北京锐志天宏科技股份有限公司

Beijing RichAuto S&T Co., Ltd

RichAuto—AutoNow F141 motion control system

User’s manual

Applied in F141-4 axis linkages controller

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北京锐志天宏科技股份有限公司
Beijing RichAuto S&T Co., Ltd.

Add:5F, No.4 building, No. 4 Yard, Shengmingyuan Road, Zhongguancun Life Science Park Beiqing

St., Changping District, Beijing 102206 China Tel/Fax:(+86)-010-53275118/53275119

Website1:www.richauto.com.cn Website2:www.richnc.com.cn

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Thank you for choosing RichAuto products!

This manual helps you be familiar with the company's products, and get information

about systems‟ components,configuration etc.

This manual contains detailed knowledge of the system characteristics,operating procedures, installation

&commissioning, and safety precautions. Please read this manual carefully before using the system and

machine, which will help you to use it better.

Cautions:

1. It‟s strictly prohibited in the strong interference and strong magnetic field environment. Operating

ambient temperature:0-70 ℃;Environment humidity: 0-90% (non-condensing).

2. Insert U disk in the correct direction. Do not pull out or insert 50-pin signal transmission cable when

system is powered on.

3. During the perform processing in U disk file, do not pull out the U disk to prevent the interruption of

data transmission.

4. Strictly prohibited metal, dust, and other conductive substances drop into the handheld controller shell.

5. The machine casing shall be well grounded to ensure work safety and prevent interference.

6. Unauthorized removal is strictly prohibited, no internal user repairable parts.

7. For long time not using, please power off and keep it properly.

8. Be careful to prevent it from water, dust, fire when using.

9. Do not use the corrosive chemical solvents to clean the device.

10. Spindle motor bearing life and its speed is inversely proportional.

11. The tool bit is very sharp. Do not touch when it is running, in order to avoid injury; Do not use

handkerchiefs, scarves to approach it to prevent embroiled damage.

Important statement:

The Company shall not be responsible for any loss caused by improper using or failure to comply with the

rules of operation.

Beijing RichAuto S&T Co., Ltd owns final interpretation of this manual, we reserves the rights to revise all

information in this manual, including data, technical details, etc.

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Content
FOREWORD ........................................................................................................................................ 1

SYSTEM INTRODUCTION: ............................................................................................................................. 1

PERFORMANCE CHARACTERISTICS: ................................................................................................................ 1
PRODUCT PARAMETERS: ............................................................................................................................. 2
MODEL LIST: ............................................................................................................................................ 2

1 RICHAUTO-F141 SYSTEM COMPOSITION .................................................................................... 3

1.1 SYSTEM COMPOSITION ................................................................................................................... 3

1.2 COMPONENTS DESCRIPTION ............................................................................................................ 4
1.2.1 Handle.................................................................................................................................. 4
1.2.2 Wiring board ........................................................................................................................ 5
1.2.3 FTP Access Internal Storage Space ....................................................................................... 6
1.3 WIRING BOARD INSTALLATION DIMENSIONS ........................................................................................ 6
1.4 SYSTEM STARTUP METHODS ............................................................................................................ 7

2 HANDHELD CONTROLLER BUTTONS INTRODUCTION ................................................................. 8

2.1 BUTTONS INTRODUCTION ............................................................................................................... 8

2.2 BUTTONS USAGE METHODS............................................................................................................ 8
2.3 BUTTONS FUNCTION DETAILS......................................................................................................... 10

3 RICHAUTO WIRING BOARD DESCRIPTION ................................................................................ 12

3.1 WIRING BOARD TERMINAL DESCRIPTION .......................................................................................... 12

3.2 I/O DESCRIPTION ........................................................................................................................ 13
3.3 HARDWARE WIRING..................................................................................................................... 15
3.4 COMMISSIONING OF THE MACHINE AND CONTROL SYSTEM .................................................................. 18

4 MENU DESCRIPTION ................................................................................................................ 19

4.1 MENU CATEGORY ........................................................................................................................ 19

4.2 MENU DETAILS ........................................................................................................................... 20
4.2.1 User Setup .......................................................................................................................... 20
4.2.2 File Operate ....................................................................................................................... 24
4.2.3 Machine Setup ................................................................................................................... 25
4.2.4 System Setup ...................................................................................................................... 30
4.2.5 Version View ...................................................................................................................... 32

5 MACHINE OPERATION .............................................................................................................. 32

5.1 RETURN HOME ......................................................................................................................... 32

5.2 IMPORT PROCESSING FILE ............................................................................................................. 32
5.3 MANUAL PROCESSING OPERATION ................................................................................................. 32
5.3.1 Manual speed switching and adjustment .......................................................................... 33
5.3.2 Manual processing mode................................................................................................... 34
5.3.3 Manual testing input and output ....................................................................................... 35

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5.3.4 Manual switching coordinate system ................................................................................ 37

5.4 AUTO PROCESSING OPERATION ...................................................................................................... 38
5.4.1 Set workpiece origin........................................................................................................... 38
5.4.2 Choose processing file ........................................................................................................ 39
5.4.3 Set processing parameters................................................................................................. 39
5.5 OPERATIONS DURING PROCESSING.................................................................................................. 40
5.5.1 Speed ratio & spindle grade Adjusting............................................................................... 40
5.5.2 Pause & adjust position ..................................................................................................... 41
5.6 FIND BREAKPOINT PROCESSING & POWER FAILURE PROTECTION.......................................................... 42
5.6.1 Find Breakpoint .................................................................................................................. 42
5.6.2 Break List ........................................................................................................................... 43
5.6.3 Part Work ........................................................................................................................... 45
5.6.4 PwrFlrProtect ..................................................................................................................... 45
5.7 ADVANCED WORK....................................................................................................................... 46
5.7.1 Array Work ......................................................................................................................... 46
5.7.2 Scale Work ......................................................................................................................... 47
5.7.3 Mill Plane ........................................................................................................................... 48
5.7.4 Auto Center ........................................................................................................................ 49
5.7.5 Calc Border......................................................................................................................... 50

APPENDIX 1. PULSE EQUIVALENT CALCULATION .............................................................................. 51

PS1.1 STEPPER MOTOR DRIVE ................................................................................................................. 51

PS1.1.1 Linear axis .......................................................................................................................... 51
PS1.1.2 Linear axis pulse equivalent computing method ............................................................ 53
PS1.1.3 Rotary axis (pul/ °) .......................................................................................................... 54
PS1.1.4 Rotary axis pulse equivalent computing ......................................................................... 54

APPENDIEX 2. COMMON PROBLEMS AND TROUBLESHOOTING ....................................................... 55

PS2.1 SOLUTIONS FOR SCREEN DISPLAY FAULTS ........................................................................................... 55

PS2.2 FAQ IN PRACTICAL OPERATION ....................................................................................................... 56
PS2.3 ELECTRICAL COMPONENTS AND WIRING PROBLEM.............................................................................. 60

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Foreword
System Introduction:
RichAuto-F141 motion control system for 4 axis linkage engraving machine is
independently developed by Beijing RichAuto S&T Co., Ltd. It can be widely applied to
machinery, advertisement, woodworking, mold engraving machines and soon in the
industry machine control field.
RichAuto-F141 uses DSP as its core, High processing and operation speed which
are the microcontroller, PLC systems can‟t match with; Embedded structure, high degree
of integration, strong stability, easy installation and operation; support U disk, removable
storage card reader, and FTP transport protocol. Adapt USB Interface, high speed transfer,
plug and play. Fully offline work.

Performance characteristics:
1. System standard configuration is X, Y, Z, A four-axis motion control method.
2. Multiple I/O ports control. Standard equipped with I/O signal node which has 16
inputs and 8 output signals.
3. Support the standard G code, PLT format instructions; support domestic and
international mainstream CAM software, such as: Type3, Artcam, UG, Pro/E,
MasterCAM, Cimatron, Ucancam etc.
4. Provide with power failed protection. System automatically save the current
processing information in the moment of sudden power down (file name, current line
number, work speed, spindle state);After powered up and returned HOME position,
the system automatically prompts the user to restore the processing before power
down which makes processing operations become more humanity.
5. Support breakpoint memory, select file line No. processing. Can save 8 different
breakpoint processing information.
6. Multi-coordinate memory function. Provide 9 working coordinate system. The User
can switch among the 9 work coordinates, each coordinate system can save a
process origin information.
7. Support adjusting spindle operating frequency (or spindle rotate speed). The spindle
frequency is divided into 8 shifts. During processing, user can adjust shifts directly by
keys without suspend processing.
8. Support adjust speed ratio during operation. To adjust the speed ratio so as to change
the processing speed and travel speed, speed ratio values from 0.1-1. Increasing or
decreasing 0.1 per time.
9. Simple manual operate mode. In manual mode, the system provides 3 kinds of move
modes, including continuous, step (crawl), distance, become more simple and
convenient.
10. Identifies M code, F code and other extended instructions, and it can also open a
special code based on user‟s needs.
11. Built-in 512 M memory. Adapt USB communication port with high efficiency for file
transfer. Can read files in U disk and card reader directly.
12. Unique handheld structure which can be hold with one hand. With LCD display and
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24 keys operation keyboard, intuitive and flexible operation, no longer rely on the
computer, completely offline operation.
13. Self-detection function. The system comes with I/O ports signal detection function,
easy remote maintenance.
14. Multiple languages display. Support English, Russian, France, Traditional Chinese
and Simplified Chinese. Other language can be customized.
15. System can automatically update itself, easily remote operation and maintenance.
16. Supports FTP network file transfer function. If the U disk is damaged, files can be
quickly transferred to the system through the network cable.

Product parameters:
Model No. RichAuto-F141
CPU DSP Power failure protection Support
Built in memory 512MB Breakpoint processing 8
128*64
Display screen Monochrome External supply voltage DC 24V
LCD
Communication Continuous,
U disk Manual mode
port step, distance
Straight line,
Linkage axis 4 axis Interpolate method arc, spline
curve
Control signal Differential signal Soft / hard limit Support
Stepper / servo Maximum pulse
Driving system 1MHz
motor frequency
Min. input unit 0.001mm Password protection Support
English, Simplified Chinese, Traditional Chinese, other languages
Languages
can be customized
Standard confi Handle 1pc, data transmission cable 1 pc, I/O control board 1 pc

Model List:
No. Name
AutoNow- F131 3 axis motion control system
3 inches monochrome screen
Cylinder multi-spindle motion control
F1X series motion control F135
system
system
F141 4 axis motion control system

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1 RichAuto-F141 system composition

1.1 System composition
RichAuto-F141 motion control system contains the following parts: Handheld

controller (Hereinafter called “handle”), wiring board, data transmission cable

RichAuto schematic diagram of system accessories

Handle Wiring board

Data transmission cable USB extension cable

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1.2 Components description

1.2.1 Handle
As shown below, including 4 parts.

1) RichAuto LOGO
2) LCD screen: 128 * 64 resolution LCD screen, displays the machine motion, system
settings and other information.
3) Key section: Contains 24 buttons for system parameter settings and machine
movement control.
4) Data transmission cable: The handle communicates with the interface board through a
handheld connection line.

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1.2.2 Wiring board

The connection between handle and machine tool rely on the wiring board. As shown
below:

1) Motor driver control terminals: Contains X, Y, Z, A axis motor drivers output ports.

2) Output terminal: Including Spindle On/Off, Run lamp, Alarm lamp output signal ports

etc.

3) Input terminal: Including HOME sensor, tool setter, driver alarm, hard limit, E-stop

signal, foot pedal switch input signal ports.

4) Hub Management Interface: Be used for connecting the metal end of the Data

transmission cable.

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5) Power supply terminal: DC 24V, 3A.

1.2.3 FTP Access Internal Storage Space

If the FTP server is setup on your PC, you can access the internal storage space of the

system. To copy and paste the processing file through this method. The setting method is

as shown below,

1) Enter the IP address (such as ftp://192.168.1.16) of the controller into the address bar

of the Explorer, press Enter key;

2) User can upload, download, and rename the file after it entering into the controller

inner space.

1.3 Wiring board installation dimensions

Scale 1:1 ,Unit mm

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1.4 System startup methods

RichAuto-F141 4 axis motion control system has 2 starting methods:

1) Normal starting: Normal power on the system, after boot, it will enter into HOME
TYPE interface and manual control interface.
2) Emergency starting: If normal starting cannot show any words or manual interface,
emergency starting is required.

Power off the system first, then push “ ” and keep pressing, power on the controller

and waiting for 3-5 seconds. Release“ ”, it will get into “Emergency State”, at that

time user could either set network-upgrade system or just normal restart the system

without select any option.

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2 Handheld controller buttons introduction

2.1 Buttons introduction
RichAuto handheld control system has defined 24 operation buttons, each one
provides one or more functions in different working states:

Real photograph of pressing keys

2.2 Buttons Usage Methods

RichAuto-F141 provides 2 modes of button operations, including one-touch key &
Combination keys.
1) One-touch key: Press 1 key on the handheld controller keypad is executing the
single key operation.
2) Combination keys: Press 2 keys at the same time to achieve certain function is
executing combination keys operation; The operation steps: press one main function
key not release it, meanwhile press a second auxiliary function key, and then release
the two buttons at the same time to realize the combination keys operation.

For instance, work coordinates switching combination keys are “ ” + “0-9

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numeric key”. When operation, push the main function key “ ”first, and then push

auxiliary function key“ ” then, at last release both of them at the same time.

Common Used Combination Keys List

Combination keys Function

1 Coordinate switching (“0”is mechanical

“ ”+“0-9”numeric key coordinate,”1-9”is working coordinate.

2 Switching spindle shifts in manual mode

“ ”+” ”

3 The last time processing repeat machining

“ ”+ “ ”

4 Exit keyboard detection interface

“ ”+“ ”

Note: Users can also find the corresponding combination keys operation list at the back of
the handle.

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2.3 Buttons Function details

Name Function

X axis positive and negative movement, figure 1 and 5 input, Menu

move up selection

Y axis positive and negative movement, figure 2 and 6 input, work

speed

ratio increasing under AUTO mode

Z axis positive and negative movement, figure 3 and 7 input,

Spindle speed increasing under AUTO mode

Z axis positive and negative movement, figure 4 and 8 input

Set X axis and Y axis work origin

Set Z axis and A axis work origin

Start “resume work” combination function

Enable advanced processing function, such as array work etc.

Enable file loading function

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Checking input and output signals

Enable tool setting function

Figure 9 input, Return HOME operation in manual mode

Parameters adjustment in MANU mode; Cancellation of various

selections, inputs and operations in AUTO mode

Figure 0 input, Manual speed High/Low switching, work/mechanical

coordinates switching in AUTO mode

Decimal point input, control spindle ON/OFF in MANU mode

Enter into menu settings, minus input, view machining information

during processing

Return reference point(work origin); OK key of all selections, inputs

and operation

Manual motion states;

Continuous, step, distance 3 modes switching in MANU mode

RUN file or PAUSE the processing; DELETE the entered data;

selections of different attributes in MENU

System reserved function key

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3 RichAuto Wiring board description

3.1 Wiring board terminal description

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3.2 I/O description

Terminal Name Pin definition Pin definition and parameters

24V+ Input power supply+ Provide 24V operating voltage for the interface
DC24V

Input power supply- board after power up. Recommend to use DC

24V-
24V (current≥3A) current source

X-axis pulse positive P + and P - are pulse differential pair signals.

P+
and differential signal Using twisted pair can improve anti-jamming

X-axis pulse negative ability

P-
X_AXIS

and differential Signal

X-axis positive and D + and D-are direction differential pair signals.

D+
differential signal Using twisted pair can improve anti-jamming

X-axis negative and ability

D-
differential Signal

Y-axis pulse positive P + and P - are pulse differential pair signals.

P+
and differential signal Using twisted pair can improve anti-jamming

Y-axis pulse negative ability

P-
Y_AXIS

and differential Signal

Y-axis positive and D + and D-are direction differential pair signals.

D+
differential signal Using twisted pair can improve anti-jamming

Y-axis negative and ability

D-
differential Signal

Z-axis pulse positive P + and P - are pulse differential pair signals.

P+
and differential signal Using twisted pair can improve anti-jamming

Z-axis pulse negative ability

Z_AXIS

P-
and differential Signal

Z-axis positive and D + and D-are direction differential pair signals.

D+
differential signal Using twisted pair can improve anti-jamming

D- Z-axis negative and ability

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differential Signal

C-axis pulse positive P + and P - are pulse differential pair signals.

P+
and differential signal Using twisted pair can improve anti-jamming

C-axis pulse negative ability

P-
C_AXIS

and differential Signal

C-axis positive and D + and D-are direction differential pair signals.

D+
differential signal Using twisted pair can improve anti-jamming

C-axis negative and ability

D-
differential signal

FWD Spindle forward signal

Spindle1

1 Support 0-10V analog quantity

OA1 Analog output 1

GND Ground signal

FWD Spindle forward signal

Spindle2

2 Support 0-10V analog quantity

OA2 Analog output 1

GND Ground signal

Spindle FDW/REV No need to connect Y01 if the FWD and DCM is

Y01
parallel connected

Y02 Standby output port Logic low

Y03 Alarm lamp signal Logic low

OUTPUT SIGNAL

Y04 Run lamp signal Logic low

Y05 Buzzer signal Logic low

Y06 Power lamp signal Logic low

Y07 Coolant signal Logic low

Y08 Air blow signal Logic low

24V DC 24V output Can be used as power supply for indicators

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X axis HOME Logic low, support connection with mechanical,

X01
(Machine zero) photoelectrical or proximity switches

Y axis HOME Logic low, support connection with mechanical,

X02
(Machine zero) photoelectrical or proximity switches

Z axis HOME Logic low, support connection with mechanical,

X03
(Machine zero) photoelectrical or proximity switches

C axis HOME Logic low, support connection with mechanical,

X04 photoelectrical or proximity switches, X04 is the
(Machine zero) tool setting signal terminal when it is 3-axis.
X05 Toolset signal Logic low, support tool setting and instrument.

X06 Driver alarm Logic low

INPUT SIGNAL

X07 E-stop Logic low

X08 Foot petal switch Logic low

X09 Inverter alarm Logic low

X10 Definable Logic low

X11 Definable Logic low

X12 Definable Logic low

X13 Definable Logic low

X14 Definable Logic low

X15 Definable Logic low

X16 Definable Logic low

COM Common Ground signal for active sensor

24V Sensor power output Provide 24V working voltage for active sensor

3.3 Hardware wiring

Installation Requirements: Switching mode power supply（24V, 3A）, it‟s better to add
a filter to prevent the electric field interference. If origin detecting switch is different power
supply type, the special detecting switch power supply is needed. (Recommend 24V origin
detecting switch).
The control connection of RichAuto-F141 is realized by connecting the wiring board with
the CNC machine.

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Input terminal: INPUT SIGNAL terminal; Main power supply terminal.

Output terminal: X, Y, Z, A axis pulse signal output terminal; OUTPUT terminal.

Input terminals：
 Main power supply wiring

 INPUT SIGNAL WIRING

1) ZERO point(HOME): X, Y, Z and A axis wiring methods are the same

2) Tool setting: Simple constructed touch-off plate wiring

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3) Alarm signal X5-X8: Default low level normally open. Take the driver alarm as example:

If the alarm signal is normally closed, wiring method is series connection. Meanwhile,
revise the voltage level of X5.

If the alarm signal is normally open, the wiring method is parallel connection.

Output terminals：
 X axis pulse signal wiring (Y, Z and A axis pulse signal wiring are the same)

Step drive:

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 OUTPUT SIGNAL: Spindle output

Analog output

The machine and the control system are connected with each other when the above
wirings are completed.

3.4 Commissioning of the machine and control system

1) Turn on the power, manually move each axis and confirm the motion direction. If the
motion direction is opposite, change the motor phase sequence (A+,A- or B+,B-) or
revise servo parameters (Refer to the servo driver user‟s manual).
2) According to the original location of the machine coordinates, user can enter into
Menu-Machine Setup-Home Setup- Home Dir to reset it.

3) Press “ ”-Voltage Level (the top row stand for input voltage) to check whether
the HOME switch is working normally or not (manually trigger the voltage level
changes from L to H).

The machine is in good connection if all of the above work normal.

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4 Menu Description
4.1 Menu category
RichAuto-F141 motion control system divides its menu according to menu function:

Five user interface, include:User Setup, File Operate, Machine Setup, System Setup,

Version View.

1) User Setup: This menu is used to set processing parameters, G code attributes

etc.

2) File Operate: Copy file from U disk to inner storage space and delete inner file.

3) Machine Setup: To set relative parameters about machine hardware.

4) System Setup: Change Chinese or English language, backup parameters and

restore factory setting.

5) Version View: Users can view information about the system hardware and

software etc.

RichAuto-F141 motion control system

User Setup

File Operate

Machine Setup

System Setup

Version View

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4.2 Menu details

4.2.1 User Setup
This menu is used to set processing parameters and G code reading attributes etc.

Menu Structure of User Setup

User Setup

Work Setup

Safe Height

Fall Down Scale

Final Action

Work Orgn Offset

Manual Param

Array Param

2D Shape Confi

G Code Attrib

Work Attrib

1) Work Setup:

WorkSpd: Processing program executes interpolation speed of instruction which

includes G01, G02 and G03, system default is 3000 mm/minute.

FastSpd: Processing program execute movement speed of G00 instruction, system

defaults is 3000 mm/min.

SpdScale: Actual processing speed=Work Speed*Auto Scale. System defaults the auto

scale doesn‟t affect the fast speed.

CycleCnt: System default is 1; user can modify it by themselves.

CyclItvl: The repeat processing interval of the same work file.

The system defaults 0.

2) Safe Height:

SafeHgt: Z axis lifting height during processing. System default is 40.000mm. The
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other axis(X, Y, A axis) no need safe height, set 0.

3) Fall Down Scale:

FallType: ①Z only (It works when only the Z axis moves alone);

②Z move (It works as long as Z axis moves);

③Speed unlimited (It does not take effect when the tool is falling down).
FallHgt: System default is 5.000mm. Fall down scale takes effect when the Z spindle
falls to the fall height.
FallSpd: The maximum speed of Z axis when falling down, Unit: mm/min

4) Final Action:

Stop position of axis: when the processing is finished. Including: pick up Z axis, back

to work origin, back HOME , back position, none move. Set a special stop position:

Press“ ”move cursor to where user wants to modify, press“ ” and input new

coordinate values one by one, then press “ ”to save the changes.

Press“ ”to enter into system

Final Action list:

FinlActn

Uplift Z
Back2WrkOrigin
Return HOME
RtnParkingPos
Stay Still
Return Z HOME

Press“ ”to move cursor to where user wants to modify, then press“ ”to save

the change. Return to the upper menu.

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5) Work Orgn Offset:

CurOriginOffset: External offset is also named as workpiece offset, it is used to record

the temporary adjustment value of the current workpiece origin and only works in the

current coordinate.

CmnOriginOffset: External offset is also named as common origin offset, it is used to

record the temporary adjustment values of all the workpiece origin and works in all of the

workpiece coordinates.

6) Manual Param:

Manu Slow Spd: In low-speed motion mode, the speed value of the manual mobile

machine‟s axis is executed.

Manu Fast Spd: In high-speed motion mode, the speed value of the manual mobile

machine‟s axis is executed.

Manu Dist: ①Manual distance (Set distance in manual), ②Low speed grid (Point

distance of working in low-speed mode), ③High speed grid (Point distance of working in

high speed).

Manu Type: ①Tradition (traditional Manual motion),②Point movement (Manual motion

of pointing).

7) Array Param:

XDirCnt: The array number along X axis

YDirCnt: The array number along Y axis.

Interval: System defaults 0, it means not wait.

X Space: The space along X axis (Unit: mm).

Y Space: The space along Y axis (Unit: mm).

Total Processing times= X count * Y count

During processing, if user wants to change processing materials after completion of
each processing, needs to set time interval as a negative number.
When the first time processing is completed, the screen prompt “Waiting for the next
array processing…”, at this moment, user should press any key to start the next array
processing, if user doesn‟t press any key, the system will keep waiting.

Starting array work, press“ ”, the system prompts advanced processing list,
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then choose Array Work from the list.

8) 2D Shape Confi :
To set the parameters of two-dimensional graphics when processing DXF and PLT
files.
Trvl Hgt: The travel height when run a 2D file, default 40mm.

Wrk Dpth: The cutting depth of a 2D file which is calculated from the surface of the

material, default 0mm.

Lift Spd: The tool lift speed when running a 2D file, default 3000mm/min.

Fall Spd: The tool fall speed when running a 2D file, default 3000mm/min.

9) G Code Attrib:

Set special codes reading attribute in the G code file, to make changes according to

the actual needs.

G Code Attrib
I J K Mode Reltv
F Code Ignr F
S Code Ignr S
T Code Ignr T
Read G54 Ignr G54
Read G40 Ignr G40
Filter JD Disabl
G83Space 0

PS: Blue parts indicate system default attributes.

Setting: Press“ ” move cursor to where needs to modify,press“ ”and

select, then press“ ”to save. Return to the upper menu.

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10) Work Attrib

Set special settings which are required during processing.

Work Attrib
QuryPara Query
Preprco Disabl
LiftFPus None
StopFPus None
PausAdju All
FastScl None
CopyWrk Standa
StepAdjt Contns
AutoLaser Off

Setting: Press“ ” move cursor to where needs to modify, press“ ”and

select, then press“ ”to save. Return to the upper menu.

11) DXF Configuration:

Tool Height: It refers to the tool pickup height specified in the DXF file, Unit: mm.

Processing Depth: It refers to the processing depth specified in the DXF file, Unit:

mm.

4.2.2 File Operate

Menu Structure of File Operate

File Operate

Copy File

Delete File

File Info
Copy File:

Copy file from U disk to inner storage space.

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Delete File:

Delete inner file that copy from U disk.

File Info:

It can calculate the total time of processing file and processing range.

4.2.3 Machine Setup

The manufacturer parameters which are under “Machine Setup” can be set by

machine producers according to their equipment types. Users are required to change the

machine parameters under the technician‟s guidance of the machine produce.

Menu Structure of Machine Setup

Machine Setup

Pulse Equiv

Table Size

Home Setup

Spdl Confi

TS Setup

Motion Axis Set

Accel Setting

I/O Port Setting

1) Pulse Equiv
Linear axis: The number of pulses required to send from the system when machine
moves every 1mm. Unit: pulse / mm;
Rotating axis: The number of pulses required to send from the system when machine

rotate every 1 degree. Unit: pulse / degree.

Calculation method please refer to PS1.1.2
Setting mode: Enter “Pulse Equiv”, cursor is in the X axis pulse equivalent position,

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press“ ” to move cursor as required, press“ ”then ,input a new value, and

press“ ”to save. To modify X, Y and Z axis value one by one in the same way,

press“ ”then save all changes and return to the "Pulse Equiv" menu.
2) Table size
RichAuto-F141 system makes the table size as the soft limit values, in order to prevent

machine over travel. Machine size must be less than or equal to the actual size of

machine table.

Setting: Enter “Table Size, press“ ” to move cursor as required, press “ ”,

and input the new value, press“ ” to save the changes, To modify X, Y and Z axis

value one by one in the same way. Press“ ” Save all changes and go back to the

"Table size" menu.

3) Home Setup
Home Speed: The movement speed of each axis when go mechanical origin (ZERO), the

system default X, Y axis home speed: 3000 mm/minute, Z axis home speed: 1800

mm/minute.
Home Order: Motion sequence of each axis when executing return ZERO (return
mechanical origin).

Including: Z-XY-A Z-XY Z-X-Y-A

Z-Y-X-A XY only Z only None

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Home Dir: Movement direction of each axis when return ZERO. The directions are

depending on the real assembly position of HOME switches on the machine tool. If home

switch is installed in the positive movement direction, then home direction should set as

“Pos”, if it is installed in the negative movement direction, the home direction shall set as

“Neg”.

Setting mode: Enter “Home Dir”, press “ ”, move cursor as required,

press“ ”to change home direction, then press“ ” to save the changes.
Return to “Home Dir” menu.
Home Type: ①Query (System ask whether HOME or not after startup), ②All (All axis

automatically go HOME position after system startup), ③Auto Z (Only Z axis go HOME

position after startup the system), ④None (No axis go HOME after system startup).

4) Spdl Confi

Set all parameters of spindle,to modify as required

On Delay 4000
OffDelay 0
Spindle On
Spdl Opt Analog
Max Spd 50000
Min Spd 1000
SpdlFeed 500
SpdlLine 3

Setting method: Press“ ” to move cursor as required, press“ ” and select,

then press“ ”to finish modification. Return to upper menu.

5) TS Setup

TS Param: Set all parameters of tool setting, to modify as required.

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TS Spd 3000
TS Thk 0
TS HIT 40
TS Type Touch
TS Pos InSite
TS Query None

TS Position: ①Input Position (Mechanical coordinates of fixing tool setting, input the

actual position).

②Manual Move (Manual selection when fixing tool setting).

C.A.D. Thickness (Unit: mm): The thickness should input actual value. If the input
value is bigger than the actual thickness, Z axis may over cut; if smaller, Z axis tool bit
can‟t reach workpiece surface. This parameter can only take effect when user uses auto
tool setting function. Invalid when manual set workpiece origin (press XY→0, ZC→0)
Fall height after tool setting: After tool setting finished, the pickup height of Z axis,

system default is 40.000 mm.

6) Motion Axis Set

Motor Dir: Modify the direction of motor rotation.

Axis Disable: If the user's machine is a two-axis machine, the Z-axis can be forbidden

here, then the screen will no longer display the Z-axis, and all Z-axis related parameters

will no longer be meaningful.

Neg Spd Limit: Set the maximum speed in the negative direction of the machine tool,

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which limits all moving speed.

Pos Spd Limit: Set the maximum forward speed of the machine tool, which limits all

moving speed.

Circle Limit :

①Circle Limit (Maximum Processing Speed with Arc Instruction in Processing Program).

②Circle Diameter (diameter limited when arc instructions are available in the processing

program).

7) Accel Setting

S Accl ①Linear (Linear acceleration mode); ②Curve (Curve acceleration mode).

Linear: System default: linear acceleration is 800 mm/s².

Crv Accl: Curve acceleration is 1000mm/s2, the proposed curve acceleration is 1-1.5

times of the linear acceleration value.

Accel Jerk: It refers to growth rate of acceleration, that is acceleration‟s incensement per

unit time, which can alleviate the adverse effects caused by sudden acceleration and

deceleration of machine tools.

SkipSpd: Start speed of motion axis from stationary state. Not starting from 0, but starting

directly from a certain speed, so it can shorten the overall processing time, but this speed

shouldn‟t be too high. Too high, it will cause the motor losing steps, jitter and even whistle;

Set too small, it will reduce the operating speed of the entire graph.
8) I/O Port Setting
Input Disable: Enable or disable the input port. User can disable X5-X8 if there is no signal

on these ports. Prevent misoperation such as wiring error.

Input List: the functions list of the input ports, where users can view all the functions of the

input ports.

Output Disable: To open or prohibit the output signal, if some ports of the interface board

are not connected with any signal, you can choose to prohibit the signals of these

corresponding ports to prevent misoperation such as wiring errors.

Output List: The functions list of the output ports, where users can view all the functions of

the output ports.

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4.2.4 System Setup

Menu structure of System Setup

System Setup

Languages

Func Confi

System Backup
System Restore

TrialTime

Menu PW

System Upgrade

1) Languages
Change system display language, Chinese or English language.
2) Func Confi
Set whether the system retains a function or not, change it in accordance with the
practical application. After the operation user has to restart the handheld controller.

Func Confi
OrgQuery Query
ClearSet SameT
ClearPrt Disabl
StopAct None
OrgnAct None
Brk Type CrtLineStrt
SpdlCtrl DfltSpdlCtrl

Blue parts indicate system default function

Setting: Press “ ” to move the cursor, Press “ ” and select the function in

needs, then press “ ” to save the change. Return to the upper menu.
3) System Backup
Backup the system parameters and function configuration to save into U disk or inner
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storage space. The backup file format is data.bak and config.bak.

Param Backup: To backup all of the parameters of the machine tool, default format is
data.bak.
Func Backup: To backup the function configuration of the machine tool, default format is
config.bak.
4) System Restore
Data Format: After data initial system parameters will restore to factory setting (Machine
size, pulse equivalent etc.)
Internal Format: Wipe the internal files, it will not remove the system parameters after
inner format.
Cache Initialize: The system needs wipe cache when it has been using for a long time or
after the system upgrading, it will ask to reboot after “Wipe Cache” operation.
Func Initial: Restore factory Settings for all functional configuration of the machine tool
(return to zero order, processing operation, etc.)
Func Restore: Restore the backup system parameters by choosing the “config.bak” file
from the U disk or internal storage area.
Param Restore: Restore the backup system parameters by choosing the “data.bak” file
from the U disk or internal storage area.
5) Trial Time
To be used to set the trail time of the controller, counting by day from the date of setting.
User should send the origin 20 digits to us, then get new 20 digits from us and enter them
into the controller, after that, the trail time will take effect.
6) Menu PW
Encrypt the system menu. User should contact the factory to reset it if wants to change the
settings in MENU.
7) System Upgrade
If we added new functions, we will offer upgrade file which extension name is ******.PKG
format (File name is rz-xxxx or q13-xxxx). User could update the system through U disk,
for more details please see PS1. System updating doesn‟t remove the controller original
parameters.

Upgrade package format sample:

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4.2.5 Version View

Users can view information about the system hardware and software, including:

Version View

Type: F141
Update: 1.4975
HW No. : F0039002
Axis: 4 Axis
192 .168 .1 .10

 Type: for example 4 axis linkages system-F141

 Update: means update package number, such as 1.4975
 HW No.: refers to hardware version number, such as F0020099
 Axis: 4 Axis stands for 4 axis mechanical carving
 192.168.1.10 indicates the IP address of the current handle

5 Machine Operation
5.1 Return HOME
It will display “all axis home”, “Z home only”, “none axis home” after starting up the
DSP handle. Returning Machine HOME can correct the coordinate system.
In some cases, such as after a normal power off, and then reboot to continue last
operation, it is no need to go machine HOME, just choose “none axis home” to skip
HOME operation. Because system automatically saves coordinate value when it exits
normally.

5.2 Import processing file

Before processing, generally we should import files. RichAuto-F141 system has 2
ways to import files: U disk file processing and inner file processing.
1) Directly import the processing file into U disk, and then run with the U disk inserting in
the controller.
2) Copy the files to handle internal storage area via U disk, and then run the inner file
without U disk.

5.3 Manual Processing Operation

Manual Processing Operation refers to move the machine tool by pressing the
keypad. User can change the running speed and set the grid (step distance) in manual
mode. System will enter Manual Operation state after returned home, and the screen
displays,
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Manual control interface:

5.3.1 Manual speed switching and adjustment

1) Speed mode switching

There are 2 speed modes: Fast speed and Slow speed. We can switch speed mode by

pressing “ ” key. The speed mode status show on screen determines the actual
manual moving speed.
2) Speed adjusting

In manual mode, press “ ” enter into the current speed mode settings. For instance,
suppose the current speed mode is SLOW, the screen displays:

Manu Low
Set Dist 700.000
X Speed 1200.000
Y Speed 1200.000
Z Speed 1200.000
A Speed 1200.000
SlowGrid 0.100

The cursor is on “X speed”, Press “ ” to the one needs to be modified, and

press “ ” then input new value, and next press “ ” to confirm; Press

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“ ” to exit the settings. If the input value is wrong, press “ ” to delete the last
number and then input new numbers.
To ensure the accuracy of processing and debugging, the system introduces the
concept of „grid‟ which also called „minimum feed‟. Precision can reach to 0.001mm. When
user switch to “STEP” mode, and press the direction keys of X, Y, Z axis, machine will
move by grid distance.
“Fast speed” mode setting is the same to “Slow speed” mode.

5.3.2 Manual processing mode

The system provides 3 manual movement modes: Continue, step, distance. User

could press “ ” under manual mode to switch manual movement mode and view
the current movement mode through the screen bottom display status.
1) Continue (Continuous motion mode)

No specific data control, user could press motion direction key of each axis ( ,

, ) the machine will move accordingly until the key is released. The
motion speed is determined by current manual speed mode.
2) Step motion mode
In step mode, move 1 grid every half second. The grid distance is determined by the
current speed mode. It is suitable for precise adjusting the cutter or fine adjusting the
location of the mechanical coordinate.
3) Distance motion mode

It runs a certain distance according to the setting. Press motion direction keys ( ,

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, ), the machine will move accordingly.

Note: The movement will be carried out according to the current speed mode
and the set distance, it is not affect by the „grid‟, so it will not stop on grid point. To change

the distance value, triple press “ ” re-enter the „Distance‟ value setting.

5.3.3 Manual testing input and output

Under the initial boot interface, pressing “ ", the screen will displays as follow,

I/O Detection
IptCheck
OptCheck
Volt Lvl
KeyCheck

1) IptCheck(Manual test input ports)

From left to right are respectively represent: X HOME, Y HOME, Z HOME, tool setting,
servo driver alarm, hard limit, emergency stop and foot switch. The port definitions will be
a little different in individual custom system.
Manual trigger the corresponding signal, the corresponding signal changed from L
to H means the signal is in normal status. If not, it is abnormal. User should check the
corresponding switch, wiring and 50 pins cable. The screen will displays as follow.

To trigger X1 (X axis HOME switch), the corresponding letter changed, means X1

signal is normal, X2 to X8 detecting are in the same way.
Note: Do not confuse with “Voltage setup”.
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2） OptCheck (Manual test input port)

In the bottom row, the former 4 numbers 1,2,3,4 corresponding to Spindle ON/OFF,

Multi-speed 1, Multi-speed 2, Multi-speed 3;

The number 5 and 6 are respective to alarm lamp, run lamp. The number 7 and 8 are

user definable output signals. The port definitions will be a little different in individual

custom system.

Manually control the corresponding output port by pessing “ ” to change the

corresponding letter to H. For example, press “ ” to highlight number 1 position to

start the spindle, then press “ ” again to stop the spindle.

3）Volt Lvl (Voltage Setup)
Used to set the input, output signal port normally open or normally closed port state,
system defines “↓” as normal open; “↑” as normal closed.

Including 2 rows of arrows:

Setting: Press “ ” move to left or right in the row. Press“ ” can jump up and

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down. Move the cursor to arrow which needs flip, and press “ ” to flip the arrow.
4） Key Check
Detect the keys are valid or not. Press every button, the screen will highlight it if the key is

valid, if not valid will not highlight. Use combination keys “ ”+“ ” to exit.

5.3.4 Manual switching coordinate system

Including machine coordinate system and work coordinate system.
Machine coordinate system is a fixed position, the origin point of machine coordinate is
always a fixed position relative to the machine; its coordinate value is called mechanical
values, the origin of coordinate is the origin of the machine or called reference point. So, at
any time, a point in space can be uniquely determined by a mechanical coordinate system.
Because of reference point is the calculation basis of machine coordinates movement, all
of those operations such as power on the machine or abnormal release and so on have to
return to the reference point which is refers to return machine ZERO.
Work coordinate system used more greatly than other coordinates system in
processing. Usually, in processing, we describe a processing position is always relative to
a certain point on the workpiece, whereas the workpiece on the machine tool's position
relative to the mechanical origin is often change, so it is necessary to introduce a set of
more convenient coordinate system during processing, that is work coordinate system.
The origin of work coordinate system is a fixed point relative to the workpiece, but it is
floating relative to the machine coordinate origin.

RichAuto-F141 provides 1 machine coordinate system and 9 work coordinate

systems. Press “ ” + “ ” can switch the machine coordinate system and

work coordinate system; press “ ” + “Number button 1-9” can switch among
different work coordinate systems.

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Schematic diagram of coordinate system

Note: The system cannot set workpiece origin under machine coordinate system. User
should switch to work coordinate first, and then set workpiece origin.

5.4 Auto processing operation

Auto processing refers to the system runs according to the instruction of the file in U
disk or inner storage space, it also called “file processing”. Before auto processing, user
must set the machine tool parameters and all of the system parameters correctly.
Auto processing steps could refer to the following text.

5.4.1 Set workpiece origin

The origin coordinates of X, Y and Z axis in the processing program is workpiece
origin. Before processing, we should pay attention to this position as well as
the real position. Operation is as follow:
Move X, Y and Z to the position which will start to process the file on workpiece.

Afterwards, press zero clearing “ ” can set the workpiece origin of X, Y axis. Press

zero clearing “ ” can set the origin of Z and A axis. It should be noted that if user

have already used the automatically tool setting function which single key is “ ” will

no need to press “ ”.

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5.4.2 Choose processing file

After determined the workpiece origin, press“ ” will appears a dialog:

Select File

U Disk File

Internal File
Recent File

Press “ ”to move the cursor and choose, press “ ”to enter into the list, the

screen will display three file name, choose the file by pressing “ ”. Press “ ”

to open the next page. Press “ ” to exit.

5.4.3 Set processing parameters

After choosing the processing file please press“ ”,enter into processing
parameters setting, it includes work speed, travel speed （ or Fast speed ） ,speed
scale(speed ratio),fall down speed(or Z down ratio)

Set Work Param

WorkSpd 3000.000
FastSpd 3000.000
SpdScale 1.000
FallSpd 0.200

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Press “ ” to move cursor, press “ ” to set the value (next value setting is

in the same way), then press “ ” to save, the system will check the processing

codes and start to run when the reviewing is completed.

The system code checking is auto mode, user can press “ ” to skip the

checking and start to run immediately.

System will remember the checking only when the previous checking is a complete

and correct checking. So that the system won‟t check the same code again next time.
During processing, the screen scrolling display real-time processing speed, operation

time and current line number. Press” ” to display all processing information.

Press ” ” again to return to the coordinate display interface.

5.5 Operations during processing

5.5.1 Speed ratio & spindle grade Adjusting
1) Adjust speed ratio

During processing, press “ ”can directly change speed ratio, each push on

“ ”, the speed ratio will increase or decrease 0.1, Speed ratio: max 1.0, min 0.1; the

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displayed speed will change because of the speed ratio, but not affect the display of work

time .
current speed= work speed * ratio
2) Adjust spindle shift
If user has set multi-step speed, the DSP handle can change the multi-step speed

during AUTO processing. Press “ ”to change spindle speed. Each push on

“ ” will go up or drop 1 shift in the range of S1 to S8.

5.5.2 Pause & adjust position

Press “ ” pause processing. The right upwards of screen will change from

“MAUN” to “PAUZ” and machine paused processing except the rotating of spindle. Shown

below,
1X 7.000 PAUS
1Y 8.000 24K
1Z -2.000 Fast
1A 0.000 Step

At this moment, the user is allowed to adjust the position of X, Y , Z and A axis. The

system default motion mode is STEP. So that user can fine adjust each axis distance.

Machine moves one low or high speed grid distance in every step.

When the adjustment is finished, press “ ” again, screen shows below,

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Save Adjustment?
Save
Cancle

The system asks the user whether save the modified position. Press “ ”/

“ ” the system will start processing in modified position, press “ ”, system

will go back to the previous position where before modifying.

5.6 Find Breakpoint Processing & Power Failure

Protection
Find Breakpoint processing is a function developed to meet the special requirements
of customers in operation. Find Breakpoint processing mainly includes: Find Breakpoint,

Break List, Part Work, PwrFlrProtect. Press " " to start advanced processing,
screen shown as below:

Break Work
Find Breakpoint
Break List
Part Work
PwrFlrProtect

5.6.1 Find Breakpoint

If the tool broken unexpected in the process and no breakpoint is saved,
stop processing and replace with a new tool. If the original workpiece was not
destroyed, manually move X and Y to the position in front of the brea king place,

press “ ” to start advanced processing, then press” ”to move cursor to

Find Breakpoint,
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Press “ ” to booting and pre-reading the code, the system will prompt as
below:

Code parsing
Finding line No. of breakpoint....

Press “ ” to start processing, press “ ” the screen displays the current

position line number.

Info
35422 is the break line of this file.

Note: Using this function user has to ensure the work coordinate the same as it was

before.

5.6.2 Break List

If user presses “ ” during process of processing, the screen shows below:

Save Breakpoint？

Save
U WENJIAN
Don’t Save

If we want to save breakpoint, press “ ”,the screen displays break list(totally 8),

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press “ ”to choose the save position and then press “ ” to save, system

auto go to standard interface. If we want to continue processing from the breakpoint, we

can choose the combination button “ ” + “1-8”. First press “ ” and not

release it, at the same time press number button(1-8), then release together, the system

will start processing from the breakpoint.

For example: You want to start processing from the breakpoint 1, then you should

use the combination button “ ”+“ ”, system will restore processing from

breakpoint 1. Take the “1nTest.cnc” as example, it has 6705 lines of G code, The screen

shows below,

Break List
1:1nTest.cnc
2:Empty
3:Empty

Press “ ”for reviewing, afterwards it shows the break line number:

Line NO. 48

Press“ ”prompts the processing information list, user can modify according

to real needs, then press“ ”, the system will restore running at that point. If user

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needs to go backwards from the breakpoint, press “ ”, the screen shows as below:

Input the line number which need to be go back to, and then press“ ”, the

screen shows as below

Line NO. 30

Press“ ”prompts the processing information list, user can modify according

to real needs, then press“ ”, the system will start to process from the new line. The

machine must go HOME before saving a break point or processing.

5.6.3 Part Work

Line Selection Processing is that the user can choose the G code line number to start
and end processing, so that it can react subsection processing.

5.6.4 PwrFlrProtect
When there is a sudden power shut down during processing, system will save current

coordinate and parameters, while power restart, process continue. Before that, system

must have go back to machine HOME. Shown as below:

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Home Type At Start Last power off during working, because of inertia the
All axis home machine position may be error, do you want to restore
Z home only coordinate? It’s recommends not to restore. Press
None axis home CANCEL to HOME, OK to restore.

Press“ ”to continue unfinished processing, it will display stop line No, and the

line number can be chosen. Press“ ”cancel the power failure protection. If user

wants to go backwards from the power failure position, the operation method is the

same way to “Breakpoint processing”.

5.7 Advanced Work

Advanced processing is designed for some special requests in operation, it

contains: Array Work ,Scale Work, Mill Plane ,Auto Plane , Calc Border. The shortcut key

is “ ” shown below, Advanced Work

Array Work
Scale Work
Mill Plane
Auto Center
Calc Border

5.7.1Array Work
Steps as below:

1) Press “ ”to move cursor to the Array work, press “ ”, press “ ”to

select different files list.

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2) Press “ ” to enter file list, then press “ ”move the cursor to choose

object file.

3) Set processing parameters, also can modify the array parameters in this step, or you

can go to “AUTO PRO SETUP”, choose “Work Array” and modify the array

parameters. The rest steps are similar to the normal processing. System will start to

work according to the user‟s setting.

4) In the processing of array work, you can view real time row number, volume number

etc. by pressing “ ”.

Note: Set interval value into a negative value if users want a manual control during array

processing.

5.7.2 Scale Work

If the actual processing requires different sizes of the same file, user can use “scale

work”, and enter a zoom in/out ratio.

Select File
选择 U 盘文件
U Disk File
Steps: Press“ ” to get into “Scale work”. U WENJIAN
Internal File
Recent File

Choose desired processing file and input correct parameters:

Scale Work

X Scale 1

Y Scale 1
Z Scale 1
A Scale 1

And then press “ ” to start processing.

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5.7.3 Mill Plane

Include two types: scan mill and encircle mill.

 Rectangle Mill

Mill Plane Param

X Mill 100
Y Mill 100
Depth 5
Layer D 2
Dia 10
Plunge R 0.800

1) Press “ ”to move cursor to choose the mill type.

2) Press “ ” to enter the scan mill set, it includes: Scan type, Width, Height,

Diameter, Depth, Z Step, T Ratio.

3) Press “ ”to move cursor on the option which need modify, press “ ” to

choose mill type(X Scan or Y Scan), also press this button to modify the parameters.

Press “ ” after modified all the parameters to save them.

 Circular Mill

Mill Plane Param

Mill RAD 50
Depth 5
Layer D 2
Dia 10
Plunge R 0.800

1) Press “ ”to move cursor to choose the mill type.

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2) Press “ ” to enter the scan mill set, it includes: Scan type, Width, Height,

Diameter, Depth, Z Step, T Ratio.

3) Press “ ”to move cursor on the option which need modify, press “ ” to

choose mill type (AC or C), also press this button to modify the parameters. Press

“ ” after modified all the parameters to save them.

5.7.4 Auto Center

Auto Center is to determine the central of the connection between two points which is
used to find the central point of the workpiece embryo.
The specific steps of Auto Centre are as follows (X axis)

Press “ ”to enter into the interface of “Auto Center”, select MidPntAxis.

SelectMidPntAxis
X MidPoint
Y MidPoint

1) Manually move the tool to one side of the workpiece, press “ " to record the
first point, after recording success the screen display as below.

Auto Center
First point record completed

2) Then manually move the tool to the other side of the workpiece, press “ " to
record the second point , after recording success the screen display as below.
The operation of Y axis and Z axis is same of X axis.

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Auto Center
Second point record completed

5.7.5 Calc Border

Calculate bound means user can check the size of processing, So as to avoid

unnecessary waste of materials and processing errors. Steps as below:

1) Press” ” to move the cursor to Calculate bound ,press “ ” to enter,

then press “ ”to select file list, Press “ ”get into the file list

Select File
Internal File
U DISK File
Recent File

2) Press “ ”to choose file. Press “ ”, system start to read the file, after

reading the file, the system will calculate the area.

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Appendix 1. Pulse equivalent calculation

PS1.1 Stepper motor drive
PS1.1.1 Linear axis
Unit:Pul/mm
Formula = pulses per revolution / distance per revolution
Numerator:

Pulses per revolution formula: (360 °/stepper angle* Driver subdivision)

(Some stepper drivers mark pulse number directly).
Denominator:

Distance/revolution formula:

► Screw drive = screw pitch*mechanical transmission ratio(reduction ratio)

► Rack（straight）drive = rack module*gear teeth number*π*mechanical transmission

ratio (reduction ratio)

► Rack（helical）drive = rack module*gear teeth number*π*mechanical transmission

ratio(reduction ratio)/cos（helical angle）

► Pulley & belt drive = π*pulley diameter*mechanical transmission ratio(reduction ratio)

 Screw drive:

360 °
∗Driver subdivision
 pulse =
Stepper angle
Screw pitch∗transmission ratio

E.g.1: Driver nameplate1 E.g.2:Driver nameplate2 Motor nameplate/ stepper angle=1.8°

Explain: Stepper angle is the data of motor, means the angle of motor rotating for a single
step. Driver subdivision is set in the driver.

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In E.g.1, Pulse/rev is Pulses per revolution of stepper motor, so that the user only needs to
select a relative value according to the actual dial code. For example: If user choose 3200
Pulse/rev, indicates (360 °/stepper angle)* Driver subdivision=3200.

In E.g.2, the MSTEP means subdivision number. So, if the stepper angle is 1.8°, selected
subdivision is 16, then (360 °/stepper angle)* subdivision=(360°/1.8)*16=3200.

The use should use correct computational method according to the actual marks of
stepper motor driver nameplate.

Screw pitch (above picture): The distance that the nut moves when the ball screw makes

one rotation.

Transmission ratio: The reduction rate or angular velocity ratio of the front drive sprocket

to the end driven wheel.

 Rack drive:

► Straight teeth:

► Helical teeth:

Explain: Rack module and gear teeth number are both the parameters of the rack. Rack
module*gear teeth number*pi is the pitch circle circumference of the rack.

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 Pulley&belt drive:

d: Pulley diameter

PS1.1.2 Linear axis pulse equivalent computing method

For example: the stepper motor driver dialed code is 1600 pulse/rev.
 Screw drive
1600
screw pitch=5mm,pulse equivalent= 5
=320

 Rack drive

rack module:1.25, gear teeth number:23, π:3.141592654, transmission ratio:1/5(0.2)

helical angle:19°31′42″（≈19.52833333°）

Straightrack
1600
Pulse equivalent= = 88.573
1.25×23×3.141592654×0.2

Helical rack
1600
Pulse equivalent= 。
1.25×23×3.141592654×0.2÷cos（19°31' 42″ ）
1600×cos（19.52833333）
= = 83.478
1.25×23×3.141592654×0.2
NOTES:1.25×23×3.141592654×0.2=18.0641577605

cos(19.52833333)= 0.94247630504668681677372940102406

1.25×23×3.141592654×0.2÷cos(19.52833333)=19.1666969915≈19.1667

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PS1.1.3 Rotary axis (pul/ °)

Formula = pulses per revolution / angles per revolution（360°）

360 ° ×Driver subdivision

Stepper angle
pulse = 360 °×transmission ratio

PS1.1.4 Rotary axis pulse equivalent computing

E.g.:pulse/rev=1600,transmission ratio =1/40
1600
Pulse equivalent= =177.778 (result retains up to 3 decimal places)
360×1/40

PS1.2 Servo driver

The pulse equivalent factory value X, Y and Z on the handle are all 400, which can be

used as a constant or change a new value to set the electronic gear ratio on the servo

motor driver. It can be reduction of a fraction.

Electronic gear ratio molecules that represent the resolution of the encoder are

found in the servo drive specification.

Denominator of electronic gear ratio:

Linear axis
 Screw drive: pulse equivalent * screw pitch*mechanical transmission ratio

 Straightrack: pulse equivalent*rack module*gear teeth number*π*mechanical

transmission ratio

 Helical rack: pulse equivalent* rack module*gear teeth number*π*mechanical

Transmission ratio/cos（helical angle）

 Pulley&belt drive: pulse equivalent *π*pulley diameter*mechanical transmission

ratio

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Rotation axis
 pulse equivalent * 360°*mechanical transmission ratio

Appendiex 2. Common problems and

troubleshooting
PS2.1 Solutions for screen display faults
After powered on the “Screen flicker or automatically restart”

1) Switching mode power supply is insufficient. Check power supply if there are

problems, and change high-quality power supply to solve the problems.

2) The local power grid unstable. Check local grid voltage stability or use the regulator

filter device.

3) The power chip of the handle is ageing. This phenomenon also appears when the

handle is powered through the USB cable to the computer. Please return back the

handle to our company.

4) Temporary solution. Using standard 5V mobile phone charger, supply power through

the USB cable to handle. Duplicate power supply for temporary emergency use.

Failed to set work piece origin during normal operation process

1) It is under the mechanical coordinate system. Check if the main interface displays AX

AY AZ, AA, if yes, should press " "+" " switching to work coordinate

system. Then it can set work origin. Press " " + " " is for going to

mechanical coordinate system where cannot set work origin in there.

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2) The buttons are broken. Go to “SYSTEM SETUP”-“Buttons Check” menu to check

whether the buttons are normal or not.

Assertion error

Assertion error (occurred during the processing or after starting) is generally a

software problem. User can boot the controller by entering “emergency state”, or

re-upgrade it. If can‟t be solved either, user should send back it for repairing.

Unable to read U flash disk or read error occurs

1) Processing by U-disk, screen shows “there is no item in this option”. Format U-disk to

FAT32, change allocation unit to the default configuration size. Then re-import

processing files, it will read normally.

2) U flash disk capacity is too large (16G, 32G or 64G etc.). Recommend replace U

disks such as 2G ,4G, 8G.

3) There is something wrong with USB communicate port or U-disk interface is broken,

change a new USB port or U-disk.

4) There is no any reaction while insert into the U-disk. Change a genuine brand of

U-disk, such as SanDisk, FOUNDER U-disk etc.

5) If the U-disk interface is weak connection, user can copy files into inner memory

space of the controller for temporary solution.

6) Program contains non-standard G codes, or some illegal characters. The system

does not recognize them and interrupt handling. Recommend using professional

simulation software to review the program whether there is an illegal character.

Delete all illegal characters.

PS2.2 FAQ in practical operation

After the machining, the cutting size doesn’t match the actual size in processing file

1) Pulse equivalent is wrong.

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2) User has selected the wrong tool bit which is not the same as it set in process file.

3) Check if there is any problem with the path processing file.

The screen displays “exceed limit” during processing

1) The machine hasn‟t returned ZERO, lead the system is unable to confirm the actual

position. Solution is to go machine ZERO.

2) The reserved processing range is small than the actual file size after user set work

piece origin. Confirm the actual file size and then set a correct working origin.

3) Set wrong working origin in the process of creating processing file path. Check the file

path, and then generate the correct one.

Hard limit triggering

1) If the machine has connected with hard limit, the hard limit switch maybe damaged or

the voltage setup status on X6 is wrong.

2) System has not connected with hard limit signal:Confirm whether connect other

signal wire to hard limit X6 port, if not, check voltage setup normal or not. If normal,

user could go to “MACHINE SETUP”-“Input Confi” and DISABLE X6 port, then go to

“SYSTEM SETUP”- “wipe cache”. If still can‟t solve this problem, user can upgrade

the system.

Z axis（spindle） fall down abnormally（too fast）and cause Z feed amount too much

during processing

1) Z axis working speed exceed the fastest speed cause Z axis loses its steps when

moving up. " MACHINESETUP " - " Max Spd Limit ", set the safe speed.

2) The coupling is loosen or transmission mechanism slipping. Re-adjustment the

connecting parts.

3) The signal wire connected between the interface board and the motor driver has got

interference. Adjust the circuit.

4) Processing file error. Check processing file, try to download the correct processing

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file to U disk or handle internal.

5) There is something wrong（plug loosen or wire damaged or wire diameter is too

slimly）with the lines connecting Z axis motor and motor driver. Replace the lines.

Repeating the same processing file after returning back to the machine ZERO, Z

axis cutting depths are not as same as each other

1) Machining table is uneven or processing object not firmly fixed, re-milling the machine

table to adjust the flatness.

2) Z-axis origin detection switch repeat positioning accuracy error, causing Z axis

homing error each time. Replace a high-quality detection switch.

3) Too much interference in the Z-axis homing process to form a false Z

origin. Re-adjust the wiring.

The machine cannot stop after returning ZERO, and cause spindle hit the machine

body

Double press“ ”to check input signal (Origin detection switch signal). To do

self-test. Detect whether the signal is triggered or disconnected.

1) The origin detection switch is broken. Replace a new one.

2) The distance of the origin detection switch detection sheet beyond the detection

range(This problem is common occurs in optoelectronic and proximity switches) of

the switch, adjust the position of the test piece.

3) The origin detection switch to the interface board wiring aging or loosening. Check

the connections again.

4) The interface board is broken. Return back to us to repair.

5) 50-pin data cable is broken. Replace it with a new data cable.

The machine uniform moves to the reverse direction when backing to the machine

ZERO

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1) The origin detection switch types do not match with the definition of the

corresponding voltage level. Modify the voltage level in the controller. (Normally open

type corresponds to a level defined the direction of the arrow down, normally closed

type corresponds to the level defined arrow up).

2) The origin detection switch is broken. Replace a new one.

3) The origin detection switch connects interface board not well. Refresh the cable to

confirm the wiring is correct.

4) Too much interference, resulting in the illusion of the detection switch has been

triggered. Recalibrated the whole circuit.

5) The interface board is broken. Depot Repair.

6) 50-pin data cable is broken. Replace the data cable.

Abnormally running when processing or the actual file is different from theoretical

file

1) The system program disorder.

2) Too much external interference lead the controller cannot work normally. Re-adjust

overall circuit. (The wires of weak current and strong current should be separately

binding, the inverter and other components should be separated connected each

GND of themselves).

3) There is something wrong while converting the file format and the program appears

illegal characters or system unrecognized codes. Recommended to use third party

simulation software to review the program paths.

Start automatic tool setting, the tool does not stop after touching C.A.D (Tool

sensor).

1) The cutter signal cable connects X5 maybe broken circuit.

2) The "GND" signal port on the interface board hasn‟t been connected with spindle

housing or poor connection.

3) Go to “MACHINE SETUP”-“Input Confi” to confirm if X5 is enabled.

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Coordinate value changes on screen, but the machine does not move

1) If it is one axis not moving, it maybe wiring problem. Change another normal terminal

to this axis wiring terminal, if it moves properly indicating the rear parts of motor driver

have no problem. Check if there is something wrong with interface board or 50-pin

cable. If it is still not moving, it is necessary to detect the corresponding drive and

motor.

2) If all axes are not moving, firstly, check if there are problems in the 50-pin cable and

interface board,; secondly, if the interface board and 50-pin cable are normal, then

user should check the power supply of the motor drivers.

3) If debugged all above parts, but the machine still not move, then the mechanical parts

should be checked.

It is normal to the move from one position to another position, but when return from

that position to the original position is not normal

Mechanical assembly problem, guide screw may be not installed well.

Motor moving direction is wrong

1) Exchange A+&A- or B+&B- cable of the stepper motor

2) Change motor direction mask (not recommend)

The machine vibrates when moves in arc or two-axis linkage movement

1) Check whether the machine is placed horizontally

2) Check if the coupling units loose or not.

3) Increasing the “start speed”, avoid the resonance point.

PS2.3 Electrical components and wiring problem

A single axis or multi axis can only in one direction after machine power on

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1) There is something wrong with the connecting between the interface board and motor

driver common anode end, check the connection.

2) Interface board is broken. Replace the interface board.

3) The motor driver is broken. Replace the driver.

4) Measure the direction voltage of that axis with a multimeter. Check if the direction is

correct.

One axis motor does not move after handle power up

1) Pulse cable and direction cable connect oppositely, adjust connection sequence..

2) 5V common anode end of the motor driver disconnected, check the connection.

3) The motor driver is broken (Performance as the motor moves when push it by hand),

change a new one.

4) The interface chip of the interface board is broken, no pulse signal output.

5) Switch this terminal with another normal terminal to check interface board abnormal

or driver abnormal.

Screen is not bright after power up, but connect the handle to computer with USB
cable the screen displays normally
1) The DC24V voltage of the handle is not available. Check if the DC24V power supply

voltage output is normal or not. If normal, please check if the cable from the power

supply to the interface board is virtual connection.

2) The 50-pin cable is broken or 50 pin connecting plug hasn‟t connected well.

Screen is not bright neither after power up nor connect to computer by USB cable
1) This phenomenon may due to the handle shocked by external force or fall on the

ground, causing the crystal processor broken. Return back to repair.

2) Users connect high voltage power supply to the interface board and cause the handle

and interface board broken. Return back to repair.

The screen display “Spindle on”, actually the spindle off; the screen display
“Spindle off”, actually the spindle on

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1) Line fault. Spindle on signal and COM port is short circuit. Check circuit line.

2) The output level definition reversed. Go to the “voltage setup” and modify the output

level definition (modify the left first arrow direction in the second row).

The handle screen doesn’t light up and shows nothing after power on
1) The power supply voltage is too large or the + and – short circuit burned the chip.

Return to us for repairing.

2) The power supply damaged, change a new one.

3) 50-pin cable is broken, replace it.

4) 50-pin socket broken, send back to us for repairing.

System always alarm after the alarm signal has been connected
Change the input level on X6 (normally open, wiring in parallel; normally closed, wiring in

series).

Press “spindle on” button, but spindle does not start

1) Check wiring, if normal, check if the inverter has alarm, if the inverter is normal and its

setting is correct, and then check if the spindle motor damaged or not.

2) Check if 50-pin cable is loose. Confirm the settings of inverter refer to its manual to

debug one by one.

3) Check interface board. Press“ ” to start spindle, use multimeter to measure Y1

and GND to see whether conducting, if not, interface board or 50-pin cable is broken.

To replace a new one for trouble clearing one by one.

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