RapidPath Series
RapidPath™ is MachMotion's trademarked EtherCAT motion controller solution.
WARNING!
Improper setup of this motion controller can cause DEATH, INJURY or serious PROPERTY DAMAGE. Do not attempt to use this controller until thoroughly reading and understanding this manual.
Introduction
Overview
RapidPath is an EtherCAT software motion controller solution.
Tools Required
A small, flat head or #1 Phillips head screwdriver is needed for the I/O terminals. It is not included.
Software Startup
Before you can run Mach 4 with RapidPath for the first time, you must configure the EtherCAT network.
On the desktop of your control, there is a Mach4 shortcut for your machine type. Below is an example of the Mach4 shortcut.
Profile
After double clicking on a profile or opening a profile from Mach4 Loader, RapidPath will attempt to start (or verify that it is already started) the EtherCAT network. This may take up to a minute.
The EtherCAT network will usually only need to be started once after a control has been rebooted. Stopping and restarting Mach 4 will not result in the EtherCAT network needing to be stopped or restarted.
Once the EtherCAT network is operational, a window will come up (see below) asking to Press Cycle Start to Enable Mach and Home All Axes. Select [Cancel] since motion is not yet possible.
Enable and Home All axes
On subsequent startups, once motion and limit switches are set, press [Cycle Start] and the control will enable and home all axes. This prompt can be turned off in the MachMotion plugin if desired.
{{@665}}
{{@666}}
Limits and Homing Setup
{{@668}}
Wiring Switches
INCLUDE_DETAILS_FOR_WIRING_SWITCHES
{{@669}}
Input Setup
Any node on the EtherCAT network can provide inputs.
Output Setup
Using Outputs
Outputs 0-5 can be controlled with M-Codes. One M-Code will turn an output on, and the next M-Code turns the output off. Use the table below for a reference.
|
Custom M-Codes |
Functions |
Default Output |
|
M200 |
Output 0 on |
|
|
M201 |
Output 0 off |
|
|
M202 |
Output 1 on |
|
|
M203 |
Output 1 off |
|
|
M204 |
Output 2 on |
|
|
M205 |
Output 2 off |
|
|
M206 |
Output 3 on |
|
|
M207 |
Output 3 off |
|
|
M208 |
Output 4 on |
|
|
M209 |
Output 4 off |
|
|
M210 |
Output 5 on |
|
|
M211 |
Output 5 off |
Table 7 M-Codes for Outputs
The outputs can also be accessed inside the MachMotion plugin.
Advanced Options
A number of advanced features can be accessed and configured in the MachMotion plugin such as periodic oiler control and custom user messages (Global Messaging)Monitoring System). Begin by going to Configure->Plugins to open the MachMotion plugin.
insertimage Figure 39 - MachMotion Plugin Options
The Machine Parameters tab contains custom options for the control, including dialogue options, lube system, tool measurement/offsets, and tool changer options.
Lube System Setup
The system may require an oiler. Enable the lube system, choose an action trigger, set the lube output, set the time run time of the oiler, and the time between cycles. In the example below the lube output will turn on when the spindle is running for 10 seconds every 15 minutes.
Figure 40 Lube System Setup
It is also possible to define input activated user messages/actions. See the section on the Global MessagingMonitoring System System below.
Tool Setter Setup
Before you measure tool to setup your tool table, the tool setter options must first be defined. Begin by going to Configure->Plugins to open the MachMotion plugin.
Figure 41 tool Setter options
The Tool Setter Type options are manual or automatic. The Tool Setter/Gage-Block Position Type options are fixed (e.g., a bed mill) and random (e.g., a knee mill). If fixed, the tool setter/gage block position should be determined. In machine coordinates, the Z-axis position of the table should recorded and saved.
To use the automatic tool setter, the remaining tool setter options must be configured. A probe input must also be wired in and setup as the Digitize input signal.
Figure 42 Digitize input signal
Global MessagingMonitoring System
Global MessagingMonitoring System is used to setup user alerts or messages as well as to control I/O functionality based on certain conditions. To access the Global MessagingMonitoring System, go to Configure -> Plugins -> MachMotion and select the Global MessagingMonitoring System tab. The system allows the machine to watch for specified conditions, and take action when those conditions are met. For information on creating, editing, or deleting a message, visit our knowledge base online at: http://machmotion.com/support/kb#11714098. You can also navigate to it by visiting MachMotion.com and selecting the Knowledge Base link under the Support menu option.
Appendices
Default Factory Settings
These are default settings but are not required for the system to function correctly.
|
Signal |
Mapping Enabled |
Device |
Input Name |
Active Low |
|
Input #0 |
|
✘ |
||
|
Motor 0 Home |
✔ |
✔ |
||
|
Motor 1 Home |
✔ |
✔ |
||
|
Motor 2 Home |
✔ |
✔ |
||
|
Motor 0 ++ |
✔ |
✔ |
||
|
Motor 1 ++ |
✔ |
✔ |
||
|
Motor 2 ++ |
✔ |
✔ |
||
|
Motor 0 – – |
✔ |
✔ |
||
|
Motor 1 – – |
✔ |
✔ |
||
|
Motor 2 – – |
✔ |
✔ |
||
|
E-Stop |
✔ |
✔ |
Table 20 – Default Inputs Signals
|
Signal |
Mapping Enabled |
Device |
Input Name |
Active Low |
|
Output #0 |
✔ |
✘ |
||
|
Output #1 |
✔ |
✘ |
||
|
Output #2 |
✔ |
✘ |
||
|
Output #3 |
✔ |
✘ |
||
|
Output #4 |
✔ |
✘ |
||
|
Output #5 |
✔ |
✘ |
||
|
Spindle FWD |
✔ |
✘ |
||
|
Spindle REV |
✔ |
✘ |
||
|
Coolant On |
✔ |
✘ |
||
|
Mist On |
✔ |
✘ |
Table 21 – Default Outputs
{{@677}}