AutoRout Router Table
with Centroid M39 Control

Startup

1. Switch on main switch, on cabinet door
2. Switch on “Computer Power” switch
3. Wait for computer to boot and display "Home not set"
4. Release Emergency Stop
5. Press CYCLE START to find and set machine home

The Machine Home position is fully X+ (table left) Y- (carriage front) and Z+ (head up).

Idle Periods

1. Press Emergency Stop to remove power from the servos
2. To resume normal operation, release Emergency Stop.

Shut Down

1. Optionally, press F10/Shutdown, F1/Park to move the axes back near the machine home position. This will save time on the next startup and homing sequence.
2. Press Emergency Stop
3. Press F10/Shutdown, F2/PowerOff
4. Wait for computer display to go fully blank (about 15 seconds)
5. Switch off the “Computer Power” switch
6. Switch off main switch, on the cabinet door

Main Spindle Controls

Selection

The AUX1 and AUX3 keys on the pendant select which spindles are active. AUX1 selects spindle #2 (the left, or far spindle); AUX3 selects spindle #1 (the right, or near spindle).

Commands to run a main spindle, and to move a main slide down, will apply to any active spindles, which could be one, the other or both, as selected with AUX1 and AUX3.

Manual

To start the spindle manually, select SPINDLE MAN on the keypad (LED off), then press the Green “Spindle Start” key in the upper left section of the keypad.

To stop the spindle, press the Red “Spindle Stop” key.

In manual mode, spindle speed initially defaults to 10% (about 1800 RPM).

To increase spindle speed, press the “+” key. To decrease spindle speed, press the “-” key. To set speed to 50% (9000 RPM) press the “100%” key.

To lower the main slide(s), first start the spindle(s), then press AUX2 to lower the slide. Press AUX2 again to raise the slide.

	Select/Deselect Spindle #2
	Select/Deselect Spindle #1
	Start active spindles
	Stop spindles
	Increase spindle speed
	Set speed to middle of range (9000 RPM)
	Decrease spindle speed
	Lower/Raise active main slides

Automatic

To allow the spindle to operate automatically with program commands, select AUTO SPINDLE on the keypad (LED on).

Program M3 and a S code to start the spindle(s) at a specified RPM. Program M5 to stop the spindle(s).

NOTE: You must start the spindle before you can lower its slide.

Drills and Drill Slides

Manual

To operate the drills manually, use the following Aux keys:

	Start/stop drill #2 (left, or far drill)
	Lower/raise drill slide #2
	Start/stop drill #1 (right, or near drill)
	Lower/raise drill slide #1

Automatic

In a program cycle use the following codes to control the drills:

NOTE: You must start the drill before you can lower its slide.

Changing Tools

Press the AUX5 key to momentarily unclamp the tools in the main spindles. Both tools are unclamped simultaneously, so three hands are required to change tools in both spindles.

Dust Shroud

Manual

Press the AUX8 key to lower or raise the dust shrouds.

Automatic

In a program cycle, use M37 to lower the dust shrouds, and M38 to raise them.

Tool Change and End of Program Codes

In a program cycle, use M6 whenever a tool change is required. M6 will turn off all spindles and raise all slides and shrouds. It will then move Z to home and Y to the front; will prompt for the desired tool; and will wait for you to press CYCLE START.

To move Z and Y to this same return point at the end of a program, use the G28 code as follows:

G28 G91 Y0 Z0

Errors, Faults and Warnings

The PLC program can generate the following fault messages, in addition to those listed in the Centroid operator's manual.

You can use the PLC Diagnostic display on the console to view the PLC input and memory locations mentioned with some of the following fault conditions. At the control’s main screen, press Alt-I to activate the PLC Diagnostic display. Press Alt-I again to dismiss it.

The Diagnostic display shows four rows of red and green dots: the first row shows PLC inputs 1 through 80; the second row PLC outputs 1 through 80; the third row PLC memory bits 1 through 80; and the fourth row PLC program stages 1 through 80.

You can use the arrow keys to move a highlight box over any of these locations. The name of the highlighted location will be displayed at the bottom left.

“436 OPTIC1 fault”

The NOPTIC1 servo drive interface board in the control cabinet is reporting a fault condition.

Check optical fibers 4 and 5 from the PC to the NOPTIC1 board; check power in and out of switching power supply PS1; check the 3-wire fault cable from the NOPTIC1 board to the PLC unit. Press and release Emergency Stop to clear the fault.

References:

PLC INP62: indicates the NOPTIC1 fault condition. Green = 0 = okay, Red = 1 = fault.

PLC OUT64: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 94, 131

“9001 Drill #1 motor overload”

Drill motor #1 has tripped the overload relay on its starter.

References:

PLC INP13: indicates the drill starter #1 overload state. Green = 0 = tripped, Red = 1 = okay.

PLC MEM42: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 17, 84

“9002 Drill #2 motor overload”

Drill motor #2 has tripped the overload relay on its starter.

References:

PLC INP14: indicates the drill starter #2 overload state. Green = 0 = tripped, Red = 1 = okay.

PLC MEM43: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 19, 84

“9006 *** X axis servo drive fault ***”

The Aerotech X axis servo drive detected a fault.

References:

PLC INP4: indicates the X servo drive fault state. Green = 0 = okay, Red = 1 = fault

PLC MEM44: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 30, 76

“9007 *** Y axis servo drive fault ***”

The Aerotech Y axis servo drive detected a fault.

References:

PLC INP8: indicates the Y servo drive fault state. Green = 0 = okay, Red = 1 = fault

PLC MEM45: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 35, 78

“9008 *** Z axis servo drive fault ***”

The Aerotech Z axis servo drive detected a fault.

References:

PLC INP12: indicates the Z servo drive fault state. Green = 0 = okay, Red = 1 = fault

PLC MEM46: latches fault until reset with Emergency Stop: Red = 0 = okay, Green = 1 = fault latched

Schematic: Lines 40, 80

“9010 *** INTERNAL PLC FAULT ***”

The Centroid PLC interpreter software has encountered an error while processing the PLC logic. Notify your Centroid dealer and service technician.

Software option unlock codes

These codes usually only need to be entered once. They are stored on the control with the Machine Parameters. They should be kept on file in case the Parameters file is ever lost.

Serial Number: 3885 -- Key A (plain): 0131081485

The following steps are necessary to unlock software features:

1. If at the demo mode or demo expired screen, start at step 7.
2. Go to the Main screen of the Control software.
   (Setup, Load, MDI ... across the bottom of the screen)
3. Press <F1> to enter the Setup screen.
4. Press <F3> to enter the Configuration screen.
5. Type "137" in the window which asks for the password.
   Press <ENTER> to accept this.
6. Press <F3> to enter the Parameters screen.
7. Press <F1> and enter parameter number.
8. Enter parameter value and then press <ENTER>.
9. Repeat step 7 and 8 for each new parameter value.
10. When finished with all parameters press <F10> to save.