MachMotion 2000 Series - User Manual

Limits of increasing the performance of Industrial Ethernet protocols - Scientific Figure on ResearchGate. Available
from: https://www.researchgate.net/figure/EtherCAT-with-100-Mbps_fig4_4304922 [accessed 21 Jan, 2022]
RapidPath is MachMotion's EtherCAT motion controller solution. It has integrations for a range of Yaskawa EtherCAT
servo drives, VFDs, the Titanio EverCNC stepper drive, and a subset of the Beckhoff I/O devices. It can be licensed for
up to 64 motors. The control uses a Windows interface to a real time operating system where the EtherCAT master
resides. The operating system is called Intime and the interface is called RapidSetup.
An EtherCAT network is comprised of a communication master and a series of network nodes. Each millisecond, a
packet of information (known as a frame) is sent from the master to the network and a responding frame is received
back. The frame from the master includes information for each node, such as commanded axis position and outputs.
The frame the master receives back includes feedback position and input status, among many other things.
An EtherCAT network is a sequence of devices called nodes. A node is added to the network by plugging an EtherCAT
cable from the out port of one node to the in port of the next node. The in port of the first node is attached to the
EtherCAT port on the back of the control. The out port of the last node will be empty and unconnected. This will create
a chain of devices in order.
I/O couplers will have multiple node items on the network for each coupler. Only the couplers have in and out ports,
but each I/O slice is a distinct node on the network. Some I/O slices that are all 0V connections are not part of the
network. Other example of potential network nodes include servo drives and VFDs.
When there are changes to the network topology due to nodes being added or removed, the communication on the
network will be shut down and the system will have to regenerate. If the machine is running during this time, all
systems will disable. The machine is unable to be enabled while the network is not operational.
If the network has had nodes added to it, the regeneration process will need no interaction from the operator. If the
network has had nodes removed from it, the control will ask if the user wants to override the saved topology and use
the new network. This may result in settings or I/O mappings being lost, as some devices are no longer on the network.
Note that the network does not distinguish unique order of nodes on the network; if you swap the order of two servo
2000 Series RapidPath Operating
Manual
Introduction
EtherCAT Network Basics
Communication
Building a Network
Regenerating a Network

Summary

Introduction and Network Basics

Introduction

Overview of the RapidPath motion controller and its capabilities.

EtherCAT Network Fundamentals

Understanding communication, building, and regenerating EtherCAT networks.

System Configuration

Configuration Overview

General notes on configuration and the requirement for the machine to be disabled.

Axis Configuration

Details on connecting and enabling axes for motion control.

Axis Mapping

Assigning enabled motors to specific axes for motion control.

Motor Control Setup

Motor Direction, Velocity, and Acceleration

Setting motor direction, maximum speed, and acceleration values.

Unit Calibration

Calibrating machine units for accurate movement using automatic methods.

Manual Unit Calibration

Calibrating units through manual measurement and input.

Drive and Backlash Configuration

Backlash Compensation

Setting up and configuring backlash compensation for improved motion accuracy.

Drive Parameters

Editable drive parameters for motor control and configuration.

Homing and Limit Setup

Homing Procedures and Methods

Setting up homing, understanding status, sequences, and selecting methods.

Absolute Encoders

Enabling and configuring absolute encoders for precise positioning.

Soft Limits

Defining software-based travel limits for axes to prevent overtravel.

I;O and Signal Management

I;O Overview and Naming

Understanding I/O points, Beckhoff naming conventions, and general I/O setup.

Input Signals and Switches

Mapping input signals, limit switches, and home switches.

Output Signals and Analog Signals

Configuring output signals, analog I/O, and scaling for analog signals.

Probing Setup

Mapping probe signals to I/O points for measurement tasks.

Spindle, VFD, and Machine Operation

Spindle Configuration

Setting up servo and analog spindles as main or auxiliary devices.

VFD Configuration

Configuring Variable Frequency Drives (VFDs) for main or auxiliary spindle operation.

Subspindle Configuration

Setting up and controlling a subspindle for specialized operations.

Machine Specific Controls

Configuring Grind Wheel and Regulating Wheel operations.

Advanced Features and Diagnostics

Additional Configurations

Setting up lube systems, dual tables, and global monitoring.

Screen Customizations

Customizing operator interface elements and function buttons.

Diagnostics and Device Functions

Accessing system diagnostics and device-specific functionalities.

MachMotion 2000 Series Specifications

General

Operating System	Windows 10 IoT
Video Output	HDMI
USB	USB 3.0
Power Supply	24V DC
Display	Optional touchscreen
Operating Temperature	0°C to 50°C