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PRIVATE M31 Motion Control Setup Manual

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The M31 is an industrial-grade motion controller for MachPro CNC systems. It serves as a stable hardware bridge between your Windows PC and machine drives, communicating over Ethernet to ensure synchronized, precise motion.

Key Features

  • Axis Support: Base support for 6 axes, with scalable license upgrades to 12 axes.
  • Control Flexibility: Supports both high-end EtherCAT and traditional step-and-direction protocols.
  • Expandability: Allows you to connect EtherCAT I/O modules, absolute encoders, and servos so the machine never loses position.

WARNING: Incorrect installation can cause death, injury, or equipment damage. Do not attempt to install this controller until thoroughly reading and understanding this manual.

1 Introduction

Sections 2 through 5 are designed to get most systems up and running with a minimum of custom configuration. If your system has features not described in these sections, please check sections 6 through 10. The Application notes have configuration information for less common features, and more discussion on configuration options.

Use the M31 image below as a reference throughout the manual.

Status LEDs

Each LED has a single color.

LED ON OFF
Power Green - M31 is powered No Power
CPU Blue blinking - M31 CPU is active
  • Standby Mode (blip a little more than once a second)
  • Run Mode (double blip/heartbeat)
  • Bootloader (rapid flash)
 CPU is not enabled
E-Stop Red - E-Stop pressed, or the E-Stop circuit is incomplete E-Stop is not active
Hardware Enable Orange - Hardware Enable is on No Hardware Enable signal
Drive Enable Orange - Drive Enable is on No Drive Enable signal
Spindle FWD Green when spinning forward
Spindle REV Green when spinning in reverse
Drive Alarm Red - One or more drives are in alarm state All drives report good

Tools Required

A small, flat head screwdriver is needed for the I/O terminals.

Hardware Startup (J8)

You must supply 24VDC to the power connection located at the top right of the board as shown below. The LED labeled PWR will be green when 24VDC is supplied.

Emergency Stop (E-Stop Circuit J6)

Connect your Emergency Stop devices to the J6 E-Stop circuit. This is a normally closed circuit with 24 VDC running in it. When the 24 VDC signal is lost, the red E-Stop LED will turn on and the system will disable immediately

Important: The M31 motion controller will not operate unless the Emergency Stop (E-Stop) button is released or the circuit is jumpered.

If you are not going to use any Emergency Stop devices, place a jumper between the ESTP and +24V terminals on J6. See the application notes at the end of this document for information about other E-Stop variations and the signal mapping.

Hardware and drive enable (J12)

  • The M31 includes hardware enable and drive enable circuits.
  • These circuits remain inactive until the emergency stop (E-stop) button is released, or the circuit is jumpered.
  • The default settings will work for most systems.

Hardware Enable is activated when the control is powered up and all the components in the control enclosure are powered. The drives are not yet controlling the motors. Unless the motors have mechanical holding brakes, the axes can be moved by hand.

Drive Enable is activated when the Enable button on the control is clicked. The drives are now actively controlling the motors with holding torque or motion commands.

See the Application notes at the end for additional settings.

Connect your control's dedicated network interface to M31 (J20)

The M31 motion controller connects to the control computer through a **static IP Ethernet connection**.

Connect a shielded CAT 5 cable from J20 on the M31 to the dedicated network port on your control.

The M31 IP address (192.168.208.35) and the computer adapter IP (192.168.208.10) are pre-configured if you purchased both a CNC control and the M31

Follow the Microsoft guide below to manually set your network adapter to communicate with the M31: Microsoft Instructions: Manually Configure IPv4 Settings Scroll to the bottom and expand the section titled “To specify IPv4 settings manually.”

Then perform the following steps:

  1. Set IP address to: 192.168.208.10
  2. Set Subnet mask to: 255.255.255.0
  3. Save the settings and close the window.
  4. Connect the Mach J20 port to the dedicated network port on the control computer using a shielded CAT 5 cable.

First Startup

On the desktop of your control, there is a MachPro shortcut for your machine type. If you are missing this icon, please run the MachPro installer

  1. Double click on your MachPro shortcut
  2. A window will come up asking to Press Cycle Start to Enable Mach and Home All Axes .
  3. Click Cancel to prevent the system from enabling before you have configured it.

Firmware Update

On your first start of the MachPro software, it will check to ensure that you have the latest firmware for the M31 motion controller. If not, you will see an update screen.

  1. Follow the prompts to update the M31 firmware.
  2. When it has completed the process, it will prompt to reboot the M31. Click OK to reboot the M31.
  3. Close the M31 Upgrade window when both the FIrmware and FPGA bars are green.
  4. Restart the MachPro software to ensure smooth operation.

The configuration menus are locked if the system is enabled, and all the menu options will be grayed out.
Disable the system before making configuration changes.

2 Drive and Motor Setup

All of the drives and external I/O will be wired into the M31. The M31 motion controller uses EtherCAT and step and direction to control the axes.

  • All axis drives and motors will be wired, configured, and calibrated for accurate motion in this Axis Setup section.
  • Machine zero, limits, homing, and fixtures will be configured in the Inputs and Homing Setup section.
  • The M31 will support both Step and Direction, and EtherCAT devices simultaneously.
  • Carefully label all motors, drives, and cables at the connection points before you install them.

Step and Direction Connection and Configuration (J13 - J18)

The M31 supports differential or single-ended outputs. For differential outputs there are two signals for step (step + and step -) and two signals for direction (direction + and direction -). For single-ended there is only one signal for step and one signal for direction.

Note: The M31 does not support powering and controlling motors directly. It is designed to supply control signals to a drive, which will power and control the motor.

If using step and direction:

  • wire the drives to J13-J18.
  • Use J11 for 0 VDC
  • Use J7 for +5 VDC
  • Use J2 for +24 VDC
  1. Use your drive manual to determine if
    • The drive supports differential wiring, which is always preferred
    • If the drive has + or - terminals for STEP and DIR, which would also indicate that it uses a singled ended control cable
  2. Remove power from the motion controller and drive

Connection summary

Drive input type Common connection Step connection Direction connection Unused outputs
0 VDC common Controller 0V S+ D+ S- and D-
+5 VDC common Controller +5V S- D- S+ and D+
Differential Optional controller 0V to drive signal ground, only when specified S+ and S- D+ and D- None

0 VDC Common, Connect to a single-ended drive input, use for STEP+ and DIR+

0 VDC Downloads:

0 VDC Common Connections

Connect the terminals as shown in the table.

Motion controller terminal Drive terminal
0V COMMON COM GND SG DCM
S+ PUL+, STEP+, or CP+
D+ DIR+ or CW/CCW+
S- No connection
D- No connection
  1. Run a single 0 VDC wire from the J11 block to your first drive. This is a series/pass-through connection.
  2. Connect the 0 VDC output of the power supply to the first drive.
  3. Connect the 0 VDC terminal of the first drive to the 0 V terminal of the second drive. Continue this pattern for all drives.
  4. Example: M31 J11 0 VDC → Drive 1 (0 VDC) → Drive 2 (0 VDC) → Drive 3 (0 VDC)

Leave S- and D- unconnected or you will cause serious damage to the M31 motion controller

+5 VDC common, Connect to a single-ended drive input, use for STEP- and DIR-

+5 VDC Downloads:

+5 VDC common connections

Connect the terminals as shown in the table.

Motion controller terminal Drive terminal
+5V COMMON COM GND SG DCM
S- PUL-, STEP-, or CP-
D- DIR- or CW/CCW-
S+ No connection
D+ No connection

Differential drive input connections, use + and - for STEP and DIR

Differential control wiring is always preferred because it provides high immunity from electrical noise. The example below shows a system wired with differential control wiring, drive enable, and drive fault.

Differential Downloads:

Connect the terminals as shown in the table.

Motion controller terminal Drive terminal
S+ PUL+, STEP+, or CP+
S- PUL-, STEP-, or CP-
D+ DIR+, CW+, or CW/CCW+
D- DIR-, CW-, or CW/CCW-

Differential drive: A 0 VDC connection is not always necessary

  • In most differential interfaces, a separate 0 V wire is not required for the signal to work, because the receiver measures the voltage difference between “+” and “-”.
  • If the drive manual specifies a signal ground, shield drain, or COM connection for noise control, connect it as specified in the drive manual.
  • If the drive manual does not require a 0 V connection, then do not connect it.
  • Do not use S- or D- as a ground.

Differential drive: Notes

  • Use twisted pairs: S+ with S-, and D+ with D-.
  • If you have a dual channel (2 motors) stepper drive, please contact MachLabs support for the correct configuration.
  • There is an additional example wiring diagram for a differential connection to a Yaskawa Sigma 7 drive in the Application Notes at the end of this document.

Step and Direction M31 Plugin Configuration

M31's default motor configuration will work for step and direction systems.

  1. Verify the Control Output Index matches the Motor number.
  2. Select Dereference on Disarm for all motors. The machine will now re-home each time it is enabled.
  3. Select the Homing Type you are using for this motor.
Homing Type Description
Home Sensor This is the simplest to understand, troubleshoot; and it is very reliable. We recommend you install home sensors - even on machines with absolute encoders enabled
Index Pulse This is set to a particular pulse on the motor rotation. It is the most accurate method, but if anything ever changes in the motor or the mechanics of the machine, this will need to be reset
Sensor + Index This first touches the home switch, then backs off to a particular index pulse. It is easier to setup, but has the same vulnerability to motor and mechanical changes as an index pulse alone
Mach In-Place This will define machine zero to be the current location of the axis

  1. Set all the Control Output and Feedback Source values to Undefined on all unused motor tabs.

  2. If your machine has a gantry, refer to MachPro M31 Configuring a Master Slave Axis Gantry

  3. Click Apply as you complete each motor tab.

  4. Click OK when you have completed all motor tabs.

EtherCAT Network Configuration (J19)

The M31 uses a standard EtherCAT physical connection plan. The computer connects via Ethernet to J20 on the M31 motion controller. J19 on the M31 is then used to connect to each of the EtherCAT devices.

  • Put servo & stepper drives first in the EtherCAT chain (closest to the controller).
  • Put I/O devices and safety relays in the middle.
  • Put VFDs last (at the end of the chain). VFDs make electrical noise — keeping them last lowers interference.
  • Use shielded network cable for all EtherCAT devices.
  • Cable length: keep each cable between 1 foot and 100 meters (about 0.3 m – 100 m).
  • Good cable management: keep cables neat, do not bend them sharply, and separate network cables from high-power lines when possible.

EtherCAT Downloads:

Load the EtherCAT configurations

  1. Pull down Configure > Plugins > M31 and select the EtherCAT tab
  2. Click the Refresh Network button to see the available devices. You may need to click this button several times for it to load all of the devices.
  3. Click the Update button to load the device information into the configuration window
  4. If any of the devices report a status of Unsupported, please contact MachLabs support using the information at the end of this manual. This is the list of MachPro compatible EtherCAT Devices

  1. Verify that all of the devices in the configuration list match your EtherCAT devices, and that none of them are missing.
  2. Click the Download EtherCAT Configuration to send the necessary configuration parameters to the individual devices.
  3. Click the Apply and then the OK buttons to complete the EtherCAT configuration.
  4. Close the MachPro software and restart it to ensure all startup settings are active

EtherCAT M31 Plugin Configuration

Pull down Configure > Plugins > M31 and select the Motor[0] tab

The example below shows Motor[0] configured as an EtherCAT drive and connected to a Leadshine drive [1]L7N(COE)

  1. Select EtherCAT Drive as the Control Output Type
  2. Set the Control Output SubID to 0
  3. Select the first EtherCAT Device for Motor[0]
  4. Select ECAT Feedback as the Feedback Source
  5. Select the Homing Type you are using for this motor. There are 5 types:
Homing Type Description
Home Sensor This is the simplest to understand, troubleshoot; and it is very reliable. We recommend you install home sensors - even on machines with absolute encoders enabled
Index Pulse This is set to a particular pulse on the motor rotation. It is the most accurate method, but if anything ever changes in the motor or the mechanics of the machine, this will need to be reset
Sensor + Index This first touches the home switch, then backs off to a particular index pulse. It is easier to setup, but has the same vulnerability to motor and mechanical changes as an index pulse alone
EtherCAT This enables advanced EtherCAT communication with the drive and is used to implement EtherCAT homing methods on the drive. Contact support if you need this feature
Mach In-Place This will define machine zero to be the current location of the axis

If you will be using Absolute Encoders on this axis, please read Absolute Encoder to enable and configure them.

If your machine has a gantry, refer to MachPro M31 Configuring a Master Slave Axis Gantry

  1. Verify the Backlash Value is set to zero. This will be important for accurate calibration of the axes. Leave the Backlash Speed set at the default value of 20%.
  2. Repeat this process for each active motor that you have.
  3. Set all the Control Output and Feedback Source values to Undefined on all unused motor tabs.

If you have Multi-Axis EtherCAT drives, please see the Application Notes section

3 Wiring and Mapping Inputs (J1, J3)

Input Wiring

This section gives wiring information for all M31 inputs. First, connect each input device to an M31 hardware input. Then, map the applicable software signal to that hardware input.

The M31 motion controller has 16 positive-negative-positive (PNP) inputs. You can use these inputs for limit switches, home switches, probes, and other sensors. To connect a negative-positive-negative (NPN) sensor, add a 2.2 kΩ resistor as shown in the diagrams below.

Inputs Download: M31_NPN_PNP_Proximity_Switch.pdf

Note: For the highest level of safety, wire the limit switches Normally Closed. If a limit is tripped, a wire or limit is damaged, the system will stop motion.

Wire the 24 V **limit switches**. These switches are the final sensors that stop axis motion before the axis reaches the mechanical hard stops.
  1. Select or install two limit switches just inside the mechanical limits of each axis.
  2. Wire the two limit switches for each axis in series using their normally closed contacts.
  3. M31 +24 VDC -> NC limit switch -> NC limit switch -> M31 input
  4. Label the wires.
  5. Document the I/O assignment.

Note: Wiring both limit switches for each axis in series reduces the number of input ports required. Certified safety circuits often require each limit switch to have a separate input.

Wire a home switch on each axis to a separate input.

Use the charts in the appendix to plan the physical wiring and software mapping.

Mapping Signals

  1. At the top of the screen, open Configure > Control.
  2. Click the Input Signals tab.
  3. Scroll down the list until you see each motor section: Motor Home, Motor ++, and Motor --.

Note the State column. It shows the current state of that signal, providing immediate confirmation of your I/O configurations. In the first screen below, Z is homed.

For each signal mapping (Home, ++, --), do these steps:

  1. Enable mapping: Click the red X next to the signal. It will turn into a green ✓. That turns the mapping on.
  2. Device: Choose M31 from the Device list.
  3. Input Name: Pick the input you wired to the M31 (for example 1DI.01.08 or 1DI.01.09).
  4. Active Low:
    • If your limit switches are normally closed, click the red X to change it to a green ✓.
    • This makes the input active when the voltage goes low. Wiring normally closed is the safest method.
  5. Description: Type the name for this axis limit (the name operators and designers use). When you finish all limits and home switches for each axis, click Apply, then click OK.

Short example

  • Motor 0: Home, ++, and -- are enabled (green check).
  • All limits are wired normally closed.
  • We use M31 1DI.01.09 for home, ++ and --.
  • If we use M31 1DI.01.08 for the Home switch it will be more reliable.
  • When M31 1DI.01.09 is mapped for a home switch, MachPro will only use it as a home switch only during a homing cycle. At all other times it will function as a limit switch.

Manually trigger each limit switch and make sure they disable Mach before continuing. This verifies both the wiring and signal mapping.

4 MachPro Axes Configuration

There are four main areas of the screen.

  1. Axis and Motor Test Panel This will always be visible at the top of the screen so that you can save and test your configuration with motion.
  2. Axis Mapping This screen controls which axes are enabled, and which motors are mapped to each axis.
  3. Axis Configuration These settings are specific to each axis and will apply to all motors on that axis.
  4. Motor Configuration These settings are specific to each motor. Example: on a gantry the two motors typically rotate in opposite directions from each other.

Axis and Motor Test Panel

During the axis and motor configuration process, there is a Test-Motion Panel above the configuration panels. When you have completed settings and need to test them:

  1. Click Save & Test
  2. Click Enable

save and test 1.png

save and test 2.png

save and test 3.png

Use the movement buttons on the configuration panels to test the axis and motor configuration.

While test mode is enabled, you can:

  • Open a different configuration panel.
  • Select a different axis.
  • Select a different motor.
  • Continue to test axis and motor movement.

NOTE: The operator-screen Jogging buttons do not operate while the configuration screen is open. Use the movement buttons on the configuration panels.

When testing is complete, click Save & Return to Config.

Axis Mapping

Before you do the full axes configuration, you must ensure that all motors, including slaves, are mapped to the correct axes, and that all motors are moving in the correct direction.

  1. Disable the MachPro software
  2. On the menu bar, click Configure >Control. Then select the Axis tab.
  3. Click the ALL Axis Mapping tab.
  4. Enable motors by clicking their box in the Enabled column so that it changes to a green check mark. In the example below, motors 0, 1, and 2 are enabled.

Map slave motors to the correct axis

  1. Ensure that the slave motor is not mapped to another axis.
  1. The default configuration maps Motor3 to the A axis, but for our example it needs to be mounted as a slave motor on the X axis.
  2. Click the pull down arrow on Motor3 and select the blank row at the top of the list of available motors. This unmaps all motors from axis A.
  3. Click the X axis box in the Slave 1 column.
  4. Select Motor3 from the available motors and click Apply to complete the mapping.

Set motor direction

  1. Click the X axis tab
  2. Click the Test panel tab
  1. Use the Test-Motion buttons to enable the machine
  2. Test each axis with the < Move Neg and Move Pos > buttons

WARNING: Be careful when you test an axis that uses master and slave motors. The mechanical arrangement can require the two motor shafts to rotate in opposite directions. Incorrect motor direction can cause the axis to bind and can damage the machine. Use short, low-speed moves until you verify the direction of both motors.

  1. Use the Test-Motion buttons to disable the machine and return to configuration mode.
  2. In the axis and motor selection list, select the Motor number that you must reverse. Then, select the Identity tab.
  3. Select Reverse Direction for each motor that must rotate in the opposite direction.

  1. Use the Test-Motion buttons to enable the machine. Make short, low-speed moves and verify that all motors move the axis in the correct direction. If the motors fight each other, bind the axis, or move the two sides of the axis in opposite linear directions, disable the machine immediately. Correct the Reverse Direction setting before you continue.
  2. Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Axis Configuration

The axis configuration panel has tabs across the top. The axis can be fully configured with these tabs, and many default settings will work without modification. Only change settings that need to be changed. Axis Calibration, Homing, and Soft Limits are all unique to each machine and must be configured correctly.

Axis Identity tab

Normally no changes are necessary here. If an axis on your machine has a different name in your procedures, update it here to match your procedures.

If this axis is for a tool changer, select Auxiliary instead of Standard as the type.

Calibrate

Axis calibration is necessary for accurate machine movement. Verify that each axis meets your accuracy requirements before you leave this section. The configuration steps after this section depend on correct axis calibration. If you change the calibration later, you must re-set the machine zero, soft limit, and any goto position settings.

MachPro provides two axis calibration methods: Auto Calibration Mode and Manual Calibration Mode.

Auto Calibration Mode requires complete motor and mechanical linkage information for the axis. It provides the most accurate calibration.

Manual Calibration Mode uses measured axis movement to calculate the correct counts per unit. Use this mode if you do not have all motor or mechanical linkage information. Careful manual calibration can provide results suitable for production.

Before you use either calibration mode, define the motor(s) for each axis.

This section describes Manual Calibration Mode first, followed by Auto Calibration Mode.

Motor Catalog

Select or enter your motor in the Motor Catalog

Definitions
  • Encoder Resolution is the number of encoder counts per motor revolution that the servo drive reports.
  • Drive Ratio is the scaling factor that the motion controller applies to the Encoder Resolution when it commands motion.
  • Actual Encoder Resolution is the calculated resolution after the Drive Ratio is applied.

Select an existing motor

  1. Click your motor in the list on the left side
  1. If Actual Encoder Resolution is more than 131,072, follow the instructions in Set Drive Ratio
  2. Click the Select button in the lower right corner.

Create a New Motor Entry

If your motor is not in the motor catalog, create a new motor entry and select that motor.

  1. Click New in the center section of the motor catalog.
  2. Complete all required fields.
  3. Enter the Encoder Resolution and Drive Ratio:
    • For a stepper motor, enter the drive's Encoder Resolution and set Drive Ratio to 1:1.
    • For a servo motor, enter the drive's Encoder Resolution.
    • If Actual Encoder Resolution is more than 131,072, follow the instructions in Set Drive Ratio
  4. Click Save.
  5. Click Select in the lower-right corner.

Set Drive Ratio

The M31 supports a maximum encoder resolution of 131,072 counts per revolution (2¹⁷).

If the servo drive has a native encoder resolution greater than 131,072 counts per revolution, configure the servo drive to scale the encoder output to 131,072 counts per revolution. This scaling applies to encoder information that the servo drive sends to the motion controller.

  1. Find the native encoder resolution in the servo drive documentation.

    The applicable servo drive parameter can have one of these names:

    • Drive Ratio
    • Encoder Output Resolution
    • Edge/Pitch

  2. If the native encoder resolution is greater than 131,072 counts per revolution, configure the servo drive to scale the encoder output to 131,072 counts per revolution.

    Refer to the servo drive documentation for the applicable parameter and setting.

  3. Set the motion controller Drive Ratio to the value specified in the reference table.

    This setting scales the motion command that the motion controller sends to the servo drive.

After configuration, command axis motion. Make sure that the axis moves the commanded distance.

If the axis does not move the commanded distance:

  1. Verify the native encoder resolution.

  2. Verify the encoder scaling in the servo drive.

  3. Verify the motion controller Drive Ratio.

  4. Test the axis movement again before you change other motion settings.

Encoder resolution Bit resolution Drive Ratio Actual Encoder Resolution
131,072 counts/revolution 2¹⁷ 1:1 131,072
1,048,576 counts/revolution 2²⁰ 8:1 131,072
8,388,608 counts/revolution 2²³ 64:1 131,072
16,777,216 counts/revolution 2²⁴ 128:1 131,072

Detect the Encoder Resolution

If you do not know the encoder resolution, use the Auto Detect tool on the right side of the motor catalog.

Note: Auto Detect applies only to a motor that has an encoder connected for feedback. On the M31, servo feedback is supported through EtherCAT. For Step and Direction systems, enter Encoder Resolution manually.

If Actual Encoder Resolution is more than 131,072, follow the instructions in Set Drive Ratio

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Test Motion

Use the Test-Motion buttons to enable the machine.

Use the Test Motor buttons at the bottom of the Calibrate panel to practice motor movement. Select turns or distance as the movement unit. Start with a small movement value and a low speed. Gradually increase the value and speed until the motor moves the full distance that you will measure during calibration. Make sure that you can operate these controls before you start the manual calibration.

Manual Calibration

Measure and mark the longest distance that you can measure accurately on the axis. Allow a short jog distance at both ends of your marked area. Jog outside of the mark, and come back to the mark each time before recording movement. This will take up the mechanical backlash on that axis before making your measurement.

Jog the axis to the first mark using the < Jog - or Jog+ > buttons. Adjust your speed to provide reliable results.

  1. Click the Jog Distance option
  2. Click the Record Jog button and the indicator next to it will turn green. This will also reset the Distance Moved value above the button.
  3. Depending on your process, you may zero the Distance Moved value above the jog buttons.
  4. Use the < Jog - and Jog+ > buttons to jog to your second mark.
  5. Click the Stop Recording button
  6. Measure and enter the Actual Travel value
  7. Click the Calculate button to see the New Steps Per Unit value
  8. Click Accept, or make another measured movement. When you click Accept, the control updates and clears the New Steps per Unit field.

Verify with Commanded distance

Prepare a pre-measured distance that you will move this axis, and move the axis to the first mark.

  1. Click the Commanded distance option
  2. Enter a Distance to Move
  3. Enter a safe RPM value for your machine
  4. Click the Move button
  5. Measure and enter the Actual Travel distance moved.
  6. Click the Calculate button
  7. Click the Accept button.
  8. If you made a change, repeat this process to verify the axis movement is accurate.

Slave Motor Calibration

By default, the master and slave motors will use the same calibration settings. If the slave motor is different from the master, then that motor can be calibrated separately.

  1. While in the Axes menu, select the specific slave motor that needs to be calibrated.
  2. Uncheck Inherit calibration from master
  3. Select the Calibration Mode either Auto or Manual
  4. Complete the steps used in calibrating the master motor above.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

If you wish to adjust the motor's velocity and acceleration values, refer to Configure Velocity and Acceleration in the Application Notes

Automatic Calibration

Automatic calibration provides the most accurate calibration but it requires specific details about the motor and axis mechanics. If you do not have enough information, use the Manual Calibration section above. If the process is completed carefully, manual calibration will also provide excellent accuracy.

  1. Enter the values for the mechanical components this axis has.
  1. Click the Calculate button and MachPro will calculate the correct steps per unit, velocity and acceleration for this axis.
  2. Click Accept or update the motor or mechanical values and re-calculate.
  1. You may use the Test Axis section at the bottom of the Calibrate pane to confirm the calibration.
  • You may choose to test the motor or ballscrew turns.
  • Note that the machine needs to be enabled in test mode.

Slave Motor Calibration

By default, the master and slave motors will use the same calibration settings. If the slave motor is mechanically different from the master, then that motor can be calibrated separately.

  1. While in the Axes menu, select the specific slave motor that needs to be calibrated.
  2. Uncheck Inherit calibration from master
  3. Select the Calibration Mode either Auto or Manual
  4. Complete the steps used in calibrating the master motor above.

Axis calibration is necessary for accurate machine movement. Verify that each axis meets your accuracy requirements before you continue the configuration. The remaining configuration steps depend on correct axis calibration. If you change the calibration later, you must then re-set the machine zero, soft limit, and any goto position settings.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Screw mapping, Linear compensation is supported in MachPro. Full use instructions are available at this link.

WARNING No limits have been set up. DEATH, INJURY or serious PROPERTY DAMAGE can occur if the system is not operated carefully. Limits and homing setup will be completed in the following sections

Set Maximum Following Error

This only applies to systems with motor encoder feedback and you must complete calibration first.

  1. Pull down Configure > Plugins > M31 and select the first motor tab to be set
  2. Set the Max Following Error between 125% and 150% of the Steps/Unit of that motor as shown in the lower right area of each motor tab.
  3. Click Apply and then click the next motor tab that needs to be set.
  4. Click OK when all active motors have been set.

All of the axes are now calibrated, but MachPro does not know where the limits of travel are on each axis. That will be configured in the remaining axis configuration steps. Until that is completed, be very careful if you are moving axes.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Motion Limits This is a read-only screen that displays the velocity, acceleration, and jerk values for each axis, and the Effective (minimum) values across all motors on that axis. motor limits tab.png

Homing / Hard limits

The Homing / Hard Limits tab contains the settings for axis homing and hard limits.

In this documentation, homing means the process that establishes the machine reference position and the machine zero position.

Homing does not set the zero position for a part, fixture, or workpiece.

Machine zero and work zero

The machine coordinate system is the fixed coordinate system of the machine. MachPro uses it as the reference for machine-coordinate movement, travel limits, and other machine-position functions.

The machine zero position is the origin of the machine coordinate system. Machine zero can also be called the machine home or reference position.

After homing, the machine coordinates are based on this reference. The machine zero position is typically X0, Y0, and Z0, but the configured Home Offset can assign a different machine-coordinate value at the completed home position.

Machine zero is different from the zero position that an operator sets for a part or fixture.

A work coordinate system defines the position of the part or fixture relative to the machine coordinate system. Operators typically set work zero with a work offset such as G54 through G59, or with another applicable work-coordinate method.

Homing establishes the machine reference. It does not change the intended part or fixture zero.

Diagram of recommended axis and limit layout

Definitions

A home switch is an input that MachPro uses during a homing cycle to locate the machine reference position.

A hard limit is a physical switch or input that stops or inhibits axis motion before the axis moves outside its permitted travel.

A referenced axis is an axis for which MachPro has established a valid machine-coordinate reference.

Configure Machine Zero

  1. Set Home Direction to the direction in which the axis must move to find the home switch.

  2. Set Home Order to control the sequence in which the axes home. MachPro homes the axis or axes with the lowest Home Order value first.

    For a typical mill:

    • Set the Z axis to 1.
    • Set the X axis to 2.
    • Set the Y axis to 2.

    This configuration homes the Z axis first. The X and Y axes can then home at the same stage.

  3. Set Home Offset to the machine-coordinate value that MachPro must assign to the axis when the homing cycle is complete. This value affects the machine coordinate system. It does not set the part or fixture zero.

  4. Set Home Speed to the homing speed. Enter the value as a percentage of the maximum velocity configured for the axis.

  5. Select Home In Place only if the axis does not move during the homing process. MachPro then assigns the current axis position as machine home. If you use Home In Place, you must also select Home In Place as the Homing Type in the M31 plugin configuration.

  6. Select Ref On Startup if MachPro must mark the axis as referenced during startup without doing a homing cycle. Used on machines that use G90 and G92 heavily.

If you will be using Absolute Encoders on this axis, please read Absolute Encoder to enable and configure them.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Test Homing

Use the test controls in the upper-right area of the M31 configuration screen to enable test motion.

Use Home Axis to establish the machine reference for an axis.

Use Dereference to remove the current machine reference.

Prerequisites

Before you test homing, make sure that:

  1. Open the Test tab.
  2. Enable test motion.
  3. Command movement in the homing direction.
  4. Make sure that the axis moves toward the correct home switch.

Stop the test immediately if the axis moves in the wrong direction.

Correct the axis direction or homing configuration before you continue.

Dereference an axis

Dereferencing removes the current machine-home reference for the selected axis.

Use Dereference when:

  • You change the physical home position.
  • You change the homing hardware.
  • You must establish a new machine zero during initial setup.

After you dereference an axis, MachPro no longer considers the current machine-home position valid.

Dereferencing the axis does not define a new part or fixture zero.

Establish machine zero

After you dereference the axis, use the procedure for the configured homing method.

Home switch

  1. Click Home Axis.
  2. MachPro moves the axis through the configured homing sequence.
  3. MachPro uses the home switch and the configured homing settings to establish the machine reference.
  4. MachPro assigns the applicable machine-coordinate value.

Home In Place

  1. Carefully jog the axis to the position that you want to use as the machine reference for this axis.
  2. Click Home Axis.
  3. MachPro establishes the machine reference from the current axis position.

Do not use this procedure to set a part or fixture zero. Use the applicable work-coordinate procedure to set the work zero.

Absolute encoder - Do not click Home Axis to establish the reference with this procedure. - Use the Absolute Encoder setup procedure to establish the machine reference and encoder offset.

Gantry axis with master and slave motors - If the machine has a gantry axis, refer to MachPro M31 Configuring a Master Slave Axis Gantry - You can use the controls on this tab to test gantry homing after you complete the gantry configuration.

Verify the result

  1. Make sure that MachPro shows the axis as referenced after the homing procedure is complete.

    The digital readout (DRO) axis labels and values change from alternating yellow and red to solid black when the axis is referenced.

  2. Verify that the machine-coordinate position is correct.

  3. If necessary, verify separately that the applicable work offset gives the correct part or fixture zero.

If the machine-coordinate position is incorrect, dereference the axis and correct the homing configuration before you continue.

Do not correct an incorrect machine reference by changing the part or fixture zero.

Limit and Home Signals

At this stage of machine setup, verify each required home and limit signal.

For each signal:

  1. Make sure that the signal is enabled.
  2. Make sure that the signal is assigned to the correct physical input.
  3. Operate the applicable switch.
  4. Make sure that the signal changes state in MachPro.

A signal is not necessarily configured correctly because its name appears on the Homing / Hard Limits tab.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Soft Limits

Soft limits define the permitted machine travel for each axis. MachPro stops a running G-code program before a commanded move would cause an axis to move outside its configured soft limits.

Before you set the soft limits, make sure that the machine is homed and that axis motion operates correctly.

The machine home position must remain inside the permitted travel range. For this reason, set the soft limit beyond the home position on the applicable side of the axis.

  1. Select the Soft Limits tab.
  2. Make sure that Enforce is enabled. This setting is enabled by default.
  3. Use the Axis and Motor Test Panel to enable machine motion.
  4. Use the Live Position jog controls to move the axis toward its maximum negative travel position.
  5. Stop the axis before it reaches the limit switches, or the mechanical hard stop.
  6. Make sure that the selected limit position is beyond the machine home position for that axis.
  7. Click Teach to record the negative soft limit.
  8. Jog the axis to its maximum positive travel position.
  9. Stop the axis before it reaches the limit switches, or the mechanical hard stop.
  10. Click Teach to record the positive soft limit.
  11. Repeat this procedure for each axis.
  12. Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Test Axis

You may use this tab to verify motion and calibration. Use the Axis and Motor Test Panel to enable machine motion.

There is also a set of test motion controls at the bottom of the Calibrate tab.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

If you have a gantry with a master and slave motor, use MachPro M31 Configuring a Master Slave Axis Gantry

License Travel Limits

Enable Absolute Encoder

5 Motor Configuration

There are separate tabs for configuring motors.

Identity

Change the default motor names to match the labels used on the physical machine.

Click Apply to save your changes. If you are done with configuration for now, click OK to close the configuration window.

Units

# Configure Axis Velocity and Acceleration

Configure axis velocity and acceleration tofor getreliable machine operation and the shortest practical cycle time while the machine remains stable and reliable.time.

Calibration calculates initial Velocity and Acceleration limitsvalues from the motor and mechanical data. Use these values only as starting values. The maximum reliable values for the installed machine can berequire lower.lower values.

For each axis:

  1. Find the maximum stable velocity.

  2. Reduce

    Set the operating velocity to 80% of that velocityvalue.

    by 20%.

  3. Find the maximum stable acceleration at the reducedoperating velocity.

  4. Reduce

    Set the operating acceleration to 80% of that accelerationvalue.

    by 20%.

  5. Test the velocity and acceleration together.

  6. Repeat the test for

    Test the full axis traveltravel.

    and

  7. Complete the applicablefinal motiontests types.under representative cutting load.

Do not configureuse velocityair cutting alone to determine the final Feed Velocity or Feed Acceleration. Cutting load can cause position loss, drive faults, stalls, vibration, or unacceptable machining even when air cutting is reliable.

Use air cutting to find initial settings. Then run test jobs with the materials, tools, and accelerationcutting independently.conditions A change to one value can changethat the maximummachine reliablenormally value of the other.uses.

Before you start

Make sure that axis calibration is complete.

Calibration sets Units. Do not change Units on the Motor Units screen. IfCorrect the axis calibration is incorrect, correctif the calibrationdisplayed beforeunits youare tune machine motion.incorrect.

MachPro provides separate velocity and accelerationmotion limits for:

  • Feed: commanded machining motion.

  • Rapid motion:: non-cutting positioning motion.

  • Feed motion: commanded machining motion.

  • Jog motion:: manual axis motion commanded by the operator.

Velocity is the maximum commanded axis speed. Acceleration controls how quickly the axis changes velocity.

The motor, drive, transmission, machine structure, axis load, and lubrication condition can all limit theboth stablevalues.

velocity

[Graphic recommendation: Motor Units screen with Feed, Rapid, and acceleration.Jog Velocity and Acceleration controls identified.]

Configure

axes

Tune usedone for coordinated motion

axis

ConfigureTest allone axesaxis thatat participatea in coordinated machine motiontime before you optimize cycle time.

During atest coordinated move, MachPro keeps the commanded axes synchronized. The motion is therefore limited by the axis that has the lowest applicable acceleration capability in that move.

For this reason, give special attention to Feed Acceleration on all coordinated axes. A low feed-acceleration value on one axis can increase the cycle time of moves that use that axis with other axes.

Axes that do not participate in coordinated axis motion, such as axes used only for an automatic tool changer, must not unnecessarily limit the motion planner. Configure these axes for Auxiliary mode when the axis function permits it.

Auxiliary mode identifies an axis that performs machine auxiliary functions instead of coordinated toolpath motion.

Find the maximum stable velocity

Test one axis at a time first.

Start with the calibrated velocity value.

  1. Command motion through enough travel for the axis to reach the selected velocity.
  2. Test the axis in both directions.
  3. Test different positions through the usable axis travel.
  4. Increase or decrease the velocity in controlled increments.
  5. After each change, test the axis again.
  6. Continue until the axis becomes unstable or you find the practical machine limit.
  7. Record the highest velocity that operated correctly.
  8. Set the operating velocity to 80% of that value.

For example, if the highest stable velocity is 1,000 units/min, initially set the operating limit to 800 units/min.

A velocity is not stable if you find one or more of these conditions:

  • Position error
  • Drive fault
  • Over-torque condition
  • Excessive vibration
  • Mechanical instability
  • Harsh motion
  • Loss of position
  • Inconsistent operation at different positions in the axis travel

If a failure occurs, reduce the velocity and test again. Make sure that the failure is repeatable before you use it to determine the machine limit.

The 20% reduction gives the machine operating margin for changes in load, temperature, lubrication, mechanical condition, and other operating conditions.

Find the maximum stable acceleration

Tune acceleration after you establish the initial operating velocity.

Keep the velocity at the value determined in the previous procedure.

  1. Start with the calibrated acceleration value or a known stable value.velocity.

  2. Command repeateda accelerationmove andthat decelerationhas moves.

    sufficient
    3. axis
  3. travel

    Increaseto orreach decreasethe accelerationconfigured in controlled increments.velocity.

  4. Test motionboth directions and different positions in boththe directions.usable travel.

  5. TestChange the axis at different positionsvelocity in itscontrolled travel.increments.

  6. Continue until the axis becomes unstable or you find the practical machine limit.

  7. Record the highest accelerationrepeatable thatstable operated correctly.velocity.

  8. Set the operating accelerationvelocity to 80% of that value.

AnFor accelerationexample, if the highest stable velocity is 1,000 units/min, set the initial operating value to 800 units/min.

The velocity is nottoo stablehigh if you find one or more of these conditions:

  • Position error

  • Drive over-fault

  • Over-torque faultcondition

  • Loss of position

  • Excessive vibration

  • Harsh movementor unstable motion

  • MechanicalDifferent joltbehavior at different positions in the axis travel

If a failure occurs, decrease the velocity and repeat the test.

Find the maximum stable acceleration

Keep the operating velocity that you found in the previous procedure.

  1. Start with the calibrated acceleration or a known stable value.

  2. MechanicalCommand instabilityrepeated acceleration and deceleration moves.

  3. InconsistentTest followingboth performancedirections and different positions in the usable travel.

  4. After you reduceChange the acceleration byin 20%,controlled testincrements.

  5. Continue until the axis becomes unstable or you find the practical machine limit.

  6. Record the highest repeatable stable acceleration.

  7. Set the operating acceleration to 80% of that value.

  8. Test the velocity and acceleration together again.

IfDecrease the applicable value if the combination is not stable,stable.

reduce

Typical theindications applicableof valueexcessive acceleration include position errors, drive over-torque faults, excessive vibration, mechanical jolts, or inconsistent following performance.

The 20% reduction gives operating margin for changes in load, temperature, lubrication, and repeatmechanical the test.condition.

Optimize

Tune coordinated Feed motion for cycle time

For many machining programs, Feed Acceleration has more effect on cycle time than maximum feed velocity.

Short toolpath segments frequently do not give an axis enough distance to reach its maximum Feed Velocity. In these moves, acceleration and deceleration use much of the available move distance.

A higher stable Feed Acceleration lets the machine reach the commanded feed rate in less time and distance.

Do not reduce Feed Velocity only because the machine cannot reach that velocity during short moves. First determine whether feed acceleration is the limiting value.

TestConfigure all axes that participate in coordinated feedtoolpath motion.

During a coordinated move, MachPro mustkeeps keepthe thesecommanded axes synchronized. TheAn lowestaxis applicablewith a lower acceleration capability in the commanded move can limit the acceleration of the complete move.

Example

For

Assumeexample, thatif X and Y are commanded together.

  • X can reliably use a feed acceleration of 500 units/s².

    • and

  • Y can reliably use a feed acceleration ofonly 300 units/s².

    ,
    • an

The coordinatedX-Y move cannotcan usebe limited by Y. Increasing only the full X-axis acceleration whilewill itnot remains synchronized with Y. The Y axis becomes the limiting axis forimprove that move.

IncreasingGive special attention to Feed Acceleration. Short toolpath moves frequently do not have sufficient distance to reach maximum Feed Velocity. Higher stable acceleration can therefore decrease cycle time more than higher maximum velocity.

[Graphic recommendation: Two equal-distance velocity profiles. Show a low-acceleration profile that does not reach maximum velocity and a higher-acceleration profile that reaches a higher velocity before deceleration. This explains the X-axiscycle-time valueeffect alonemore willclearly thereforethan additional text.]

Do not decrease theFeed cycleVelocity timeonly ofbecause thisshort X-Ymoves move.do Improvenot reach the Y-axisconfigured capability,value. ifDetermine whether move distance and Feed Acceleration are the limiting conditions.

Configure an axis as Auxiliary when it performs only an auxiliary machine permitsfunction it,and ormust acceptnot theparticipate lowerin coordinated acceleration.toolpath motion. An automatic tool changer axis is one possible example.

Configure Rapid motion

Set Rapid Velocity and RapidJog Acceleration for reliable non-cutting positioning.

A high Rapid Velocity can reduce cycle time on machines that have long positioning moves. On machines with short rapid moves, acceleration can have a larger effect on positioning time than maximum velocity.

motion

Use the same velocity and acceleration tuning method:method for Rapid and Jog motion.

    Rapid

  1. and

    Findjog themoves maximum stable rapid velocity.

  2. Reduce it by 20%.

  3. Find the maximum stable rapid acceleration.

  4. Reduce it by 20%.

  5. Test the two settings together.

Do not increase rapid velocity if the axis doesdo not have enoughcutting load. Their velocity and acceleration limits can therefore be different from the final limits that are reliable during cutting.

For Rapid motion, increase velocity only when the machine has sufficient travel to make useful use of the higher velocity.value. On short rapid moves, acceleration can have more effect on positioning time.

Configure Jog motion

SetFor Jog Velocitymotion, prioritize predictable starts and Jogstops. AccelerationDo fornot predictableincrease jog performance until manual machine movement.control becomes difficult.

Understand the Motor Units motion graph

Use the Motor Units graph to understand the commanded motion profile. Do not use it to predict actual move time.

JogThe performancegraph normallyextends its displayed timeline as necessary to let the profile reach the configured maximum velocity. Thus, a high velocity setting can appear as a full acceleration, constant-velocity, and deceleration profile even when a real machine move does not determinehave productionsufficient cycledistance time.to Doreach that velocity.

The graph therefore does not sacrificetell controllability only to make jog motion faster.

Make sure that the machine:you:

  • StartsWhether motiona predictably.production move can reach maximum velocity.

  • StopsThe predictably.cycle time of a specified move distance.

  • OperatesWhether withoutthe drivemachine faults.can operate reliably at the displayed settings.

  • OperatesWhether withoutthe excessivesettings vibrationare orreliable mechanicalunder instability.cutting load.

Use machine tests to determine these results.

[Graphic recommendation: Place two motion graphs side by side.
Graph A — Motor Units display: extended time axis, profile reaches configured maximum velocity.
Graph B — fixed short move: same velocity and acceleration settings, but deceleration starts before maximum velocity is reached.
Add a note: “The operatorMotor Units graph extends time to show maximum velocity. It is not a fixed-distance move.”
This graphic can usereplace themost controlwritten consoleexplanation orabout pendantwhy toacceleration commandmatters aon lowershort jog speed when necessary.moves.]

Select the motion planner

MachPro supports different motion planners. A motion planner calculates the commanded machine trajectory and controls changes in velocity and acceleration.

ForMachPro initial tuning, planner selection is important only when the planner changes the machine performance enough to affect the application.

Theprovides two primary planners are:planners:

  • Trapezoidal

  • PureMotion

Do not change planners only to improve a machine that has incorrect velocity or acceleration settings. First establish reliable axis performance.velocity and acceleration. Do not change the planner to compensate for incorrect axis settings.

To select the planner:

  1. Disable MachPro.

  2. Select Configure > Control.

  3. Select the Defaults tab.

  4. In Trajectory Mode, select Trapezoidal or PureMotion.

  5. Click Apply to save the change and continue configuration.

  6. Clickor OK to save the change and close Control Configuration.

Test the applicable velocity and acceleration values again after you change the planner.

[Graphic:Graphic recommendation: Control Configuration > Defaults > Trajectory Mode]

Mode

After you changewith the planner,planner testselector the applicable velocity and acceleration settings again.identified.]

When Trapezoidal andConfigure PureMotion performanceJerk differsTime

For many machines and moves, both planners can produce similar useful performance. Planner selection becomes important when abrupt changes in acceleration limit the usable machine acceleration or affect the required motion quality.

Trapezoidal

The Trapezoidal planner changes acceleration immediately at the transitions between acceleration, constant velocity, and deceleration.

This behavior can give high response with simple tuning.

On a machine that tolerates these acceleration changes, Trapezoidal motion can give excellent cycle-time performance.

On a machine with flexible mechanics, a high-inertia load, or a process that is sensitive to abrupt acceleration changes, the acceleration transitions can produce vibration or other unwanted machine response. You can then be forced to reduce acceleration to keep the machine stable.

[Graphic: Trapezoidal acceleration and velocity profile]

PureMotion

PureMotion controls jerk in addition to position, velocity, and acceleration.

Jerk is the rate of change of acceleration.

PureMotion uses Jerk Time to control how quickly acceleration changes. A longer jerk time makes the acceleration transition more gradual.

PureMotion can improve performance when smoother acceleration transitions let the machine use a higher practical acceleration without unacceptable vibration or mechanical response.

PureMotion does not automatically decrease cycle time. Excessive jerk time increases the time required to change acceleration and can increase cycle time.

Use PureMotion when smootherabrupt acceleration transitionschanges givecause avibration significantor other unwanted machine or process benefit.response.

[Graphic: PureMotion acceleration and velocity profile at a practical jerk-time setting]

Configure PureMotion Jerk Time

Configure Jerk Time only after you establish stable velocity and acceleration values.are stable.

  1. Start with a low jerk-timeJerk value.

    Increase the value only when abrupt acceleration changes cause a significant machine or process problem.

    For each change:

    1. Test the applicable motion.Time.

    2. CheckIncrease it in small increments only when necessary.

    3. Test machine vibration and mechanical response.

    4. CheckDetermine whether the change permits a higher stable acceleration.

    5. Check the effect on cycle time.

    6. KeepUse the lowest jerk timevalue that gives the required result.

    Adding Jerk Time increases the time required to change acceleration. The smoother acceleration transition can reduce machine vibration, mechanical excitation, and other unwanted machine responses. This can let the machine use higher practical velocity or acceleration settings, which can reduce overall cycle time even though each acceleration transition takes longer.

    comparison graphs 1.png

    Note:

    • The red graph lines are for rapid motion. Green lines are for feed motion.
    • The vertical scale is the axis velocity and the horizontal scale is the time required for the move.
    • The scales are almost identical in all three of the zoomed images so that direct comparisons can be made.

    MachPro permitsprovides differentseparate jerk-time settings for Feed, Rapid, Feed, and Jog motion.

    Do not assume that the same value is correct for all three motion types.

    A jerkJerk timeTime of 0 ms removes the PureMotion smoothing effect fromfor that motion type.

    Its

    [Graphic recommendation: Overlay or align Trapezoidal and PureMotion acceleration profiles. Show the abrupt acceleration transition thenfor behavesTrapezoidal like a trapezoidal acceleration transition.

    Feed motion

    Feed is normallyand the mostrounded importanttransition placeproduced to evaluate PureMotion.

    If acceleration transitions cause machine vibration or limit the usable Feed Acceleration, increase Feedby Jerk TimeTime. in small increments.

    The useful result is not simply smoother motion. The useful result is smoother motion that permits the required machining performance or a higher stable feed acceleration without an unacceptable cycle-time penalty.

    Rapid motion

    Do not addrely rapidon velocity profiles alone; the acceleration profile makes the function of jerk timeeasier unlessto the rapid acceleration transition causes a significant problem.understand.]

    If

    the machine can use its required rapid acceleration reliably with 0 ms jerk time, additional smoothing can increase positioning time without a useful benefit.

    Jog motion

    Configure jog jerk time only when the change gives better manual machine response.

    Jog jerk time normally has little effect on production cycle time.

    Acceleration display modes

    MachPro can show acceleration as:

    • Units/s²

    • Time (ms)

    Units/s² isshows the changerate inof velocity per second.change.

    Time (ms) isshows the time requiredassociated forwith the configured acceleration portion of the displayed motion.profile.

    Changing thethis display mode does not change the motion-plannerselected type.motion It changes how MachPro shows the acceleration setting.planner.

    Use the mode that makes the current tuning task easiest to understand. You can change between the two modes when necessary.

    [Graphic:Graphic recommendation: Acceleration display selector showing Units/s² and Time (ms).]

    Copy settings to other motors

    Use the edit control next to a value to copy thatthe value to other motors.

    1. Select the edit icon next to the value.icon.

    2. Select the motorsapplicable that must use the same value.motors.

    3. Apply the value.

    CopyUse copied values onlyas whenstarting thevalues applicableunless motorsyou andhave axes require the same configuration.

    Do not assumeverified that mechanically similarthe axes have the same maximumoperating stable velocity or acceleration.limits. Test each axis before you use the copied value as its final setting.

    Final coordinated-motionmachine test

    After you tune each single-axis independently,tuning, test thecoordinated machine with coordinated motion.

    UseFirst, motionuse thatair representscutting to verify the expectedinitial productionsettings. application.Then run representative test jobs under normal cutting load.

    Make sure that:Test:

    • EachLong commandedand axisshort accelerates smoothly.moves.

    • EachBoth commandeddirections axisof remains synchronized.travel.

    • LongDifferent movespositions reachin the commandedusable velocityaxis when sufficient travel is available.travel.

    • ShortCoordinated movesFeed accelerate and decelerate correctly.motion.

    • TheDirection machine stops without position errors.changes.

    • NoRepresentative driveRapid faultsand occur.Jog motion.

    • TheNormal production materials and cutting conditions.

    Make sure that the machine has no position errors, drive faults, loss of position, excessive vibrationvibration, or mechanical instability.

  2. Feed motion givesUse the requiredtest-cut cycle-timeresults performance.to determine the final Feed Velocity and Feed Acceleration.

  3. Changes in direction do not cause unacceptable machine response.

    4. If coordinated motion is less stable than single-axis motion, identify the limiting axis or axis combinationcombination. that causes the limitation. ReduceDecrease the applicable velocity, acceleration, or PureMotionJerk jerk setting,Time, and test again.

    DoTuning not consider tuningis complete until the machine operates reliably throughwhen representative production motion.motion is reliable and gives the required machining quality and cycle time.

    Application notes

    Why velocity

    Velocity and acceleration must be tunedwork together

    VelocityMaximum givesvelocity thealone upperdoes speednot limit,determine butmachine accelerationperformance. Acceleration determines how quicklymuch distance the axis canneeds to reach that velocity.

    AShort highmoves velocitycan valuestart givesdeceleration little benefit on a short move ifbefore the axis spends most of the move accelerating and decelerating.

    For this reason,reaches maximum velocityvelocity. aloneFor isthese notmoves, aincreasing usefulstable measureacceleration ofcan machinehave performance.

    more

    Cycleeffect on cycle time dependsthan onincreasing themaximum combination of:velocity.

    • Move distance

    • Commanded velocity

    • Available acceleration

    • Coordinated-axis limits

    • Motion-planner behavior

    Evaluate these values as a system.

    Trapezoidal and PureMotion profiles

    AThe Trapezoidal planner uses an immediate change inchanges commanded acceleration immediately at the beginning and end of an acceleration segment.transition.

    PureMotion can spread that accelerationthis change over the configured jerkJerk time.Time.

    The differencePureMotion is important onlyuseful when thesmoother acceleration transitions reduce unwanted machine or process responds differently to the two acceleration transitions.

    For example, PureMotion can be useful if the smoother transition reduces excitation of a flexible machine structureresponse enough to improve the application or permit a higher stable feedacceleration. acceleration.Additional jerk time can also increase cycle time.

    If both planners permitgive stable motion at the samerequired useful acceleration and produce acceptable machine motion, theacceleration, planner differenceselection is not an important totuning the setup objective.factor.

    Do not optimizetune from graph shape alone

    The Motor Units graphsgraph showshows a commanded profile with an extended timeline. A smooth graph does not prove that the commandedmachine motionsettings profile.are correct.

    Use themthe graph to understand the effectrelationship ofbetween velocity, acceleration, and jerk. Use machine motion and representative cutting tests to determine the final settings.

    Do not select values only because a graph looks smooth.

    The correct settings are the values that give:

    • Stable machine motion

    • Sufficient operating margin

    • Required machining quality

    • Required process performance

    • Short practical cycle time

    Confirm the result on the machine.

    Misc

    enable delay and backlash - moved from or read from M31?

    Encoder / Aux

    Screw Map

    Velocity and Acceleration Note (part of motor > units)

    These notes and all of the material in application notes needs to be updated and merged into the motor | units tab. The core concepts remain the same, but 2nd and 3rd order planner, and jerk/junction are new and need to be factored in. How much to include in the install steps and what to move to application notes

    • The calibration process sets the velocity and acceleration for each axis. On machines with a large work area, a high maximum velocity will reduce non-cutting move time. Feed rates are set separately and do not use the maximum velocity.
    • Each move starts with acceleration and ends with deceleration. Set the acceleration to the highest value that gives smooth motion without over-torque errors, vibration, harsh movement, or jolts. Acceleration that is too low increases the cycle time for each part.
    • If you wish to adjust the motor's velocity and acceleration values, refer to Configure Velocity and Acceleration in the Application Notes

    4 Output Setup (J10)

    Wiring Outputs

    The M31 has 8 logic outputs that can be used for any low current application. Use a 5 amp or greater 24 VDC power supply for output current loads above 250mA.

    8 Digital Outputs (PNP Sourcing)
    Voltage 16 - 24VDC
    Max Current 250mA use a relay for higher current
    Pulse Width Modulation (PWM) Not available on this release

    Output to a relay for current draws above 250mA

    Relay Module Downloads:

    Output to a contactor

    Contactor Downloads:

    Mapping Signals to Outputs

    To configure an output, follow the procedure below.

    1. On the menu bar click on Configure > Control and select the Output Signals tab
    2. Scroll down to the desired output (There are 64 output signals available).
    3. Note the State column. It shows the current state of that signal, providing for immediate confirmation of your I/O configurations. In the screen below the Brushes Up signal is active.
    4. Enable the output by setting the Mapping Enabled box to a green check.
    5. Set the Device to your motion controller and the Output Name to the motion controller output port you wired. This example maps the Draw Bar Open to port DO.09.2.
    6. Set the Active Low column to a green check for a normally closed signal (Active Low) or red x for normally open (Active High).
    7. Press Apply and OK to save changes.
    **Using Outputs**

    Outputs 0-5 can be controlled with M-Codes. One M-Code turns an output on, and the other M-Code turns the output off. Use the table below for a reference.

    Custom M-Codes Functions
    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
    This pattern continues through M218 and M219 for Output #9

    Also see M220 - M222 for extended output control

    Mist and Flood Control

    1. On the menu bar click on Configure > Control and select the Output Signals tab.
    2. Select the Motion Control Device and Output Name
    3. Add a User Description, which will show on the Service tab's I/O dashboard.
    4. On the left menu bar, select the Settings tab
    5. Filter for either Mist or Flood and adjust the settings for your system
    Feature ON M-Code OFF M-Code
    Mist M7 M9
    Flood M8 M9

    5 Spindle Setup (J5)

    Configure the VFD for the spindle motor

    A VFD (Variable Frequency Drive) controls the speed of the spindle motor.

    Set the VFD to match the motor’s electrical ratings:

    • Rated voltage
    • Rated current
    • Rated speed (RPM range)

    You must use the values from:

    • The VFD manual
    • The spindle motor manual

    Do not guess these values.

    Spindle control options on the M31

    The M31 controller will either use 0-10 VDC or EtherCAT to control the spindle. EtherCAT is the recommended option if your hardware supports it. It provides more control, and access to advanced VFD functions. Use your VFD manual to determine the control methods supported.

    EtherCat M31 Spindle Configuration

    To access this configuration pull down Configuration > Plugins > M31

    The feedback index will be the same as the motor number - in this case 3.

    Set the Max Following Error very high as this is not meaningful for a spindle

    Turning on the Spindle

    In addition to the screen controls the spindle can also be controlled using M-codes. Use the table below as a reference.

    M-Code Function
    M3 Clockwise
    M4 CounterClockwise
    M5 Stop

    Encoder Feedback (J4)

    Quadrature Encoder Channel 1
    Connection Terminal Blocks, 5 VDC Differential
    Max Frequency 1.6 MHz

    Please refer to the documentation for your VFD and spindle motor for spindle encoder connections.

    0-10 VDC Configuration

    • Forward rotation signal
    • Reverse rotation signal
    • 0–10 V analog speed signal

    MachPro Spindle Configure for M31 up to Rev 1.2 These M31 controllers use sinking (forward and reverse collectors) to control the spindle rotation direction.

    For M31 Rev 1.3 and later, use the information below. All M31 controllers from Rev 1.3 on use forward and reverse relays to control spindle rotation direction.

    The drawings below show 0-10 VDC connections to a Yaskawa GA500. The manual for your VFD should have similar documentation.

    Yaskawa VFD Downloads:

    https://support.machmotion.com/attachments/641

    Analog Spindle Voltage Adjustment

    On the Systems tab of the M31 plugin, the spindle voltage can be adjusted by changing the percentage (10-200%). Most systems will not require this value to be changed. However, if the voltage is not close enough, the percentage adjustment can be calculated with the following formula:

    Analog Spindle Scale % = Commanded Voltage/Actual Voltage * 100

    MachPro Spindle Calibration

    6 Advanced Options and Information

    MachPro Settings

    A number of advanced features can be configured in the Mach Settings such as periodic oiler control. Begin by going to Configure >Control and got to the Settings tab. Settings contains custom options for the control, including dialog options, lube system, tool measurement/offsets, and tool changer options.

    MachPro Lube System Setup

    MachPro Tool Setters and Offsets

    7 Next Steps

    There are Machine Type Setup and Operation manuals for the different machine types,

    and there is also an Advanced Configuration Manual for features like modifying the tool table or using the GCAdapter.

    8 Reference Information

    Please observe the maximum voltage on each pin. Some pins are 24 VDC compatible, some are 5 VDC, some are 3.3 VDC, and some are 0 VDC. Exceeding their max voltage will cause serious damage to the M31 Motion controller.

    Item Specification
    Input Power 24 VDC
    Max Power Consumption 48 W
    Motor Drives
    Stepper Channels 6 motors
    Step and Direction Axis Control 5 VDC Single Ended and Differential
    Connection Terminal Blocks
    Max Pulse Speed 1.6 MHz
    EtherCAT Network
    Device Types Servo Motors, Stepper Motors, VFDs, I/O Modules, etc.
    Max Devices 30
    Max Motors 6 motors by default (8 and 12 motor options available)
    Quadrature Encoder Channel 1
    Connection Terminal Blocks, 5 VDC Differential
    Max Frequency 1.6 MHz
    Spindle 1
    Opto-Isolator Outputs Forward and Reverse Open Drain / Open Collector outputs
    Analog Speed Signal 0-10 VDC
    Encoder Feedback Yes
    Digital Outputs 8 (PNP Sourcing)
    Voltage 16 - 24 VDC
    Max Current 250 mA
    Pulse Width Modulation (PWM) Not yet available
    Inputs 16 (opto-isolated, for PNP/Sourcing sensors)
    Voltage 16-24 VDC
    Input Current Range 3 - 6 mA
    Isolated Yes
    Enable Circuit 2
    Hardware Enable Relay Dry Contacts, 5 VDC Enable or 24V Enable
    Drive Enable Relay Dry Contacts
    Servo Drive Alarm 1 (NPN Sinking with 24VDC pull-up)
    Voltage 5-24 VDC
    Input Current Range 3 - 6 mA
    Emergency Stop Circuit Normally Closed Connection
    Ethernet Port 10/100 MHz
    Dimensions 7.125" (L) × 3.75" (W) × 1.875" (H)
    Optimal Temperature Range 32° to 100°F (0° to 38°C)
    Humidity 30% - 60% RH
    Signal M31 Junction Input Name Use
    J1 1DI.01.00
    J1 1DI.01.01
    J1 1DI.01.02
    J1 1DI.01.03
    J1 1DI.01.04
    J1 1DI.01.05
    J1 1DI.01.06
    J1 1DI.01.07
    J3 1DI.01.08
    J3 1DI.01.09
    J3 1DI.01.10
    J3 1DI.01.11
    J3 1DI.01.12
    J3 1DI.01.13
    J3 1DI.01.14
    J3 1DI.01.15
    Signal M31 Junction Output Name Use
    J10 1DO.01.00
    J10 1DO.01.01
    J10 1DO.01.02
    J10 1DO.01.03
    J10 1DO.01.04
    J10 1DO.01.05
    J10 1DO.01.06
    J10 1DO.01.07

    9 Troubleshooting

    Firmware and FPGA upgrade

    If you have problems with the automated upgrades, you should use the manual upgrade process. **MachPro Manual Upgrade of M31 Firmware and FPGA**

    If you need to reset the IP address on the M31

    • Verify: The M31 has 24VDC power
    • Verify: The M31 and computer are connected with an ethernet connection
    • Open the VSI Device Manager software

    You should see the VSI Device Manager icon on your windows desktop

    If not, click the Windows Start button and search for VSI

    The VSI Device Manager will appear as one of the windows below.

    1. Click Scan Network
    2. Click the device that the scan locates. It will show the current IP address on the line at the top as well as an editable field in the lower right corner.
      • You may not see an M31 in the VSI Device Manager. Still follow steps 3 through 6.
    3. Enter 192.168.208.35
    4. Click Set New IP Addr
    5. Click Close
    6. Close MachPro, power cycle the enclosure, and restart MachPro. This ensures that all network and software changes are fully enabled.

    I/O Diagnostics

    The M31 and MachPro have a rich set of diagnostics.

    • Each input and output on the M31 has an associated LED
    • The M31 Diagnostic screen shows the status of all I/O at the motion controller level (click Diagnostic > M31)
    • The MachPro Input Signals screen shows the state of all enabled signals in the State column (click Configure >Control, then click Input Signals)
    • The MachPro Machine I/O screen also shows the state of all mapped I/O (click the Service tab, then the Machine I/O tab)

    While you are wiring and mapping I/O signals, confirm that each I/O port is changing correctly at the M31 - with its diagnostic LEDs, and in the MachPro software.

    M31 Diagnostics

    • Input pin 1 is active - 1DI.01.01
    • The E-Stop is active - 1DI. ESTP
    • There is power to the board.
    • The blue CPU LED will blink when the CPU is active

    M31 Plugin Diagnostics

    • Click the Pin icon to keep this window on top of other windows
    • The table at the top lists the current status of all motors connected to the M31
    • In the row directly under the motors table there is a GCode Message Cntr. If this number is active, then the M31 and MachPro are communicating normally.
    • The bottom section shows the status of all physical inputs and physical outputs on the M31

    MachPro I/O Diagnostics

    • The M31 Status window shows that 1DI.01.01 has 24VDC
    • The Control Configuration window shows that this input from the M31 is mapped to MachPro Input #1. Because this input is a tool setter with a normally closed status, the Active Low status was turned on. Now, when the tool touches, the circuit will open, and the software input signal will trigger. All of these settings can be changed from this window.
    • The Machine I/O dashboard tells us that there is currently no tool touching the tool setter pad.

    Test Setup

    If you want to test motion before installation, or are having trouble getting correct motion:

    You can do a test setup with your motors, drives, and cables. This is particularly helpful in setting and verifying 17 bit encoding.

    • This ensures that you have all the cables you need
    • You can verify that the motors all work
    • You can easily verify that your drives are set to 17 bit or less.

    Set the motors on a stable work surface. Often the packing materials will work well as temporary pads.

    Connect all cables between each drive and motor. You may leave the motors setup like this until the system is ready for axis calibration. At that time you will need to install the motors on the machine.

    Testing Axis Motion

    This procedure applies to step-and-direction axes and EtherCAT axes.

    WARNING: Make sure each axis can move safely in both directions. No software limits are active during this test. If the motor is installed on the machine, the only travel limits are the physical hard stops.

    Open the M31 test motion screen

    1. Open Configure > Plugins > M31.
    2. Select the motor that you want to test.
    3. Find the Test Motion section in the lower right corner of the window.

    Set the first test move

    Use small values for the first test.

    1. Set Position to 0.1.
    2. Set Accel to 10.
    3. Set Velocity to 10.
    4. Select Auto-Reverse.
    5. Click Enable in the Test Motion section.

    The motor is now ready for a test move.

    Run the test move

    1. Click Execute.
    2. Verify that the axis moves.
    3. Click Execute again.
    4. Verify that the axis moves in the opposite direction.

    The second move should reverse direction because Auto-Reverse is enabled.

    Increase the test values slowly

    After the first test works correctly, increase the values in small steps.

    Example:

    1. Increase Position to 0.3.
    2. Increase Accel to 20.
    3. Increase Velocity to 200.
    4. Click Execute.
    5. Verify that the motion is smooth and controlled.

    Use short movement distances during this test. The goal is to verify communication between the M31, the drive, and the motor.

    Repeat the test

    Repeat this procedure for each motor.

    Verify these items for each motor:

    • The motor enables correctly.
    • The motor moves when commanded.
    • The motor moves in the expected direction.
    • The motor reverses direction when Auto-Reverse is enabled.
    • The motion is smooth.
    • No drive alarms occur.

    EtherCAT Problems

    • The EtherCAT cables must be shielded
    • Very carefully check the In/Out cabling sequence through the entire EtherCAT chain. If one or more of the devices is backwards, the EtherCAT network will power up, but will not enable.
    • All of the drives need to be programmed, and all alarms cleared. With some drives, you can clear the alarm from the face of the drive, but not clear the alarm state internally. Close the MachPro software and power cycle the enclosure. Then restart the MachPro software.
    • Drives connected to the M31 Motion Controller must be configured for 17 bit or less. If they are configured for more than 17 bit, the system may still have motion, but it will be very sluggish.
    • If you see a Not Supported status next to a device in the EtherCAT tab of the M31 Config window, contact support.

    EtherCAT Network Troubleshooting

    1. Close the MachPro software and then shut down the computer.
    2. Cycle the power on the whole machine.
    3. Restart the computer and the MachPro software. Recheck to see if you are still having a problem.
    4. Verify that the GCode Message CNTR is still active in the M31 Status window (Diagnostic > M31).
    5. Verify the EtherCAT chain between drives. Disconnect the cable from drive 1 to drive 2, and refresh the network. You may need to refresh several times to fully populate the drive list.
    6. If that works, reconnect drive 1 to drive 2, and disconnect drive 2 from drive 3. Repeat until the drive list will not populate. The EtherCAT chain is getting stuck at that drive.
    7. Check the parameters you programmed into that drive.

    If the list of online devices in right column still does not populate with valid devices, please contact MachLabs support.

    Network

    Are the M31 motion controller and computer connected and communicating?

    • Ensure that the Motion port on the computer is connected to the Mach J20 port on the M31.
    • From the MachPro software, pull down Diagnostic > M31
    • The value in the GCode Message Cntr should be actively changing
    • If it is a static value or 0:
    • Close MachPro and power cycle your enclosure, then restart MachPro
    • Research and resolve all alerts and warnings that come up during that process.
    • Verify your network settings . If you need to make network changes, close MachPro and power cycle the enclosure.

    10 Application Notes

    If your system is running 480 VAC we recommend using line filters before the servo drives and VFDs to minimize electrical noise from the VFDs.

    E-Stop variations

    • Connect all E-Stop devices in series in the same E-Stop circuit.
    • In a series circuit, any open contact will open the entire E-Stop circuit.
    • If you need specialized safety circuits, please contact support.

    Adding an E-Stop Button to the M31 Board

    • Use an E-Stop button that does not require its own supply voltage.
    • This type is often called a “voltage-free” or “dry contact” E-Stop.

    If the E-Stop button requires a supply voltage

    1. Wire the E-Stop button to a relay input.
    2. Use the relay output contacts in the E-Stop circuit.
    3. Ask a qualified electrician to design and verify this wiring.

    M31 E-Stop Input Mapping

    The Emergency Stop input is mapped to M31 1DI.ESTP.

    1. Pull down Configure > Control and click the Input Signals tab
    2. Scroll down the input signals to reach the E-Stop signal
    3. When configured correctly, opening the E-Stop terminals will disable the system.
    4. The system will only operate when the E-Stop circuit is closed and healthy.

    Tip: The most effective way to wire an E-Stop circuit is with 24 VDC all the time the machine is enabled. If someone presses the E-Stop button, or an E-Stop wire is cut, the machine will be disabled immediately.

    When mapping the M31 input to the MachPro software signal, set that input as Active Low. When the the 24 VDC is removed, then input from the M31 goes to a low state, the E-Stop signal will trigger active and the machine will disable.

    Hardware and Drive Enable Settings

    1. Open Configure > Control.
    2. Select the Settings tab.
    3. Select the Machine category and the Enable subcategory You can:
    • Set the delay between hardware enable and drive enable.
    • Choose which outputs turn off when the system disables.

    Differential step and direction connection to a Yaskawa Sigma 7 drive.

    Explanation:

    Why Use 17-Bit Encoder Resolution?

    A 17-bit encoder resolution provides sufficient positioning resolution for most CNC applications. It also permits the use of servo motors and drives that have higher native encoder resolutions.

    The M31 supports a maximum of 131,072 counts per revolution (2¹⁷). If the servo drive uses an encoder with a higher native resolution, configure the drive so that it reports 131,072 counts per revolution to the M31.

    Servo drive manufacturers use different names for this setting. Depending on the drive, the applicable parameter can be identified as:

    • Drive Ratio
    • User Parameter
    • Encoder Output Resolution
    • Edge/Pitch

    Refer to the servo drive documentation for the parameter that controls the encoder resolution reported through EtherCAT.

    Reference: Encoder Resolution

    Encoder resolution Bit resolution Use Drive Ratio
    131,072 counts/revolution 2¹⁷ 1:1
    1,048,576 counts/revolution 2²⁰ 8:1
    8,388,608 counts/revolution 2²³ 64:1
    16,777,216 counts/revolution 2²⁴ 128:1

    The M31 supports a maximum of 131,072 counts per revolution (2¹⁷). If a motor or drive has a higher native encoder resolution, configure the drive to report no more than 131,072 counts per revolution.

    Configure Multi-Axis EtherCAT drives

    • These are not standard drives that have one motor controlled by one drive. These drives each control multiple motors.
    • The Control Output EtherCAT Device will remain the same for all motors attached to your multi-axis drive
    • Set the Control Output SubID value to match the motor number.

    EtherCAT State Machine

    When enabling or booting up, an EtherCAT slave device moves through a specific sequence of four main communication states managed by the EtherCAT State Machine (ESM):

    1. Init (Initialization) This is the initial state after power-on. No mailbox or process data communication is possible. The master initializes the slave's address and communication settings. The EtherCAT master is answering the question: "What kind of device are you?" for each device in the chain.
    2. Pre-Operational (Pre-Op) - Mailbox communication is enabled, allowing the master to configure SDOs (Service Data Objects), PDO (Process Data Object) mapping, and other parameters. Process data communication is not yet active. The EtherCAT master is answering the question: "How are you configured?" for each device in the chain.
    3. Safe-Operational (Safe-Op) - The master and slave check the configuration. Mailbox and process data communication are active, but the slave only sends input data; outputs are held in a safe state (e.g., switched off). If there are any device alarms, EtherCAT will not move past this state.
    4. Operational (Op) - The slave is fully functional. Both mailbox and process data communication are active, and the master sends output data, which the slave applies.

    Backlash Compensation

    Backlash is lost axis motion that occurs when an axis changes direction. Backlash compensation adds an axis movement command to correct this lost motion.

    The M31 provides software backlash compensation as a short-term solution for small, stable amounts of backlash. To calculate the backlash of an axis use How To Test For Backlash

    Entering backlash compensation values

    Backlash Value

    Go to Configure > Plugins > M31 and select the first motor tab to set Backlash Value.

    The Backlash Value specifies the backlash compensation distance. The machine setup units determine which units the M31 plug-in uses - metric or imperial.

    For best performance, keep the backlash compensation value less than:

    • 0.0015 in for an imperial machine
    • 0.038 mm for a metric machine

    Start by entering half of the measured backlash value, test and adjust.

    Correct the mechanical system if the backlash is too large or changes at different positions along the axis. See also Screw mapping, Linear compensation

    Backlash Speed %

    Go to Configure > Plugins > M31 to set Backlash Speed %.

    The Backlash Speed % specifies the acceleration for the backlash compensation movement. The M31 plug-in multiplies the maximum motor acceleration by this percentage.

    The permitted range is 10% through 400%.

    • 10% is 0.1 times the maximum motor acceleration.
    • 100% is equal to the maximum motor acceleration.
    • 400% is 4 times the maximum motor acceleration.

    Use 20% as the initial value.

    Do not set the backlash speed value to zero. The M31 will not function with a speed of zero. Only change this value if your motion tuning indicates that it needs to be changed.

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