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SOURCE - Axis Setup

Axis Setup

Enabling Axes

Note: This may already be setup depending on your system.

  1. On the menu bar, click Configure->Control. Then select the Motors tab (pictured below).

If menu options are grayed out (not active/selectable), click the button to disable the system, then try again.

  1. Enable all the motors that are to be controlled by setting the respective boxes in the right pane to checks. In the example below, motors 0, 1, and 2 are enabled.

mach4-motors-tab.jpg
Motor Setup

  1. Press [Apply] to save any changes.
  2. Next, select the Axis Mapping tab as pictured below. Associate the enabled motors to the applicable axis. In the below example, Motor0 is the X master, Motor1 is the Y master, and Motor2 is the Z master.

axis-mapping.JPG
Axis Mapping

  1. Press [Apply] and [OK] to save and close.

The system is now set up for motion, however,....

WARNING
The machine can be crashed very easily. No limits have been set up and the units have not been configured yet.

Axis Calibration

For the machine to move the correct distance, the axes need to be calibrated. To get the units perfect, they must be calculated automatically from the machine specifications. However, you can get them extremely close if you manually calibrate especially if you measure at greater distances of travel.

Go to Configure-> Plugins -> Machine Calibration.

If menu options are grayed out (not active/selectable), click the button to disable the system (Service Tab), then try again.

Select the type of configuration you would like to perform from the window:

  1. Manual; Calculate the steps per by comparing distance traveled vs. distance commanded. See the next section for instructions.
  2. Automatic; Calibrate motors using specifications of your motor type. Continue for instructions.
  3. Screw Mapping; Calibrate motors using points on the ball screw.
Automatic Calibration 
  1. Select the type of configuration you would like to perform
    1. Manual; Calculate the steps per by comparing distance traveled vs. distance commanded. See the next section for instructions.
    2. Automatic; Calibrate motors using specifications of your motor type. Continue for instructions.
    3. Screw Mapping; Calibrate motors using the wizard to map the ball screw.
  2. Select the drive type of the axis being configured.
  3. Select the max motor RPM.
  4. Verify the correct drive ratio.
      Drive Type
      CTB
      Delta
      Yaskawa
    Default Drive Ratio Value

    automatic-calibration.JPG
    MachMotion Plugin Calibration Calculator
  5. Choose the machine configuration for the axis from the following three options.
    • Ball Screw
      • Enter the ball screw pitch
      • Enter the ball screw pulley # teeth and motor pulley # teeth
        Note: If the system has a pulley ratio and a gear box use this equation to get the total gear ratio: [Gear Box Ratio] x [Pulley Ratio] = [Total Gear Ratio] Ex: [10:1 Gear Box] x [30 Motor Pulley Teeth/15 Ball Screw Pulley Teeth] = [10] x [30/15] = [20 Total Gear Ratio](20 Motor Pulley Teeth, 1 Ball Screw Pulley Teeth)
    • Rack and Pinion – Pinion Diameter
      • Enter pinion diameter
      • Enter the gearing ratio between the shaft and the motor
    • Rack and Pinion – Rack Pitch
      • Enter number of teeth on pinion
      • Enter the rack pitch
      • Enter the gearing ratio between the shaft and the motor
  6. Select the axis to calibrate.
  7. Press the [Calculate] button.
  8. Choose [Accept] or [Ignore] to save or discard the changes.
  9. Repeat starting at step 2 for each additional axis.
  10. Press [OK] and restart the software to save the calibration settings.
Manual Calibration

manual-calibration.JPG
Manual Calibration

  1. Select Manual Calibration from the Machine Calibration Selector menu.
  2. Select the axis to calibrate.
  3. Select either Jog Distance or Commanded Distance.
  4. Enable the system and either press [Move] or [Record Jog].
    • For Jog Distance mode, manually jog the axis a distance that can be accurately measured.
  5. Measure how far the axis moved.
  6. Enter in the distance the axis moved and press [Submit].
  7. Choose [Accept] or [Ignore] to save or discard the changes.
  8. Repeat this procedure until the axis is within the required accuracy.

If you want to adjust your velocity, select Configure on the top menu bar, then Control. Select the Motors tab as shown below.

 

<Insert Image>

Motor Setup

In the right pane, select the motor you want to set up. The selected motor’s parameters will be loaded and the velocity or acceleration settings can be adjusted.  

Press [Apply] before clicking on another motor or closing out the Control Configuration window.

WARNING
No limits have been set up.  DEATH, INJURY or serious PROPERTY DAMAGE can occur if the system is not operated carefully.

Screw Mapping Calibration

9A9Screw-Mapping.JPG
Screw Mapping

 #1 Motor

o Select the motor to be calibrated
o For gantry systems each motor of an axis can be individually mapped

#2 Positions

o Set the mapping positions
o If you want to modify the number of points or the start/end positions you have to redo the mapping

#3 Move

o Use the [Start] and [End Position] buttons to send motor to end of travel
o Use [Next Position] and [Previous Position] buttons to increment through points
o “Feedrate” will be used to define the speed in units/min during each reposition move

#4 Enter Data

o This field is where you will enter the true position from your measurement device
o It is critical that the measurement device is zeroed at the start location

#5 View Data

o From here you can see the mapped error in motor counts or system units
o You can use the [Go To Selected Position (G53)] button to send the motor to any of the points at any time. This is useful after mapping for verification purposes

Set up Points

Select the axis to be calibrated

Screw-Mapping-Axis-Selector.png

Jog axis to most negative side of travel

Note: If machine 0 (home) is on the positive side of travel then jog to far limit switch away from machine 0 (home)

Press [Modify Inputs] to configure mapping locations

Press [Capture Start] to record starting position
This is a good time to zero your measurement device (Laser or glass scale)

Jog axis to most positive side of travel

Note: This will be at the far other side of travel as the position set in the last step

Press [Capture Length] to record end position

Enter the number of points to map along the length of the screw

Note: If you are mapping each inch along a 10” screw you would enter 11 points. (one for 0” position)

Press [Submit Inputs] to save data points

Enter all error corrections

At this point you’re going to move the axis to each of the locations and enter the measured position being reported by your measurement device (laser or glass scale)
You will need to zero your measurement device at the start position before taking any measurements.
It is suggested that you start from the most negative side at the point you pressed [Capture Start] and
zeroed your measurement device. (Note: The error for your first point should be 0.)

1. Press [Start Position]
2. Press [Next Position]
3. Type in the measured value to “Actual Location”
a.
4. Click [Submit Measurement]
a. Verify the “Error (units)” is less than half of the distance between “Position (Units)”
(less than .5” in example)
i.
ii.
5. Repeat back to Step 2 [Next Position] until at last point

Backlash Calculation

MachMotion controls have has backlash compensation. Use the MDI line to enter G-Code to move the axes. To calculate the machine’s backlash, follow the steps below.

        1. Move an axis in one direction farther than the maximum possible backlash.
        2. Mount a dial indicator and zero it.
        3. Move the axis again in the same direction for a specific distance (it doesn’t matter how far).
        4. Move the axis backwards the same distance.
        5. Note how far the dial indicator was off from zero to see the axis’s backlash value.
        6. Backlash is configured in the Mach4 software located in Configure->Control->Motors Tab.
        7. Select the desired motor tab and enter the value (see explanation below). Select [OK] to save settings.

Backlash – This field sets the backlash amount in inches or millimeters, depending on the setup units.