching
RUN/ PAUSE processing file;
DELETE the input data;
Selection of different attribute in MENU
Motion parameter adjustment in manual mode;
processing termination;
processing
Switch to spindle No.1
Switch to spindle No.2
Switch to spindle No.3
user-defined
Enable Z axis automatic tool setting function
Enable advanced processing function
Repeat machining same processing file
Breakpoint processing combination main function key
( support the figure 1 to 8)
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3. Wiring description
3.1 Interface board terminal
X axis signal output terminal
Y axis signal output terminal
Z axis signal output terminal
C axis signal output terminal
Analog output terminal
Output signal connecting terminal
Input signal connecting terminal
24V power supply input terminal
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3.2 I/O ports
Terminal Name
DC24V
X_AXIS
24V+ Input power supply+
GND return circuit ground
5V
PULSE Xaxis pulse signal
DIR Xaxis direction signal
SHIELD Shield signal
5V
Y_AXIS
PULSE Yaxis pulse signal
DIR Yaxis direction signal
SHIELD Shield signal
5V
Z_AXIS
PULSE Zaxis pulse signal
DIR Zaxis direction signal
SHIELD Shield signal
5V
C_AXIS
PULSE C axis pulse signal
DIR C axis direction signal
SHIELD Shield signal
Pin definition
Xaxis common anode
signal
Yaxis common anode
signal
Zaxis common anode
signal
C axis common anode
signal
Pin functions
and parameters
Provide 24V operating voltage for
the interface board after power
up.
X-axis driver common anode
power supply terminal, 5V output
Output voltage ≧3V;
Drive current≦8mA
Output voltage≧3V;
Drive current≦8mA
X-axis driver signal output shield
wire
Y-axis driver common anode
power supply terminal,5V output
Output voltage≧3V;
Drive current≦8mA
Output voltage≧3V;
Drive current≦8mA
Y-axis driver signal output shield
wire
Z-axis driver common anode
power supply terminal, 5V output
Output voltage≧3V;
Drive current≦8mA
Output voltage≧3V;
Drive current≦8mA
Z-axis driver signal output shield
wire
C-axis driver common anode
power supply terminal, 5V output
Output voltage≧3V;
Drive current≦8mA
Output voltage≧3V;
Drive current≦8mA
C-axis driver signal output shield
wire
Attention matters
Recommend to use DC 24V
(current = 3A) current
source
Do not impose any other
voltage on this pin.
Do not impose any other
voltage on this pin.
Do not impose any other
voltage on this pin.
Do not use this port as a
ground port.
Do not impose any other
voltage on this pin.
Do not use this port as a
ground port.
Do not impose any other
voltage on this pin.
Do not use this port as a
ground port.
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Beijing RichAuto S&T Co., Ltd.
3.3 Hardware wiring
Installation Requirements：Switching mode power supply（24V, 3A）, it’s better to add a
filter to prevent the electric field interference. If origin detecting switch is different power supply
type, the special detecting switch power supply is needed. (Recommend 24V origin detecting
switch).
RichAuto motion control system realizes its control through the connection between the
interface board and CNC machine. Interface board terminal can be divided into input terminal
and output terminal：
Input terminal：INPUT SIGNAL terminal; Main power supply terminal.
Output terminal：X,Y,Z,C axis pulse signal output terminal; OUTPUT SIGNAL terminal.
Input terminal
Main power supply wiring:
INPUT terminal wiring:
1) Return ZERO point (HOME): X, Y Z axis wiring methods are the same
Mechanical switch NPN normally open proximity switch
Example of PNP normally open proximity switch:
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2) Tool setting: Simple constructed cutter touch-off plate
3) X5-X8：Default low level normally open
Take the driver alarm as example:
The alarm signal is normally closed, wiring method is series connection. Meanwhile, revise
the voltage definition of X5.
If the alarm signal is normally open, the wiring method is parallel connection. See as below,
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Output terminals wiring:
X axis pulse signal wiring (Y, Z axis pulse signal wiring is the same to X axis)
Step drive:
Servo drive: Σ-7 and Σ-V are the same wiring method
Brake wiring:
Yaskawa servo Σ-V series driver
First, ensure that the brake output is enabled, and then set Pn50F to 0300, and select brake
signal output terminal CN-29 and CN-30. Wiring is as follow,
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OUTPUT SIGNAL- spindle output
Here we only introduce the wiring method of double cylinders multi spindle cnc machine, since
the 4 cylinders multi spindle cnc machine wiring is the same.
1) 2-spindle with a single frequency converter – Analog
2) 2-spindle with 2 frequency converters – Analog wiring
To complete the above wiring the machine and control system will be connected with each other.
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Beijing RichAuto S&T Co., Ltd.
3.4 Commissioning of machine tools and control systems
1) After turn on the power, manually move each axis and confirm the direction. If the
movement direction and definition direction are opposite, should change the motor phase
sequence (A+,A- or B+, B-) or modify the servo driver parameters (this could refer to servo
driver manual).
2) According to the defined position of machine origin coordinate, enter into MENU –machine
setup- Home setup- Home direction to set HOME direction.
3) Double press “ ”-manual voltage setup (the upper arrows stand for input voltage) to
check whether the home switch is working properly (manually trigger, arrow flip).
We could determine the machine has been properly connected if all above are ready.
4. MENU description
4.1 MENU classification
RichAuto-B15 motion control system has managed the menu according to its function type, see
as below,
RichAuto B15 motion control system
Machine Setup
Auto Pro Setup
System Setup
File Operation
Version View
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Table Size
Acce
l
DistTime Limit
C.A.D. Thickness
Tool Count
Beijing RichAuto S&T Co., Ltd.
4.2 Menu details
4.2.1 Machine Setup
The menu “Machine Setup” is used to set machine hardware related parameters. It is set by
machine producer according to equipment type. No need to modify if the machine hardware or
electrical parameters have not changed; If user needs to change the setting, shall consult the
equipment manufacturer and modify it under the guidance of the technical engineer.
Menu structure of Machine Setup
Machine Setup
Pulse Equiv
Pulse Equivalent
Linear axis: The number of pulses required to send from the system when machine moves every
1mm. Unit: pulse / mm;
Rotating axis: The number of pulses required to send from the system when machine rotate every
1 degree. Unit: pulse / degree.
For the computing method please see in SP7.
Spindle Setup
Home Setup
Start speed
Voltage Setup
Max. Speed Limit
Cylinder Delay time
Input Confi
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Setting mode ： Enter “Pulse Equiv”, cursor is in the X axis pulse equivalent position,
press“ ” to move cursor as required. Press“ ” then, input a new value, and press
“ ” to save. To modify X, Y and Z axis value one by one in the same way. Save all changes
and return to the "Pulse Equivalent" menu.
Table size
RichAuto system makes the table size as the soft limit values, in order to prevent machine over
travel. Machine size must be less than or equal to the actual size of machine table.
Setting：Enter “Table Size”, press “ ”to move cursor as required. Press “ ” and
input the new value, press “ ” to save the changes. To modify X, Y and Z axis value one by
one in the same way. Save all changes and go back to the "Table size" menu.
Spindle Setup
Spindle delay：Including start delay and stop delay(Unit：ms).
Spindle state：To be used to set multi-speed control or simply spindle on/off signal control
parameters. System defaults “3-line8-state”, if user needs “1-line2-state (On/Off)”, just change
the number of lines to 1; See detailed settings at OUTPUT SIGNAL spindle output wiring.
Home Setup
Home speed：The movement speed of each axis when go mechanical origin (ZERO), the system
default X, Y axis home speed: 3000 mm/minute, Z axis home speed: 1800 mm/minute.
Home order：Motion sequence of each axis when executing return ZERO (return mechanical
origin).
Including：
Z,X and Y Z,X,Y Z,Y,X
Z only X and Y,Z X,Y,Z
Y,X,Z XY zero X zero then Y zero
Y,X zero None X zero only XZ and Y
Home direction：Movement direction of each axis when return ZERO. The directions are depend
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on the real assembly position of HOME switches on the machine tool. If home switch is installed
in the positive movement direction, then home direction should set as “Positive”, if it is installed
in the negative movement direction, the home direction shall set as “Negative”.
Setting mode: Enter“Home direction”, press “ ” and move cursor as required.Press
“ ”to change home direction, then press“ ”to save the changes. Return to
“Home direction” menu.
Acceleration (Unit: mm/s2 )
The maximum acceleration value during acceleration and deceleration movement, improve
(including straight and curved motion) processing capabilities. If acceleration value is too big, it
may cause the motor losing steps, tremble and even squeak; Setting value too small, will cut
down the operating speed of the entire graph.
System default: linear acceleration is 800 mm/s2, curve acceleration is 1000mm/s2, the proposed
curve acceleration is 1-1.5 times of the linear acceleration value.
Start Speed (Unit: mm/min)
Start speed of motion axis from stationary state. Not starting from 0, but starting directly from a
certain speed, so it can shorten the overall processing time, but this speed shouldn’t be too high.
Too high, it will cause the motor losing steps, jitter and even whistle; Set too small, it will reduce
the operating speed of the entire graph.
If the inertia of motion axes is heavy (shaft very heavy), can set a smaller starts peed; if the
inertia of motion axes is light (shaft very light), can increase the start speed value.
Voltage Setup
Used to set the input, output signal port normally open or normally closed port state, system
defines “↓” as normal open; “↑” as normal closed.
Including 2 rows of arrows：
The upper arrows indicate the input level definition：Set input signal terminal status definition.
The first four:0,1,2,3 are X axis ZERO、Y axis ZERO、Z axis ZERO、tool setting signal; The 5 to 8
positions are: 4,5,6,7 correspond driver alarm, hard limit, E-stop signal and foot switch input
signals.
The under arrows indicate the output level definition：Set output signal terminal status definition.
The top four: 0、1、2、3 correspond to spindle On/Off, multi-speed 1,multi-speed 2,multi-speed
3output signals; The 5 to 6 positions are:4, 5 correspond alarm lamp, run lamp output signals.
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Setting：Press “ ”move to left or right in the row. Press “ ”can jump up and down.
Move the cursor to arrow which needs flip, and press “ ” to flip the arrow.
C.A.D. Thickness (Unit: mm)
The thickness should input actual value. If the input value is bigger than the actual thickness, Z
axis may over cut; if smaller, Z axis tool bit can’t reach workpiece surface. This parameter can only
take effect when user uses auto tool setting function. Invalid when manual set workpiece origin
(press XY→0, Z→0)
Max Spd Limit (Unit: mm/min)
Set the maximum movement speed of three axis positive and negative direction, the setting is
only effect during processing, not affect the speed in manual mode;
System defaults max. speed X+/-,Y+/-are60000000 mm/min, Z+ is 1800mm/min, Z-is 3000
mm/min.
Tool Count
Tool count: Input tool count here. Max. 4 tools.
Tool offset: as below,
a) X,Y direction offset
Method 1: Input directly by measurement
Compared with the A15, the offset setting method of B15 is a little different. We take 2
cutters for example (the same setting method for 4 cutters). In A15, the offset value is set from
T2 and no need to set T1 offset, because it regards the spindle No.1 position as reference
position.
However, B15 has changed, user should set both X and Y offset on Spindle No.1 as 0, and the
value cannot change at any time. For Z axis offset on spindle No.1, it can be set according to
cutter’s length and height. Z axis saves the value of mechanical coordinate value.
Take the X axis offset as example. All the spindles clamping center pointed knife, and then
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200.000
Y axis 0.000
Z axis 0.000
Beijing RichAuto S&T Co., Ltd.
double press “ ” key, access I/O ports control interface, show as below,
Move the cursor to Y5 arrow, and press “ ” to flip up the arrow on Y5; Control relay of
cylinder on spindle No.1 enabled; Spindle No.1 drops down towards the working table. After that,
press “ ” move the Z axis to the workpiece surface and cut a point of knife mark, then
press “ ” to set work origin of X and Y axis.
Manually lift up Spindle No.1, switch to spindle No.2, double press “ ”. Y5 arrow flips
down, and control relay of Y5 enable is canceled. Move the tool nose of spindle No.2 to the
position where spindle No.1 leaved a knife mark. If the X axis value displays 200.000, means that
the distance between T1 and T2 is 200mm. The X axis offset of T2 should be input as follow;
No.2 spindle offset
X axis -
b) Z direction offset
Stressed: manual tool changing process will move Z up to the highest point (actually it’s the Z axis
zero point), and then it switches to another tool, the tool standing still. After manual tool
changing mechanical coordinates may change, this is normal, because, if you move it to the same
machine coordinate system position where previous tool located, you will find the tool nose can
completely coincides.
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Beijing RichAuto S&T Co., Ltd.
Without auto tool touch-off plate
Firstly, set tool setting type in to “Manual” under System Setup – Function Confi –ToolSet
(means tool setting method); Then double press “ ”, flip up the arrow of Y5 under
the I/O ports control interface, manual switch the current tool to T1, press “ ” move
Z axis to the measuring workpiece surface. At this time, the mechanical coordinate value of Z
is the Z axis offset value of T1. Press combination keys “ ” + “ ”, the Z offset
value will be automatically saved and shows on screen.
T2 offset measurement method is the same to T1, to be measured by I/O ports switching.
Equipped with an auto tool touch-off plate
Firstly, set tool setting type into “Auto” under System Setup – Function Confi–ToolSet, this
operation can be carried out independently on different cutter heads, but A15 must handle all of
the tool heads simultaneously.
For B15, switch to the corresponding cutter head which needs offset value setting, and then
manually move down Z axis to reference surface for measuring (Note: All cutter heads must use
Information
Spindle 1 tool length
offset set successfully！
the same measurement reference surface), press shortcut combination keys“ ” +
“ ” to save the point as current Z offset. Generally, X, Y axis offset value for each tool is
fixed. So we recommend using “manual” for setting X and Y axis offset. And then use “Auto”
mode to set Z axis offset.
Cylinder delay time (Unit: ms)
The time for waiting the cylinder lift up or drop down.
Cylinder delay
DwnDelay 4000
UpDelay 4000
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Distance Time Limit (Unit: s)
When the Distance mode was selected, it will automatically switch back to Continuous
movement mode if there is no action for a certain time of period. To avoid the spindle hits
against the machine body (Under this circumstance, such as the user have set a big Distance
value and forgot to switch back to Continuous mode). The systems default Distance mode limit
time is 30s.
Input Confi (Input Port Configuration)
Enable or disable each input port by the user. You could disable X5-X8 if there is no signal on
these ports by yourself.
Input Configuration
Enable or Disable the input port signals. If X5-X8 have connect signal, could disable X5-X8 signal
under this menu.
4.2.2 Auto Pro Setup
This menu is used to set processing parameters, G code attributes etc.
Menu structure of Auto Pro Setup
Work Speed (Unit: mm/min)
Including work speed and fast speed, system default is 3000 mm/minute.
Safe Height (Unit: mm)
Z axis lifting height during processing. System default is 40.000mm.
Auto Pro Set
Work Speed
Safe Height
Auto Scale
Fall Scale
Stop Status
G Code Setup
Pro Attribute
Array Work
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Auto Scale
Actual processing speed=work speed*auto scale. System default the auto scale doesn’t affect the
fast speed.
Fall Scale
System default the fall down scale is 0.200, Fall speed=fast speed*fall scale, the maximum fall
speed is Z- axis limit speed*fall scale.
Fall height, system default is5.000mm. Fall down scale takes effect when the spindle falls to the
fall height.
Stop Statue
Stop position when the processing is finished. You can set either a special location or system
specified location.
Work stop state
FinAct Pick up Z
XCoordnt 0.000
YCoordnt 0.000
ZCoordnt 0.000
(FinAct=Final Action; Coordnt=coordinate)
Set a special stop position: Press “ ” move cursor to where user wants to modify.
Press “ ”, input new coordinate values one by one, then press “ ” to save the
changes.
Set system specified location: Move the cursor to the first row, and press“ ”to enter
into system final position list:
FinAct
Pickup Z
Back To Work Org
Back Home
Back Position
None move
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(FinAct=Finish Action，Org=Origin)
Press “ ” to move cursor to where user wants to modify, then press “ ” to save
the change. Return to the upper menu.
G Code Setup
Set special G code attribute, according to the actual need to make changes.
(Ign=Ignore, Adj=Adjt=Adjust, AbsCntr= Absolute center)
PS: Blue parts indicate system default attributes.
Setting: Press “ ” move cursor to where needs to modify, press “ ” and select,
then press “ ” to save. Return to the upper menu.
Pro Attribute
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Set some special settings in the process, according to the actual need to change.
Setting: Press “ ” move cursor to where needs to modify, press “ ” and select,
then press “ ” to save. Return to the upper menu.
Array work
Set array work parameters, including columncount, Rowcount, Columnspace, Rowspace, Time
Interval (unit: ms)
Columnspace：The distance between the X trend of the file;
Rowspace: The distance between the Ytrend of the file;
Total Processing times= columncount* Rowcount
Time Interval: System default 0, it means not wait.
During processing, if user wants to change processing materials aftercompletion of each
processing, needs to set time interval as a negative number.
Whenthe first time processing is completed, the screen prompt “Waiting for the next array
processing…”, at this moment, user should press any key to start the next array processing, if user
doesn’t press any key, the system will keep waiting.
Starting array work, press “ ” the system prompts advanced processing list, then
user could choose the array work from it.
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4.2.3 System Setup
Menu structure of System Setup
System Setup
Languages
Data Initial
Inner Format
Wipe Cache
Funtion Configuration
Probation Password
Backup Password
Input port list
Output port list
Buttons Check
Backup Data
Restore Data
Trial Setting
Auto Upgrade
Languages
Change system display language, Chinese or English language.
Data Initial
After data initial system parameters will restore to factory setting
Inner Format
Wipe the internal files, it will not remove the system parameters after inner format.
Wipe Cache
The system needs wipe cache when it has been using for a long time or after the system
upgrading, it will ask to reboot after “Wipe Cache” operation.
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Beijing RichAuto S&T Co., Ltd.
Function Configuration
Set whether the system retains a function or not, change it in accordance with the practical
application of changes. After the operation user needs to restart the handheld controller.
PS：Blue parts indicate system default function.
Setting: Press “ ” and select the function in needs, then press “ ” to save the
change. Return to the upper menu.
Probation Password
In case of the CNC machine manufacturer has set passwords before delivery (including trial
password and backup password)but forget the password when the password expired, the user
could inform RichAuto the original 20 digits password which displays on the system screen, and
then get new 20 digits from us to input into the controller to unlock all passwords.
Setting: Press “ ” to enter into ‘Probation Password’, input new password directly and
then press “ ” to save.
Backup Password
In condition of system parameters are disordered, to avoid incorrect operation such as covering
off the correct system parameters or backup parameters. Don’t enter any number when it asks
to input password, then press “ ” if user wants to cancel the backup password.
Input Port List
To be used to review the current input port configuration.
Number 1 to 3 are X,Y,Z ZERO input signal; Number 4 is tool setting input signal; Number 5 to 7
are Driver alarm, Hard limit, E-stop signal, Foot switch(Cycle switch) input signal.
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Output Port List
To be used to review the current output port configuration.
Number 1 is Spindle on/off output signal; Number 2-4 is Spindle shifts output signal; Number 5 is
Alarm lamp output signal; Number 6 is Run lamp output signal.
Buttons Check
Detect the keys are valid or not. Press every button, the screen will highlight it if the key is valid, if
not valid will not highlight. Use combination keys “ ” + “ ” to exit.
Backup Data
Backup the system parameters and send to U disk or inner space. The backup file format is
data.bak
Restore Data
Restore the backup system parameters by choosing the “data.bak” file from the U disk or internal
storage area.
Trial setting
There are 4 grades of password (Level 1, level 2, level 3 and level 4). Each level can be set
password and use time. User can set 1-8 digits; Using time unit is Hour and the system defaults
use time is 1h.
When the previous password expires, the next level of password will come into effect. The
operation of Data Initial, Inner Format, Wipe cache and system upgrade are unable to remove
4-grade password.
Setting: Press “ ” to access into “Trial setting” menu, press “ ” to move the cursor
and select different options, then press “ ” to get into, press “ ” to input numbers
and after finished to press “ ” to save the change. Then go to the next option…one by
one. When completed all settings, press “ ” to confirm. The screen shows as follow:
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*Trial 4 password
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Trial password
*Trial 1 password
*Trial 2 password
*Trial 3 password
Only the punctuation ‘*’ shows before each level of password indicates trial password has been
set successfully. If the level doesn’t have ‘*’, the password will not work normally.
When the password is expires, the screen will display as below,
The system is out of testing
time, please contact the
factory to get more testing
time or unlock!
Contact the manufacturer to obtain the password, and press “ ” under this interface,
then input the new password directly then press “ ”to confirm. The screen will prompt as
below,
The time password is
updated successfully, please
restart the control system.
Restart the handheld controller, the system will work normally.
NOTE： If CNC machine manufacturers forgot all password, you can contact us and tell us 20-digit
original password under “System Setup--Probationpas” menu, and then obtain new 20-digit
password from us, enter the new numbers and press“ ” to remove 4-grade password and
reset them.
Auto Upgrade
If we added new functions, we will offer upgrade file which extension name is ******.PKG format
(File name is rz-xxxx or q13-xxxx). User could update the system through U disk, for more details
please see PS1. System updating doesn’t remove the controller original parameters.
Upgrade package format sample:
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4.2.4 File Operate
Menu structure of Operate File
Operate File
Copy file
Copy file from U disk to inner storage space.
Delete File
Delete inner file.
View File
View each line G code of the file which is in the U disk or inner storage space.
Pro Info (Processing Information)
Count the file completely processing number of times and time spent by file name. The record
will be cleared when power off.
Check Pro Time (Check Processing Time)
Calculate processing time in accordance with the work speed. After reading G code, the screen
will display the processing time.
Copy File
Delete File
View File
Pro Info
Check Pro Time
Operate method: Press “ ” to enter into “Check Pro Time”, then press “ ” and
select “U disk/ Internal/ Recent file”, press “ ” and then choose a file, press “ ”.
After reading the G code, the screen will display the processing time.
PS: Please pull out the U disk correctly after copying files from computer, otherwise may cause
the handheld controller doesn’t recognize U disk.
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1) Win7 (32 bit) system: after copying files, press“ ”, then the lower right corner of the
screen will pop-up a dialog box“ ”, select Eject the corresponding U disk.
When you see this dialog box “ ”means the U disk has been
removed safely from the computer.
2) Win XP system: after copying files, press “ ”, and click “ ”,
then click “ ” to remove U disk successfully.
4.2.5 Version View
Users can view information about the system hardware and software, including:
Update Version e.g.:P1.409/rz-xxxx/q13-802
Product ID e.g.:A0020112
Soft Version e.g.:A1.1936
Emergency Version e.g.:A1.1920
Soft type: 3-axis carving
Hardware type: Support 3-inch screen Flash Disk Mode
5. Machine Operation
5.1 Return HOME (ZERO)
It will display “all axis home”, “Z home only”, “none axis home” after starting up the DSP
handle. Choose any one you want. Machine return home can correct the coordinate of system. In
some cases, such as after normal power off, reboot and continue last operation, no need to go
machine ZERO, just choose “none axis home” to skip HOME operation. That is because system
automatically saves coordinate value when the system exits normally.
5.2 Import processing file
Before processing, generally we should import files. RichAuto system has 2 ways to import
files: U disk file processing and inner file processing.
1) Directly import the processing file into U disk, and then run with the U disk inserting in the
controller.
2) Copy the files to handle internal storage area via U disk, and then run the inner file without U
disk.
5.3 Manual Processing Operation
Manual Processing Operation refers to move the machine tool by pressing the keypad. User can
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change the running speed and set the grid (step distance) in manual mode. System will enter
Manual Operation state after returned home, and the screen displays,
Manual control state initial interface:
Coordinate Number Operation status
Axis Spindle status
Speed Mode
Manual mode
1 X 0.000 MAUN
1 Y 0.000 F 2
1 Z 0.000 L N1
Continue
5.3.1 Manual speed switching and adjustment
1) Speed mode switching
There are 2 speed modes: High speed and low speed. We can switch speed mode by pressing
“ ” key. The speed mode status show on screen determines the actual manual moving
speed.
2) Speed adjusting
In manual mode, press “ ” enter into the current speed mode settings. For instance,
suppose the current speed mode is LOW (screen shows ‘L’), the screen displays:
Manual Param
X SLOW 1200.000
Y SLOW 1200.000
Z SLOW 1200.000
Slow Grid 0.100
The cursor is on “X SLOW”, Press “ ” to the one needs to be modified, and press
“ ” then input new value, and next press “ ” to confirm; Press “ ” to exit
the settings. If the input value is wrong, press “ ” delete the last number and then input
new numbers.
To ensure the accuracy of processing and debugging, the system introduces the concept of ‘grid’
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which also called ‘minimum feed rate’. Precision can reach to 0.001mm.When user switch to
“step” mode, and press the direction keys of X, Y, Z axis, machine will move by grid distance.
High speed mode setting is the same to low speed mode.
5.3.2 Manual processing mode
The system provides 3 manual movement modes: Conitnue, step, distance. User could press
“ ” under manual mode to switch manual movement mode and view the current
movement mode through the screen bottom display status.
1) Continue (Continuous motion mode)
No specific data control, user could press motion direction key of each axis
( , , ), the machine will move accordingly until the key is released. The
motion speed is determined by current manual speed mode.
2) Step motion mode
In step mode, move 1 grid every half second. The grid distance is determined by the current
speed mode. It is suitable for precise adjusting the cutter orfine adjusting the location of the
mechanical coordinate.
3) Distance motion mode
It runs a certain distance according to the setting. Press motion direction keys
( , , ),the machine will move accordingly.
Note: The movement will be carried out according to the current speed mode and the set
distance, it is not affect by the ‘grid’, so it will not stop on grid point. To change the distance value,
triple press “ ” re-enter the ‘Distance’ value setting.
5.3.3 Manual testing input and output
Under the initial boot interface, that is screen displays as follow,
1 X 0.000 MAUN
1 Y 0.000 F 2
1 Z 0.000 L N1
Continue
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Double press “ ”, the screen will displays two rows of arrows which defaults all
arrows are downwards “↓”.
Upper arrows represent input signals: the former 4 numbers 0, 1, 2, 3
corresponding to X zero, Y zero, Z zero and tool setting. The 4th,5th,6thare driver alarm, hard
limit, emergency stop and foot switch (cycle switch) input signals.
Manual trigger the signal switch by pressing “ ”, the corresponding arrow flip up
indicates that the signal is normal. If not, user should check its switch, wiring and 50 pins cable.
Manual test input ports
Manual test output ports
To trigger X1 (X axis HOME switch), the corresponding arrow will flip, means X1 signal is
normal. X2 to X8 detecting is in the same way.
Note: Do not confuse with “Voltage setup”.
5.3.4 Manual switching coordinate system
Including machine coordinate system and work coordinate system.
Machine coordinate system is a fixed position, the origin point of machine coordinate is
always a fixed position relative to the machine; its coordinate value is called mechanical values,
the origin of coordinate is the origin of the machine or called reference point. So, at any time, a
point in space can be uniquely determined by a mechanical coordinate system. Because of
reference point is the calculation basis of machine coordinates movement, all of those operations
such as power on the machine or abnormal release and so on have to return to the reference
point which is refers to return machine ZERO.
Work coordinate system used more greatly than other coordinates system in processing.
Usually, in processing, we describe a processing position is always relative to a certain point on
the workpiece, whereas the workpiece on the machine tool's position relative to the mechanical
origin is often change, so it is necessary to introduce a set of more convenient coordinate system
during processing, that is work coordinate system. The origin of work coordinate system is a fixed
point relative to the workpiece, but it is floating relative to the machine coordinate origin.
RichAuto-B15 provides 1 machine coordinate system and 8 work coordinate systems. Press
“ ” + “ ” can switch the machine coordinate system and work coordinate system;
press “ ” + “Number button 1-9” can switch among different work coordinate systems.
Schematic diagram of coordinate system:
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Note: The system cannot set workpiece origin under machine coordinate system. User should
switch to work coordinate first, and then set workpiece origin.
5.4 Auto processing operation
Auto processing refers to the system runs according to the instruction of the file in U disk or
inner storage space, it also called “file processing”. Before auto processing, user must set the
machine tool parameters and all of the system parameters correctly.
Auto processing steps could refer to the following text.
5.4.1 Set workpiece origin
The origin coordinates of X, Y and Z axis in the processing program is workpiece origin.
Before processing, we should pay attention to this position as well as
the real position. Operation is as follow:
Move X, Y and Z to the position which will start to process the file on workpiece. Afterwards,
press zero clearing “ ” can set the workpiece origin of X, Y axis. Press zero clearing
“ ” can set the origin of Z axis. It should be noted that if user have already used the
automatically tool setting function which combination keys are “ ” + “ ” will no
need to press “ ”.
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5.4.2 Select processing file
After determined the workpiece origin, press “ ”, the screen shows:
Press “ ” move the cursor and choose, press “ ” to enter into the list, the screen
SelectWorkFile
U Disk File
Internal File
Recent File
will display the first three file names, press “ ” to move one by one; press “ ”
jump 2 lines to move the cursor; press “ ” to exit.
5.4.3 Set processing parameters
After selecting object file, press “ ” , the user can modify processing parameters,
including “work speed”, “fast speed”, “speed scale” and “fall down(scale)”.
Set Work Param
WorkSpd 3000.000
FastSpd 3000.000
SpdScale 1.000
FallDown 0.200
Press “ ” move cursor to select different settings, press “ ” input values and then
press “ ” to confirm the changes. The system starts to check the codes and machine
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starts to process when the system finished the checking. The G code checking is system smart
check mode, press “ ” to stop the code checking and directly access to automatic
processing.
System will remember the checking result only when it is a complete and correct checking. And
the system will not check the same file again after complete and correct checking.
During the processing, system screen scrolling display real-time processing speed, operation time,
and current line number. Switching those options by pressing “ ”.
5.5 Processing operations
5.5.1 Speed ratio & spindle state adjusting
1) Speed ratio adjusting
During processing, press “ ” adjust the speed ratio. The speed ratio increase/decrease 0.1
each press on “ ”. Speed scale (speed ratio): max. 1.0; min.0.1, speed values are also
changed accordingly except for the time. Current processing speed = work speed * speed scale
2) Adjust spindle state
If user has set multistep speed, the DSP handle can change the multistep speed
during processing. Press “ ” to change spindle shift from S1 to S8.
5.5.2 Suspend processing & position adjustment
Press “ ”pause processing. The top right corner of screen will change from “MAUN” to
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“PAUS” and machine suspends processing except the rotating of spindle. Shown below:
1X 7.000 PAUS
1Y 8.000 S2
1Z -2.000 H N1
User will start
At this moment, the user is allowed to adjust the position of X, Y and Z axis. The system
default motion mode is STEP. So that user can fine adjust each axis distance. Machine moves one
low or high speed grid distance every step. Meanwhile user can change the speed mode to high
mode just press “ ”.
When the adjustment is finished, press“ ” again, screen shows:
1X 7.200 PAUS
1Y 41.300 S2
1Z -2.000 H SP
Restore Position?
The system asks the operator to confirm whether to save the modified position or not. Press
“ ”or” ” key, the system will start processing at modified position; Press
“ ”, the system will go back to the suspend position (before modifying).
5.5.3 Breakpoint processing &power failure recovery
1) Breakpoint processing
If user press “ ” during machine running, the controller screen shows as below,
Save break?
Save break
Discard break
If you want to save the current machine location Press “ ”, the screen displays break list
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(From breakpoint 1 to 8), press “ ” move the cursor and select, and then press “ ”
to save, system automatically move to workpiece origin. If the user needs continue processing
from the breakpoint, could press the shortcut key“ ”, the system will restore the
machining from corresponding breakpoint.
E.g.: To restore from breakpoint 1, could press shortcut key “ ”, the screen shows the file
name of on breakpoint 1 as below,
Break list
1n Testfile.cnc
2: Empty
3: Empty
…
8: Empty
The G code file “Testfile.cnc” for example, it has totally 6705 lines g codes. Press “ ” the
screen displays breakpoint line No. after pre-reading.
Line No. 30
Press“ ” popup machining parameters list, then revise as needed and press “ ”,
the system will resume processing from breakpoint 1. However, if user needs to go backwards
from this breakpoint, shall press “ ”, then the screen shows as below,
Input (new line) No.:
File has 6705
25
Total line count
Input a new line No.
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Input line number that needs to return to, and then press “ ”, the screen will shows new
line number as below,
Line No. 30
Press “ ” popup machining parameters list, then revise as needed and press “ ”
the system will start from the new line. The system must have an action of returning to
workpiece origin before save breakpoint and machining.
2) Power off protection
When there is a sudden power failure during processing, system will save current coordinate and
parameters, while power restart, process continues. Before that, system must have a HOME
motion. Shown as below,
Press“ ” key to start processing the unfinished process, it will display stop line no., and
the line no. also can be chosen. Press “ ” cancel the power off protection. If here the user
wants to go backwards from current position, the operate method is the same to what has
mentioned in breakpoint processing.
5.6 Advanced Processing Function
Advanced processing is designed for some special requests, it contains: Array work, Resume
work (breakpoint processing), Tool changing (manual change tool bit), Part work, Calculate
bound, Mill plane, Calculate work time, Find break No., and Scale work. The shortcut key
is“ ”. When the advanced Work is enabled, the screen show as below,
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Advanced Work
Array work
Resume work
Tool changing
Part work
Calc bound
Auto center
Mill plane
Calc work time
Find break no.
Scale work
5.6.1 Array work
Steps as below：
1) Press “ ” to move cursor to the Array work, press “ ”to enter, and then press
“ ” again to select different listed files;
2) Press “ ” to enter file list, then press “ ” to move the cursor to choose target
file;
3) Set machining parameters, revise array parameters, or go to “MENU”--“AUTO PRO SETUP”,
choose “Work Array” and modify the array parameters. The rest steps are similar to the normal
processing. After that, system will start the array work according to the user’s settings.
4) During array work, press “ ” view real-time row number, column number and other
processing information.
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Note: If user needs to manual control in array work, just change the setting of “Interval
(unit:ms)”into a negative number.
5.6.2 Resume work (breakpoint processing)
Steps as below：
Press“ ” to move cursor to resume work, press “ ” to enter the breakpoint list,
then move the cursor to the breakpoint position as needed, press “ ”, the system will
resume work from the chosen breakpoint. If you want to return back towards from the
breakpoint position, should press “ ” to input new line number and then press “ ”,
system will start processing from the new line. For specification operation steps can review the
contents in 5.5.3Breakpoint processing &power failure recover.
5.6.3 Tool changing
It means manually loading or unloading the cutting tool in a certain position of the machine tool.
Press “ ” to get into the setup, after changing the tool bit press “ ” to move back
to the previous location.
5.6.4 Part work
Park work means user can select a start line and stop line from G code, which can realize
machining a part of G codes from the processing file. The operate steps are as follows：
1) Press“ ” to enter the setup, press “ ” to move the cursor and select a file and
wait for the file reading process;
2) Press“ ” when the system ask to input start line no. and stop line no..Then the screen
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displays codes of the first line. Press “ ”, screen shows: input new line no.(and also shows
the total lines count of the file). Input the start line number at the cursor and press “ ” to
confirm. If the input value is wrong, could press “ ” key and revise before confirm.
3) Once more press “ ”to set the end line number, it will prompt：Input end line number.
Press “ ” the screen will show the modified start line number, so here press “ ”
key, input an end line number and press “ ” to save it. If the input value is wrong, could
press “ ” key and revise before confirm.
4) Set processing parameters. The rest steps are consistent with the common processing.
5.6.5 Calculate bound
Calculate bound means user can check the size of processing, So as to avoid unnecessary waste of
materials and machining errors. The steps are as below：
1) Press “ ” to move the cursor to “calculate bound”, press “ ” to access in it.
Then press “ ” to select a file and press “ ”;
2) Waiting for system file reading, and show the calculate result of file size.
5.6.6 Mill plane
Including two types: Scan milling and Encircle milling
a. Scan milling
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Scan mill set
X Scan
100.000
100.000
meter 10.000
0.00000
0.100
Scan mill set
)
100.000
100.000
Diameter 10.000
0.00000
0.100
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ScanType
Width
Height
Dia
Depth
Z Step
T Ratio 0.800
1) Press “ ” to move the cursor and choose “scan mill”.
2) Press “ ” to enter into the “scan mill set”, it contains parameters: Scan type, (Scan)
width, (Scan) height, (Tool bit) diameter,(Scan) depth, Z Step(Z feed amount), T Ratio(feed
ratio);
3) Press “ ” to move the cursor and press “ ” to modify parameters, press
“ ” to save all the changes.
b. Encircle milling
ScanType AC(anticlockwise
Width
Height
Depth
Z Step
T Ratio 0.800
1) Press “ ” to move cursor to choose the mill type as “Encircle milling”.
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2) Press “ ” to enter the “scan mill set”, it includes: Scan type, Scan Width, Scan Height,
Cutter Tool Diameter, Scan Depth, Z Step and T Ratio.
3) Press “ ” to move the cursor and press” ” to selcect scan type (anticlockwise
or C.W.) and modify parameters, press “ ” to save all the changes.
5.6.7 Calculate work time
Calculate the total processing time according to the system “work speed”. After reading the
processing file, the screen displays processing time, different work speed correspond to different
processing time.
5.6.8 Find break No.
During processing, if accidentally tool damaged and user hasn’t saved the break point, stop
working and replace cutter tool. After that, user can manually move X, Y axis to the nearest point
where the cutter was broken (recommend to move a little further), press
“ ”+“ ”to start advanced work, move cursor to “Find break no.”, then press
“ ” to enter in. After guide and reading code, the system prompts:
Press enter key to continue
working from searching
position, press other key only
show the line number!
Query
Press “ ” to start processing, press “ ” key, the screen shows the current position
line number as below:
35422 is the break line number
of this file.
Info
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Note: When using the “fine break no.” function, must at the same work coordinate system.
5.6.9 Scale work
If the actual processing requires different sizes of the same file, user can use“scale work”, and
enter a zoom in/out ratio.
Steps: Press“ ” to get into “Scale work”:
After changing all the value, user could start the “scale work” machining.
Scale work param
X scale 1.000
Y scale 1.000
Z scale 1.000
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PS1. System upgrade operation
During using, system software may have updated version which can upgrade the handheld
controller, operation as follow:
Upgrade with **.PKG file from U disk
Way 1:
1) Store the **.PKG file (Upgrade package) into U disk, and insert the U disk in the top right port
on handheld controller. The upgrade pack name in the controller is rz-xxxx or qxx-xxx.
2) Press “ ”, select “System Setup” and press “ ”. Move the cursor and choose
“Auto upgrade”. The screen shows as follow,
SelectUpdateFile
U Disk File
Internal File
Recent File
3) Choose “U disk file” and press “ ” to access in U disk storage area and select relative
upgrade pack then press “ ”, the system will complete the updating automatically.
4) When the upgrading is successful, user should restart the controller.
Way 2:
1) Store the **.PKG file(Upgrade package) into U disk, and insert the U disk in the top right port
on handheld controller. The upgrade pack name in the controller is rz-xxxx or qxx-xxx.
2) press “ ” + “ ”, the screen shows:
SelectUpdateFile
U Disk File
Internal File
Recent File
3) Choose “U disk file” and press “ ” to access in U disk storage area and select relative
upgrade pack then press “ ”, the system will complete the updating automatically.
4) When the upgrading is successful, user should restart the controller.
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PS2. “U disk mode” function introduction
RichAuto adds “U flash disk mode” to A1X and B1X which hardware number start from A010****
(E.g.: A0101203), & Update Version from rz-1967 (the system needs to update if the update
version number lower than 1967). Connect handle and computer by USB cable, find portable
storage device on the computer, and then copy processing files from computer to handle inner.
This function can ensure that if USB port of the handle is broken or there is no U disk, the
machine can still work normally.
Operation step：
1) Press any two buttons at the same time（ for example:“ ”+“ ”）.
2) Connect handle and computer by USB cable， it means that the handleis powered by
computer， loosen the buttons after the power supply.
3) Handle screen display:
The handle is connected with the computer successfully.
优盘模式
Flash disk mode
4) Open“ ”, could find a removable storage device” ”A0131482(G:)
is the handle storage space area. User can copy files first and then paste them to A0131482(G:).
5) Connect handle and machine, Choose internal file to start processing.
Note: Users can view the hardware support capability in “version view”, if it supports “U disk
mode” means it can realize U disk storage function.
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PS3. Servo wiring and parameters setting
PS3.1 YASKAWA Σ-7, Σ-series driver
1. Wiring（Y、Z same to X）Set the driver as internal enable. No need to connect pin-40,
settings please see Pn50A which is in following table (parameter setting).
Motor brake：
Σ-7 same as Σ-Ⅴ
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2. Parameter setting
Para.
Function Value Description
No.
*Pn000 Function
selection basic
switch 0
0010
Bit 0：Set 0,positive rotation at positive rotation
command
Bit 1：Set 1,position control mode(pulse sequence
command)
*Pn200 Format seletion
switch of
0005
Bit 0 ： Set 5,select the instruction mode as
“pulse+direction”,negative logic
position control
command
*Pn20E Electronic gear
ratio(numerator)
Need
calculation
Z1 = Encoder pulse count per revolution×4;
Z2 = Pulse equivalent×Screwpitch×Transmission
ratio
*Pn210 Electronic gear
ratio(denominato
r)
Need
calculation
e.g. Pulse equivalent 1000，Screw pitch 10mm,
Encoder resolution 5000，Transmission ratio 1
Z1/Z2= 5000×4/1000×10×1=2/1
set Pn20E=2,set Pn210=1.The numerator and
denominator of electronic gear ratio is reducible to
set the value of Pn20E and Pn210 as a integer in the
range of 1~65536.
*Pn50A Input signal
selection 1
8170
Bit 1：Set 7,servo on all the time.
Bit 3：Set 8,positive rotation not used and signal
input(P-OT)prohibited
*Pn50F Output signal
selection 2
0300 Set it when servo motor with brakes.
Bit 2：Set 3,brake interlock signal “/BK”is output
from CN1-29,CN1-30 to control 24V relay used for
brake
*Pn50E Output signal
selection 1
0211 Set it when servo motor with brakes.
To avoid of CN1-29 and CN1-30 being used for
other function and leading to brake ineffective,3 is
not allowed to appear in the 4 digits.
NOTE：
1. Data bit description:
… Bit3 Bit2 Bit1 Bit0
… X XXX
2. For parameters No. which has a prefix of "*", refers to the parameter will take effect when
power on again. If it has not connected the brake, then no need to set Pn50E and Pn50F.
3. The servo alarm signal corresponds to the pin number ALM+：pin-31; ALM-：pin-32; Signal
type default normal close. The default alarm input terminal of B11, B12, B15 is on X5 port
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B18 is on X6 port.
User needs to access to “Machine Setup”-“Voltage Setup”, and modify level of X5(or X6 on B18
model) to normally closed(Press“ ” and flip the arrow to go upwards).
Arrow downwards ↓: normally open; Arrow upwards ↑: normally closed
PS3.2 PANASONIC MINAS A5 series servo driver
1. Wiring（Y、Z same as X）Set the driver as internal Enable. No need to connect pin-29,
settings please see Pr4.05 which is in the following table of “parameter setting”.
Motor brake：
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2. Parameter settings
Para.
No.
*Pr0.00
*Pr0.01
*Pr0.05
Function Value Description
Settingthe direction
of rotation
Select control mode 0
Selection of
command pulse input
0 If the motor rotation direction opposite to the
actual needs, set 1.
0:Position mode,1：velocity mode,2：torque mode
0
0:Photo-coupler input
（PULS1,PULS2,SIGN1,SIGN2）
1:Exclusive input for line driver
（PULSH1,PULSH2,SIGNH1,SIGNH2)
*Pr0.07
*Pr0.08
Pr0.09
Pr0.10
*Pr4.05
Note:
1. Data bit description:
… Bit3 Bit2 Bit1 Bit0
… X XXX
2. For parameters No. which has a prefix of "*", refers to the parameter will take effect when
power on again.
3. The servo alarm signal corresponds to the pin number ALM+：pin-37; ALM-：pin-36; Signal
type default normally closed.
Command pulse input
mode setup
Command pulse No.
per motor circle
1st numerator of
command pulse
frequency
multiplication
Denominator of the
command pulse
frequency
multiplication
Function setting for
digital input pin SI6
3 Set command pulse input
mode:commandpulse+command direction,
negative logic.
0 When it is set to “0”,parameters Pr0.09 and
Pr0.10 are valid
Need
calculatio
n
Range:0~
230
Need
calculatio
n
Range:0~
230
8618883
Z1 = Encoder resolution
Z2 = Pulse equivalent×Screwpitch×Transmission
ratio
e.g. Pulse equivalent 1000，Screw pitch 10mm,
Encoder resolution 10000，Transmission ratio 1
Z1/Z2= 10000/1000×10×1=1/1
set Pr0.09=1,set Pr0.10=1.The numerator and
denominator of electronic gear ratio is
reducibleto set the value of Pr0.09 and Pr0.10as
integer,range: 0~230.
Bit1,0:Set 83,servo on all the time.
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PS3.3 DELTA ASDA-A2&B2series servo driver
1. Wiring（Y、Z same as X）Set the driver as internal Enable. No need to connect pin-9,
settings please see P2-10 which is in the following table of “parameter setting”.
Note: A2 series PULSE, /PULSE, SIGN, /SIGN correspond pin-43,41, 36, 37;
COM- corresponds pin-45/47/49.
Motor brake：
A2 series BK-, BK+ correspond CN1-1, 26
54
44
45
10
digital input pin DI1
1
18
108
22
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2. DELTA ASDA-B2Parameter settings
Para No.
P1-00
*P1-01
Function Value Description
External pulse train
input type
Set control mode
102
0000
Bit 0：2--pulse+direction
Bit 2：1--negative logic
Bit 3：Maintaining the set value.Since switching
control mode is not used,bit 3--0.
Bit 2：0--forward rotation(CCW)(from the view of
load)
Bit 1,0：00--position control mode
P1-
P1-
P2-
Electronic gear
ratio(numerator)(Z1)
Electronic gear
ratio(denominator)
(Z2)
Function setting for
Need
calculation
Need
calculation
Range:1~32767；
Z1 =Encoder pulses×4；
Z2 =Pulse equivalent×Screwpitch×Transmission
ratio
e.g. Pulse equivalent 1000 ， Screw pitch
10mm,encoder pulses 5000，Transmission ratio 1，
then
Z1/Z2=5000×4/1000×10×1=2/1 ， set P1-44=2,
P1-45=1. The numerator and denominator of
electronic gear ratio is reducible.
Bit 0：Set 1,servo on all the time.
If connect external enable signal: Bit1,0: set 01
refers to the input digit input DI1 as SON,
correspond CN1 PIN-9; Bit2: set 1 indicate input
DI1 as normally open a-contact point.
P2-
P2-
Function setting for
digital output pin
DO1
Function setting for
digital output pin
DO1 corresponds to pin-6 & pin-7,used as
clamping-position brake signal of Z-axis
Bit1,0 ： 08--set pin-6 and pin-7 as BK- and
BK+respectively.
Bit2 ： 0--set DO15 output as normally closed
b-contact point, 1--as normally open a-contact point.
DO5 corresponds to pin-28 & pin-27,used as servo
alarm signal
Bit1,0 ： 07--set pin-28 and pin-27 as ALRM+
55
44
45
10
digital input pin DI1
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Beijing RichAuto S&T Co., Ltd.
DO5
Note:
1. Data bit description:
… Bit3 Bit2 Bit1 Bit0
… X XXX
2. For parameters No. which has a prefix of "*", refers to the parameter will take effect when
power on again.
andALRM- respectively.
Bit2：0--set DO5 output as normally closed b-contact
point, 1--as normally open a-contact point.
DELTA A2 series parameter settings
Para No. Function Value Description
P1-00
*P1-01
External pulse train
input type
Set control mode
102
0000
Bit 0：2--pulse+direction
Bit 2：1--negative logic
Bit 3：Maintaining the set value.Since switching
control mode is not used,bit 3--0.
P1-
P1-
P2-
Electronic gear
ratio(numerator)(Z1)
Electronic gear
ratio(denominator)
(Z2)
Function setting for
Need
calculation
Need
calculation
Bit 2：0--forward rotation(CCW)(from the view of
load)
Bit 1,0：00--position control mode
Range:1~32767；
Z1 =Encoder pulses×4；
Z2 =Pulse equivalent×Screw pitch×Transmission
ratio
e.g. Pulse equivalent 1000 ， Screw pitch
10mm,encoder pulses5000 ， Transmission ratio 1,
then Z1/Z2=5000×4/1000×10×1=2/1.
Pn1-44=2, Pn1-45=1; The numerator and
denominator of electronic gear ratio is reducible.
Bit 0：Set 1,servo on all the time.If connect external
enable signal: Bit1,0: set 01 refers to the input digit
input DI1 as SON, correspond CN1 PIN-9; Bit2: set
Function setting for
1 indicate input DI1 as normally open a-contact
point.
Bit1,0 ： 08--set pin-1 and pin-26 as BK- and
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P2-21
P2-
Note:
3. Data bit description:
… Bit3 Bit2 Bit1 Bit0
… X XXX
4. For parameters No. which has a prefix of "*", refers to the parameter will take effect when
power on again.
digital output pin
DO1
Function setting for
digital output pin
DO5
108
BK+respectively.
Bit2：1--set DO1 output as normally opena-contact
point, 0--as normally closed b- contact point.
DO5 corresponds to pin-28 & pin-27,used as servo
alarm signal
Bit1,0 ： 07--set pin-28 and pin-27 as ALRM+
andALRM- respectively.
Bit2：0--set DO5 output as normally closed b-contact
point, 0--as normally open a-contact point.
PS4. G code reference list
G code list of A1X &A5X
G00 Rapid positioning
G01 Linearinterpolation
G02 Circular interpolation CW
G03 Circular interpolation CCW
G04 Dwell (Unit: millisecond)
G17 Selection of XY coordinate plane
G18 Selection of ZX coordinate plane
G19 Selection of YZ coordinate plane
G20 Input in inch
G21 Input in metric
G28 Auto back to reference point
G30 Back to secondary reference point
G40 Cancel tool radius compensation
G41 Left tool compensation(the tool offsets radius distance on the left side of tool
moving direction)
G42 Right tool compensation(the tool offsets radius distance on the right side of tool
moving direction)
G43 Tool length compensation (compensation along positive direction)
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G44 Tool length compensation (compensation along negative direction)
G49 Cancel tool length compensation
G54 Work coordinate system 1
G55 Work coordinate system 2
G56 Work coordinate system 3
G57 Work coordinate system 4
G58 Work coordinate system 5
G59 Work coordinate system 6
G73 High-speed peck drilling cycle for deep holes
G80 Canned cycle cancel
G81 Drilling cycle
G82 Drilling cycle of dwell at bottom of hole
G83 Peck drilling cycle for deep holes
G84 Righthand tapping cycle
G90 Absolute programming
G91 Incremental programming
G98 Return to initial point
G99 Return to point R
G101 Move with processing speed until the signal is triggered.Meanwhile Rollback
and pinpoint signal edge (similar to backing home)
G102 Move with fast speed until the signal is triggered.Meanwhile Rollback and
pinpoint signal edge (similar to backing home)
G103 Move with processing speed until the signal is triggered.
G104 Move with fast speed until the signal is triggered.
M03 Spindle on(CW rotation)
M04 Spindle on(CCW rotation)
M05 Spindle stop
M06 Tool change
M08 Coolant on (Flood)
M09 Coolant off
M30 End of program,and return to program top
M37 Spindle on(CW rotation)
M38 Spindle on(CCW rotation)
M129 4th spindle on
M208 Cycle machining
M210 Set outputlogic low level
M211 Set outputlogic high level
M214 Run the next line ofG codeafter waiting for the specified input signallogic low
M215 Run the next line ofG codeafter waiting for the specified input signallogic high
M216 Run the next line ofG code after waiting until all the specified input signal logic
high
M217 Run the next line ofG code after waiting until anyone of all the specified input
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signal logic high
M220 Set Y1 logic low level
M221 Set Y1 logic high level
M222 Set Y2 logic low level
M223 Set Y2 logic high level
M224 Set Y3 logic low level
M225 Set Y3 logic high level
M226 Set Y4 logic low level
M227 Set Y4 logic high level
M350 Set the extension output logic low level
M351 Set the extension output logic high level
T Tool function
S Spindle speed
F Feed rate
H Tool length offset
PS5. Tool setting methods detailed explanation
The process of tool setting is process of setting work coordinate system specific location in the
machine tool coordinate system.
There are 3 kinds of tool settings: Direct tool setting, Fixed calibration and Mobile calibration.
Tool touch plate
Tool touch plate
Microset, tool touch plate working sketch
PS5.1 Direct tool setting
Z axis move down towards directly and the cutter tool touches the material surface. Of course,
user should reduce the motion speed of Z axis when the cutter is the most nearest the plane.
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To confirm the contact position between the tool and the workpiece by eye-measurement or tool
bit touch the workpiece surface. Then press “Z→0” to finish the tool setting.
PS5.2 Fixed calibration
Microset electrical wiring diagram:
(Tool setting signal)
Wiring diagram Microset actual picture
Microset wiring: The dsp controller tool setting input signal (X4) is normally open state when ex-
factory.
Normally open type：The microset signal CUTTER should be connected to the wiring board input
port --X4, COM connects to GND-INPUT SIGNAL.
X4: system default normally open.
Normally closed：Firstly, modify the input voltage level of X4 to normally closed, then connect
CUTTER signal to X4, COM to GND-INPUT SIGNAL.
The Over travel protection signal wiring method is similar to CUTTER signal. It can be connected
to X7-E-stop signal.
Fixed calibration diagram:
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Fixed calibration: Means to execute tool setting operation at a certain fixed position on the
machine table.
During machining, the cutter tool wear or fracture that needs replacement. However, the blade
length and tool clamping position will change after tool changing. The system can execute “fixed
calibration” to re-confirm the tool offset value.
Instructions：
1) Set microset position
Get into “MACHINESETUP--C.A.D Position” to set microset position, including
“Inplace”&“Inposition”.
In position(positioning): Press“ ”, screen displays “Press OK key to set point position by
manual mode, it’s very simple but not accurate, press cancel to set by number”. Recommend to
choose manual mode.
In place: Move X,Y axis to the place where is over the microset, press “ ”.
2) First time tool setting / Tool setting after tool changing
Manual move Z axis to the surface of workpiece, and set workpiece origin of X,Y,Z axis.
Press “ ”execute the first time tool setting. The system will record value of offset
automatically.
Start the processing after first time tool setting.
After the tool changed or tool bit broken, press “ ”+“ ” to start second time tool
setting, system will automatically restore to current Z axis workpiece coordinate origin.
Second time tool setting completed, start processing.
Note: After the tool changed or tool bit broken, the system can automatically calculate Z offset
and save it when executes the tool setting command, after tool setting user can start
processing directly without press “Z→0”.
PS5.3 Mobile calibration
Mobile calibration is suitable for materials such as wood working, acrylic, plastic, aluminum, iron,
steel etc.
Generally, the tool touch-off plate can be used to do the mobile calibration, as it is economical,
simple and convenient.
Tool touch-off plate wiring:
1. The white wire connects to X4(TS) input port on the wiring board.
2. The black wire connects to GND on the input terminal of the wiring board.
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Usage method:
Connect the wire to the wiring board(X4 port), and connect the alligator clip to GND port on the
interface board input terminal (or clamp it to the spindle, and ensure the spindle has been
connected to earth wire).
Put the tool touch-off plate on the surface of the workpiece, move X Y axis over the tool plate,
press “ ”, Z axis will move down slowly until touches the plate and feedback its tool
setting dignal to the controller, then Z axis automatically lift up, tool setting complete.
Note:
After connected the tool touch-off plate, start the machine (don’t start the spindle). Don't put
alligator clip on the spindle immediately, but to start automatically tool setting function first, and
then use the alligator clip touch the tool touch-off plate quickly, in order to check whether Z axis
has the action of tool setting. To ensure there is no problem with the spindle, and then realize the
automatically tool setting.
The system “C.A.D thickness” value is default as 0, so the user should measure the real thickness
of the tool touch-off plate and input the value into the system, under “Machine setup”—“C.A.D
thickness”, after that user could use mobile calibration.
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PS6. Pulse equivalent calculation
PS6.1 Stepper motor drive
PS6.1.1 Linear axis
Unit：Pul/mm
Formula = pulses per revolution / distance per revolution
Numerator：
Pulses per revolution formula: (360 °/stepper angle* Driver subdivision)
(Some stepper drivers mark pulse number directly).
Denominator：
Distance/revolution formula：
► Screw drive = screw pitch*mechanical transmission ratio(reduction ratio)
► Rack（straight）drive = rack module*gear teeth number*π*mechanical transmission ratio
(reduction ratio)
► Rack（helical）drive = rack module*gear teeth number*π*mechanical transmission
ratio(reduction ratio)/cos（helical angle）
► Pulley & belt drive = π*pulley diameter*mechanical transmission ratio(reduction ratio)
Screw drive：
E.g.1:Driver nameplate 1 E.g.2:Driver nameplate2 Motor nameplate/ stepper angle=1.8°
Explain: Stepper angle is the data of motor, means the angle of motor rotating for a single step.
Driver subdivision is set in the driver.
In E.g.1, Pulse/rev is Pulses per revolution of stepper motor, so that the user only needs to select
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a relative value according to the actual dial code. For example: If user choose 3200 Pulse/rev,
indicates (360 °/stepper angle)* Driver subdivision=3200.
In E.g.2, the MSTEP means subdivision number. So, if the stepper angle is 1.8°, selected
subdivision is 16, then (360 °/stepper angle)* subdivision=(360°/1.8)*16=3200.
The use should use correct computational method according to the actural marks of stepper
motor driver nameplate.
Screw pitch (above picture): The distance that the nut moves when the ball screw makes one
rotation.
Transmission ratio: The reduction rate or angular velocity ratio of the front drive sprocket to the
end driven wheel.
Rack drive：
► Straight teeth：
► Helical teeth：
Explain: Rack module and gear teeth number are both the parameters of the rack. Rack
module*gear teeth number*pi is the pitch circle circumference of the rack.
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Pulley&belt drive：
d：Pulley diameter
PS6.1.2 Linear axis pulse equivalent computing method
For example: the stepper motor driver dialed code is 1600 pulse/rev.
Screw drive
screw pitch=5mm，pulse equivalent= =320
Rack drive
rack module：1.25, gear teeth number：23, π：3.141592654, transmission ratio：1/5(0.2)
helical angle：19°31′42″（≈19.52833333°）
Straightrack
Pulse equivalent= = 88.573
Helical rack
Pulse equivalent=
= = 83.478
NOTES：1.25×23×3.141592654×0.2= 18.0641577605
cos（19.52833333）= 0.94247630504668681677372940102406
1.25×23×3.141592654×0.2÷cos（19.52833333）=19.1666969915≈19.1667
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PS6.1.3 Rotary axis (pul/ °)
Formula = pulses per revolution / angles per revolution（360°）
PS6.1.4 Rotary axis pulse equivalent computing
E.g.：pulse/rev=1600,transmission ratio =1/40
Pulse equivalent= =177.778 (result retains up to 3 decimal places)
PS6.2 Servo motor drive
Electronic gear ratio numerator: resolution of the encoder, can be found in the servo
driver manual.
Electronic gear ratio denominator:
PS6.2.1 Linear axis
► Screw drive：pulse equivalent * screw pitch*mechanical transmission ratio
► Straight rack：pulse equivalent*rack module*gear teeth number*π*mechanical transmission
ratio
► Helical rack：pulse equivalent* rack module*gear teeth number*π*mechanical transmission
ratio/cos（helical angle）
► Pulley&belt drive：pulse equivalent *π*pulley diameter*mechanical transmission ratio
PS6.2.2 Calculate electronic gear ratio according to fixed pulse equivalent
value
E.g.: Pulse equivalent of handle=1000
1. YASKAWA-Numerator Pn20E
YASKAWA∑—7:Encoder resolution=16777216（224）Set Pn20E=16777216
YASKAWA∑—V:Encoder resolution=1048576（220）Set Pn20E=1048576
YASKAWA- numerator Pn20E can set to 1048576
YASKAWA-denominator Pn210
Screw drive
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screw pitch=5mm，Pn210= 1000×5=5000
Rack drive
rack module：1.25, gear teeth number：23, π：3.141592654, transmission ratio：1/5(0.2)
helical angle：19°31′42″（≈19.52833333°）
Straight rack
Pn210 = 1000×1.25×23×3.141592654×0.2=18064
Helical rack
Pn210 = 1000×1.25×23×3.141592654×0.2÷cos（19.52833333）=19167
2. DELTA ASDA-B2&A2
B2: Encoder pulses equivalent default--N=160000
A2: Encoder pulses equivalent default--N=1280000
E.g.: B2 series N=160000
Screw drive
screw pitch=5mm，Denominator M=1000×5 = 5000
Electronic gear ratio= = =
Set P1-44=32，P1-45=1
Rack drive
rack module：1.25,gear teeth number：23,π：3.141592654,transmission ratio：1/5(0.2)
helical angle：19°31′42″（≈19.52833333°）
Straight rack
Denominator M=1000×1.25×23×3.141592654×0.2=18064
Electronic gear ratio = = =
Set P1-44=10000，P1-45=1129
Helical rack
Denominator M=1000×1.25×23×3.141592654×0.2÷cos（19.52833333）=19167
Electronic gear ratio = =
Set P1-44=160000，P1-45=19167
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PS6.2.3 Calculate pulse equivalent according to fixed electronic gear ratio
DELTA ASDA-B2: Electronic gear ratio default--16/10，
A2: Electronic gear ratio default--N=128/10
E.g. B2：Set P1-44=1, P1-45=1, Encoder pulses equivalent 2500×4=10000
Screw drive
screw pitch=5mm，pulse equivalent = = 2000
Rack drive
rack module：1.25, gear teeth number：23, π：3.141592654, transmission ratio：1/5(0.2)
helical angle：19°31′42″（≈19.52833333°）
Straight rack (results retain up to three decimal places)
Pulse equivalent= = 553.582
Helical rack(results retain up to three decimal places)
Pulse equivalent=
=
= 521.738
PS6.2.4 Rotation axis
Electronic gear ratio denominator：Pulse equivalent *360 * transmission ratio(reduction ratio)
1) Pulse equivalent of handle fixed to1000
YASKAWA Same to linear axis
YASKAWA∑—7 electronic gear ratio numerator
Pn20E=16777216,
YASKAWA∑—V electronic gear ratio numerator
Pn20E=1048576
transmission ratio =1/40，electronic gear ratio denominator Pn210=1000×360×1/40=9000
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Beijing RichAuto S&T Co., Ltd.
DELTA Same to linear axis
DELTA ASDA--B2 Encoder pulses default--N=160000
A2 Encoder pulses default--N=1280000
E.g. B2：Electronic gear ratio numerator N=160000
Electronic gear ratio denominator M=1000×360×1/40=9000,
Electronic gear ratio = = =
Set P1-44=160，P1-45=9
2) Calculate pulse equivalent according to fixed electronic gear ratio，setP1-44=1，P1-45=1
Encoder pulse count per revolution 2500×4=10000
Pulse equivalent= =1111.111(results retain up to three decimal places)
PS6.3 Proportion calculation method
If there is an error when calculate it according to the formula or cannot get relevant data to
calculate, it can be calculated according to the proportion method. Suppose handle pulse
equivalent is A, press " " switching to distance mode, set a distance B, measuring the
number of actual moving distance C, then the actual pulse equivalent = A × B ÷ C.
For example: Suppose handle pulse equivalent A = 400, distance B = 100, actual distance C =
80, then the actual pulse equivalent = 400 × 100 ÷ 80 = 500
Repeat calculation for several times until you get the correct pulse equivalent value.
PS7. Common problems and troubleshooting
PS7.1 Solutions for screen display faults
1. After powered on the “Screen flicker or automatically restart”
1) Switching mode power supply is insufficient. Check power supply if there are problems, and
change high-quality power supply to solve the problems.
2) The local power grid unstable. Check local grid voltage stability or use the regulator filter
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Beijing RichAuto S&T Co., Ltd.
device.
3) The power chip of the handle is ageing. This phenomenon also appears when the handle is
powered through the USB cable to the computer. Please return back the handle to our
company.
4) Temporary solution. Using standard 5V mobile phone charger, supply power through the
USB cable to handle. Duplicate power supply for temporary emergency use.
2. Failed to set work piece origin during normal operation process
1) It is under the mechanical coordinate system. Check if the main interface displays AX AY AZ,
if yes, should press " " + " " switching to work coordinate system. Then it can
set work origin. Press " " + " " is for going to mechanical coordinate system
where cannot set work origin in there.
2) The buttons are broken. Go to “SYSTEM SETUP”-“Buttons Check” menu to check whether
the buttons are normal or not.
3. Assertion error
Assertion error (occurred during the processing or after starting) is generally a software
problem. User can boot the controller by entering “emergency state”, or re-upgrade it. If can’t be
solved either, user should send back it for repairing.
4. Unable to read U flash disk or read error occurs
1) Processing by U-disk, screen shows “there is no item in this option”. Format U-disk to FAT32,
change allocation unit to the default configuration size. Then re-import processing files, it
will read normally.
2) U flash disk capacity is too large (16G, 32G or 64G etc.). Recommend replace U disks such as
2G 、4G、 8G.
3) There is something wrong with USB communicate port or U-disk interface is broken，change
a new USB port or U-disk.
4) There is no any reaction while insert into the U-disk. Change a genuine brand of U-disk, such
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as SanDisk, FOUNDER U-disk etc.
5) If the U-disk interface is weak connection，user can copy files into inner memory space of
the controller for temporary solution.
6) Program contains non-standard G codes, or some illegal characters. The system does not
recognize them and interrupt handling. Recommend using professional simulation software
to review the program whether there is an illegal character. Delete all illegal characters.
PS7.2 FAQ in practical operation
1. After the machining, the cutting size doesn’t match the actual size in processing file
1) Pulse equivalent is wrong.
2) User has selected the wrong tool bit which is not the same as it set in process file.
3) Check if there is any problem with the path processing file.
2. The screen displays “exceed limit” during processing
1) The machine hasn’t returned ZERO, lead the system is unable to confirm the actual
position. Solution is to go machine ZERO.
2) The reserved processing range is small than the actual file size after user set work piece
origin. Confirm the actual file size and then set a correct working origin.
3) Set wrong working origin in the process of creating processing file path. Check the file path,
and then generate the correct one.
3. Hard limit triggering
1) If the machine has connected with hard limit, the hard limit switch maybe damaged or the
voltage setup status on X6 is wrong.
2) System has not connected with hard limit signal：Confirm whether connect other signal wire
to hard limit X6 port, if not, check voltage setup normal or not. If normal, user could go to
“MACHINE SETUP”-“Input Confi” and DISABLE X6 port, then go to “SYSTEM SETUP”- “wipe
cache”. If still can’t solve this problem, user can upgrade the system.
4. Z axis（spindle） fall down abnormally（too fast）and cause Z feed amount too much during
processing
1) Z axis working speed exceed the fastest speed cause Z axis loses its steps when moving up. "
MACHINESETUP " - " Max Spd Limit "，set the safe speed.
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Beijing RichAuto S&T Co., Ltd.
2) The coupling is loosen or transmission mechanism slipping. Re-adjustment the connecting
parts.
3) The signal wire connected between the interface board and the motor driver has got
interference. Adjust the circuit.
4) Processing file error. Check processing file, try to download the correct processing file to U
disk or handle internal.
5) There is something wrong（plug loosen or wire damaged or wire diameter is too slimsy）with
the lines connecting Z axis motor and motor driver. Replace the lines.
5. Repeating the same processing file after returning back to the machine ZERO, Z axis cutting
depths are not as same as each other
1) Machining table is uneven or processing object not firmly fixed, re-milling the machine table
to adjust the flatness.
2) Z-axis origin detection switch repeat positioning accuracy error, causing Z axis homing error
each time. Replace a high-quality detection switch.
3) Too much interference in the Z-axis homing process to form a false Z origin. Re-adjust the
wiring.
6. The machine cannot stop after returning ZERO, and cause spindle hit the machine body
Double press“ ”to check input signal (Origin detection switch signal). To do self test.
Detect whether the signal is triggered or disconnected.
1) The origin detection switch is broken. Replace a new one.
2) The distance of the origin detection switch detection sheet beyond the detection range(This
problem is common occurs in optoelectronic and proximity switches) of the switch, adjust
the position of the test piece.
3) The origin detection switch to the interface board wiring aging or loosening. Check the
connections again.
4) The interface board is broken. Return back o us to repair.
5) 50-pin data cable is broken. Replace it with a new data cable.
7. The machine uniform moves to the reverse direction when backing to the machine ZERO
1) The origin detection switch types do not match with the definition of the corresponding
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Beijing RichAuto S&T Co., Ltd.
voltage level. Modify the voltage level in the controller. (Normally open type corresponds to
a level defined the direction of the arrow down, normally closed type corresponds to the
level defined arrow up).
2) The origin detection switch is broken. Replace a new one.
3) The origin detection switch connects interface board not well. Refresh the cable to confirm
the wiring is correct.
4) Too much interference, resulting in the illusion of the detection switch has been
triggered. Recalibrated the whole circuit.
5) The interface board is broken. Depot Repair.
6) 50-pin data cable is broken. Replace the data cable.
8. Abnormally running when processing or the actual file is different from theoretical file
1) The system program disorder.
2) Too much external interference lead the controller cannot work normally. Re-adjust overall
circuit. (The wires of weak current and strong current should be separately binding, the
inverter and other components should be separated connected each GND of themselves).
3) There is something wrong while converting the file format and the program appears illegal
characters or system unrecognized codes. Recommended to use third party simulation
software to review the program paths.
9. Start automatic tool setting, the tool does not stop after touching C.A.D (Tool sensor).
1) The cutter signal cable connects X4 maybe broken circuit.
2) The "GND" signal port on the interface board hasn’t been connected with spindle housing or
poor connection.
3) Go to “MACHINE SETUP”-“Input Confi” to confirm if X4 is enabled.
10. Coordinate value changes on screen, but the machine does not move
1) If it is one axis not moving, it maybe wiring problem. Change another normal terminal to this
axis wiring terminal, if it moves properly indicating the rear parts of motor driver have no
problem. Check if there is something wrong with interface board or 50-pin cable. If it is still
not moving, it is necessary to detect the corresponding drive and motor.
2) If all axes are not moving, firstly, check if there are problems in the 50-pin cable and
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interface board,; secondly, if the interface board and 50-pin cable are normal, then user
should check the power supply of the motor drivers.
3) If debugged all above parts, but the machine still not move, then the mechanical parts
should be checked.
11. It is normal to the move from one position to another position, but when return from that
position to the original position is not normal
Mechanical assembly problem, guide screw may be not installed well.
12. Motor moving direction is wrong
1) Exchange A+&A- or B+&B- cable of the stepper motor
2) Change motor direction mask (not recommend)
13. The machine vibrates when moves in arc or two-axis linkage movement
1) Check whether the machine is placed horizontally
2) Check if the coupling units loose or not.
3) Increasing the “start speed”, avoid the resonance point.
PS7.3 Electrical components and wiring problem
1. A single axis or multi axis can only in one direction after machine power on
1) There is something wrong with the connecting between the interface board and motor
driver common anode end, check the connection.
2) Interface board is broken. Replace the interface board.
3) The motor driver is broken. Replace the driver.
4) Measure the direction voltage of that axis with a multimeter. Check if the direction is
correct.
2. One axis motor does not move after handle power up
1) Pulse cable and direction cable connect oppositely，adjust connection sequence..
2) 5V common anode end of the motor driver disconnected, check the connection.
3) The motor driver is broken (Performance as the motor moves when push it by hand), change
a new one.
4) The interface chip of the interface board is broken, no pulse signal output.
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Beijing RichAuto S&T Co., Ltd.
5) Switch this terminal with another normal terminal to check interface board abnormal or
driver abnormal.
3. Screen is not bright after power up, but connect the handle to computer with USB cable the
screen displays normally
1) The DC24V voltage of the handle is not available. Check if the DC24V power supply voltage
output is normal or not. If normal, please check if the cable from the power supply to the
interface board is virtual connection.
2) The 50-pin cable is broken or 50 pin connecting plug hasn’t connected well.
4. Screen is not bright neither after power up nor connect to computer by USB cable
1) This phenomenon may due to the handle shocked by external force or fall on the ground,
causing the crystal processor broken. Return back to repair.
2) Users connect high voltage power supply to the interface board and cause the handle and
interface board broken. Return back to repair.
5. The screen display“Spindle on”，actually the spindle off; the screen display“Spindle off”，
actually the spindle on
1) Line fault. Spindle on signal and COM port is short circuit. Check circuit line.
2) The output level definition reversed. Go to the “voltage setup” and modify the output level
definition (modify the left first arrow direction in the second row).
6. The handle screen doesn’t light up and shows nothing after power on
1) The power supply voltage is too large or the + and – short circuit burned the chip. Return to us
for repairing.
2) The power supply damaged, change a new one.
3) 50-pin cable is broken, replace it.
4) 50-pin socket broken, send back to us for repairing.
7. System always alarm after the alarm signal has been connected
Change the input level on X5 (normally open, wiring in parallel; normally closed, wiring in series).
8. Press “spindle on” button, but spindle does not start
1) Check wiring, if normal, check if the inverter has alarm, if the inverter is normal and its
setting is correct, and then check if the spindle motor damaged or not.
2) Check if 50-pin cable is loose. Confirm the settings of inverter refer to its manual to debug
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one by one.
3) Check interface board. Press“ ” to start spindle, use multimeter to measure Y1 and
GND to see whether conducting, if not, interface board or 50-pin cable is broken. To replace
a new one for trouble clearing one by one.
Thank you for your support！
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