This wiki provides a structured summary of the Automation Ready option for TRAK TCsi machines. Content is sourced directly from the TCsi Operating Manual (34241) and TCsi Service Manual (34242).
For an overview of Automation Ready and Auto Door functions across both VMCsi and TCsi platforms, refer to:
TCsi Operating Manual 3.4.1.11 / TCsi Service Manual 9.5 Automation Ready
TRAK manufactures Automation Ready option that will allow end users to interface with a automation systems which includes Cobots or Industrial robots, via digital I/O.
The Automation Ready key features include:
- Remote Cycle Start – allows a robot to start the program in memory.
- Remote Cycle Stop – allows a robot to stop a program.
- Cycle End Output – Signals to the robot the program has finished.
- 4x Automation Request Outputs and Finish Input – M-code driven, allows the CNC to control when the robot interacts with the CNC
- E-stop input and output.
- Front Door open and close outputs.
- Front Door open/close requests.
- Request Chuck Open/Close
TCsi Service Manual 9.5.1 Features Description
| Feature | Description |
|---|---|
| Remote Cycle Start Input | This input will cause the machine to run any program that is ready to be executed. Like when the operator presses the Cycle Start button. |
| Remote Cycle Stop Input | This input will cause the machine to stop at any point in the program. |
| 4x Automation Request Digital Outputs | M-code (M22–M29) controlled outputs that can be turned ON and OFF with the appropriate M-codes. These outputs can also be enabled to cause the machine to stop motion and wait for the Automation Finish Input, via the option screen. • M22 will turn OFF Automation Request 1 • M23 will turn OFF Automation Request 1 • M24 will turn OFF Automation Request 2 • M25 will turn OFF Automation Request 2 • M26 will turn OFF Automation Request 3 • M27 will turn OFF Automation Request 3 • M28 will turn OFF Automation Request 4 • M29 will turn OFF Automation Request 4 |
| Automation Request Finish Input | This input is used with all the Automation Request Outputs, which will indicate to the CNC that the Robot is finished performing the task associated with the Automation Request Output and will cause the machine to continue running its program. |
| Request Chuck Open/Close | This single input is used to request that the Chuck toggle between open and close. |
| Cycle End Output | This output will turn on when an M30 end of program has been activated. |
| E-stop Input | These are a pair of dual contacts which would trigger an E-stop condition on the CNC. Requires Normally Open contacts and should be closed when the CNC is to be in a running. |
| E-stop Output | These are a pair of relay contacts that can be used to connect the CNC E-stop to the automation connected with the machine. |
| Front Door Close Output | This is a single relay contact that can be used to indicate to the automation system that the operator front door is close. |
| Front Door Open Output | If Front Door Option is installed, this is a normally open contact from the Front Door Open switch that can be used to indicate when the machine Door is fully open. |
| Request Front Door Open Input | If Front Door Option is installed, this input will trigger the Front Door to open if there is No E-stop condition and the spindle is not turning. |
| Request Front Door Close Input | If Front Door Option is installed, this input will trigger the Front Door to Close if there is No E-stop condition. |
| Network Port | Used for manufacture programming and debugging. |
TCsi Service Manual 9.5.2 Enable / Disable Automation Ready
TRAK has a custom screen available for enabling and disabling the Automation Ready Options.
To access the screen:
- At the upper right corner of the display, press [M].
- Press SETUP from the left VSK menu bar.
- Select TrakMT Options from the HSK.
Scroll down to the Automation Ready section.
- The Automation Ready option can be Enabled or Disabled in the drop-down menu.
- The selection will take effect immediately, no need to restart the machine.
- When Enabled, all the features described in the specification page will be available.
- The Wait for Finish Input on Automation Request can be individually enabled for each of the four Automation Request Outputs.
- When Enabled, the CNC waits for the Automation Finish Input.
- When Disabled, the corresponding M Code will toggle the output ON and OFF.
- Inputs and outputs can be monitored in the TRAK Diagnostic Window using the Inn.n and Qnn.n variables.
- The TRAK Diagnostic Screen can also be used to view the status of all Digital I/O signals for troubleshooting.
TCsi Service Manual 9.5.3 Interface Specifications
All the connections between the CNC and the Automation (Robot) are located at the Automation Ready Box.
- All input and output terminals are push-in style.
- Recommended wire: 22–16 AWG with ferrule.
- Use ferrules to connect automation wiring at the Automation Ready Box.
TCsi Service Manual 9.5.3.1 E-Stop Input to CNC
Dual channel E-stop input to CNC.
When connecting Automation to the E-stop input terminals, remove jumpers and add contacts to the corresponding terminals.
- Channel 1 (24-T12B) between TB901 and TB902
- Channel 2 (0-T22B) between TB903 and TB904
- Internal Circuit Power 24V, 100mA
TCsi Service Manual 9.5.3.2 E-Stop Output to Automation (Robot)
Dual channel E-stop Relay Output contacts.
These contacts will open when any of the E-stops is pressed on the CNC or when power is turned off.
- Channel 1 (ESO1) is between TB905 and TB906
- Channel 2 (ESO2) is between TB907 and TB908
- E-stop output circuits are rated up to 250V, 3 amps
TCsi Service Manual 9.5.3.3 Front Door Close Output
Dual channel Relay Output contacts.
These contacts will open when the Front Door is not fully closed.
- Channel 1 (FDC11 & FDC14) is between TB909 and TB910
- Door Close circuits are rated up to 250V, 3 amps
TCsi Service Manual 9.5.3.4 Automation Ready Outputs
Automation Request and Cycle End.
Circuit and relay contact output SPDT, 250V, 3A.
- Automation Request 1: K51, Internal Signal: Q45.3
- Automation Request 2: K52, Internal Signal: Q45.5
- Automation Request 3: K53, Internal Signal: Q45.6
- Automation Request 4: K54, Internal Signal: Q45.7
- Cycle End (M30): K55, Internal Signal: Q40.6
TCsi Service Manual 9.5.3.5 Automation Ready Inputs
Inputs require a contact closure between P0 and the associated input to activate.
- Input nominal rating: 24V 10mA, Sourcing Digital input
- Provided internal 24E-1 (24V) for inputs
- Automation Finish, Signal: I40.5 on TB921
- Connection: TB921-3 (24E-1) & TB921-4 (I40.5)
- Remote Cycle Start, Signal: I38.3 on TB922
- Connection: TB922-3 (24E-1) & TB922-4 (I38.3)
- Remote Cycle Stop, Signal: I38.1 on TB923
- Connection: TB923-3 (24E-1) & TB923-4 (I38.1)
- Request Chuck Clamp/Unclamp, Signal: I40.3 on TB924
- Connection: TB924-3 (24E-1) & TB924-4 (I40.3)
- Request Front Door Open (Auto Door Option required), Signal: I34.3 on TB925
- Connection: TB925-3 (24E-1) & TB925-4 (I34.3)
- Request Front Door Close (Auto Door Option required), Signal: I34.5 on TB926
- Connection: TB926-3 (24E-1) & TB926-4 (I34.5)
TCsi Service Manual 9.5.3.6 Front Door Open Output
This feature is available with the Auto Front Door Option.
This is a Normally Open single switch contact that is triggered when the Front Door is fully open.
- Circuits Rating Max: 250V, 3 amps
- (FDO23 & FDO24) between TB913 and TB914
TCsi Service Manual 9.5.3.7 Automation Box Cable Entry Port
The Automation Box has three sets of 3 different standard hole sizes for attaching conduits or cable glands.
Use these for wiring all the external connections going to a Robot Arm or Automation system from the Automation Ready Box.
- Each hole is sealed with a panel plug.
- Panel plug must be removed when adding a cable conduit fitting or cable gland.
Hole Sizes:
- Ø .876 THRU – Nominal 1/2" conduit
- Ø 1.095 THRU – Nominal 3/4" conduit
- Ø 1.376 THRU – Nominal 1" conduit
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