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MOTION CONTROLLERS
MULTI AXIS & SINGLE AXIS


MULTI AXIS CONTROLLERS
The S & H GOYA, RENOIR and RUBENS controllers are CNC multi axis controllers for automatically controlling machines using stepper or servo motors. They are designed for synchronised motion where two or more axes are run simultaneously. Motion programs are written in ISO (G-Gode) which is easy to use and is familiar to most CNC machine operators. Programs can be written using the BACH PC based software which allows operators to edit and verify programs before downloading them to a controller via RS232 port. If you don't want use the S & H software, it is possible to send the program files as ASCII characters using other software. Programs can be stored in the controller and executed as required. The PC does not have to be connected all the time. Typical applications are XYZ profiling tables, pick & place, automatic welding, engraving, packaging machines, glueing & painting.

COMMON FEATURES

Stepper, DC brushed servo or brushless servo motor control
Linear, Circular & tangential interpolation
Circular interpolation available on all orthogonal planes
Optional encoder feedback for stepper motors
16 digital inputs, 8 digital outputs (expandable to 128 in & 128 out)
Optional analog inputs & outputs
Datum and Limit switch inputs
High speed inputs for probe function
Stand alone operation
ISO G-Code motion language
Programs downloaded via serial line from PC and stored (non volatile)
Self learning mode
Continuous execution of segmented paths
Variables management
PC software for editing, checking and downloading programs
Optional conversion of CAD (DXF & HPGL) files
Optional PLC function runs independently of motor control
 
All programming in engineering units (not steps or revs)
Optional tool radius offset function available


 

GOYA
Upto 3 axes of movement
3rd axis must be stepper motor
Selection of programs from keypad
Entering programs via keypad
100kHz maximum stepper speed
250kHz maximum encoder speed
16 digital inputs
8 digital outputs



 

RENOIR
Upto 3 axes of movement
Larger keypad & more keys
ESTOP, start, stop & reset switches
3rd axis must be stepper motor
Selection of programs from keypad
Entering programs via keypad
100kHz maximum stepper speed
250kHz maximum encoder speed
16 digital inputs
8 digital outputs



 

RUBENS
Upto 6 axes of movement
All axes may be servo or stepper motors
400 kHz maximum stepper speed
4 MHz maximum encoder speed
CAN-BUS controller for I/O expansion
16 digital inputs
8 digital outputs


 

 

PS100 LINEAR POWER SUPPLY 
DC power supply for GOYA & RUBENS
24 V @ 1.2Amp
Short circuit protected
Regulated




PROGRAMMING
The ISO programming used 'G' commands to define type of motion and 'F' commands to define speed (called 'feed'). A typical example is the program to cut out the shape below, using a three axis outer table. The main motion commands are G00 (rapid movement), G01 (interpolated linear movement and G02/G03 (circular arc movement). About 50 'G' commands are available with the S & H controllers. All the controllers use the same programming language and PC software to edit and download programs, ensuring compatibility between systems.

LINE PATH CODE  DESCRIPTION 

1 

1
G00 X20 Y20 F1000   Goto point (20,20) rapidly (no interpolation) at speed 1000 mm/min 

2 
  G00 Z20 F500  Lower Z to 20mm at 500 mm/min 

3 
  G68 P1  Turn output 1 ON 

4 

2 
G01 X20 Y50 F300  Goto point (20,50) at speed 300mm/min 

5 

3 
G01 X60 Y50   Goto point (60,50) at same speed 

6 

4 
G02 X60 Y20 I60 J35  Clockwise arc ending at (60,20) with centre (60,35), same speed 

7 

5 
G01 X20 Y20  Goto point (20,20), same speed 

8 
  G67 P1  Turn output 1 OFF 

9
  G00 Z0 F500  Raise Z axis to 0mm at 500 mm/min 

10

6 
G00 X60 Y40 F1000  Goto point (60,40) rapidly at speed 1000 mm/min 

11
  G00 Z20 F500  Lower Z to 20mm 

12
  G68 P1  Turn output 1 ON 

13

7 
G02 X60 Y40 I60 J35 F300  Arc ending at (60,40) with centre (60,35) 

14 
  G68 P1  Turn output 1 OFF 

15
  G00 Z0 F500  Raise Z to, 0mm at 500mm/min 

16 

G00 X0 Y0 F1000  Goto datum at 1000 mm/min 


AUTOMATED MOTION SYSTEMS PTY. LTD. - WESTERN AUSTRALIA