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Motion Application Program CNC User Manual

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1. 61 Deleting eoram M 61 Display Registers and Graph i ccicesscscccscsseveasacesesddenaseece esn sane ER eee ERR ea seide e aiins seras EPA Enisi 62 Display Registers seseo arrier eave i i 62 Display Origi sern OTT E E EAE EE EERE E EE E ENER E EERE 62 Display Trace BUPT CM iio divacsekeade setae siaaa TENE EEEE EEE EE EENE EEEE ER e 62 MEUM HERI 63 RUNNING a Progratm iiie ena ere a he auo ARR cage RE RA EA EAEEREN EAEN ERA RAOR TKANE RAES NENES EREA 63 rop UOMTTTIT 63 Modi p OREUDETILTUMMUEP 63 el mE 64 TOOL HEINE SET EPIIT 64 Speed Decrease c nen devdsins diseesdssecbe EEEE EEE ETE R aa 64 Speed INCKCASE sic avscwceesiacica sis saneevae ciewae sianewesiecien selseuseedeen ENEE E SERERE ENESE EEEE 64 Stop MOON PM 64 psi mE 65 Operators SCFGOD a ococokT ERR DO eV VR MEO OU i x NR QUEM pd AV UO QUAM A NDPA NE KU C NORTE 66 epcrEbecJg x 66 Oppem File sertin x vents eenvase swanesadeestaobacianenneseeueceaubenaay deed aa EAE 66 LOOP X 67 Display Registers and Graph sssr cs escciccesvssevessacacensseeassvce esassneacdeces E ERU EROR E dinhi
2. 51 Variables amp Data Command Definitions eeeeeeeeeeeeeeeeeeeeee eee e e esses 52 Copyback Copy Child Registers leeeeeeeeeeeeeeeeeeee hehehe nhe hene heec sessi serre e 52 Load Register i eere eer reo SR OR e RR EARS RRRRE ERA US RERO RR Qa ERREUR Gub EROE AEE T ESSA EE USER ES 52 Load ESCORT TITIO DTI TITIUS 53 Load AI ADIRE TERT 54 Load tape n M 54 Load Parameter File 2 ise tuo eer erro Uva Eve RP VC A Aersei DS New e ROTER wade VOR ES RT S DNU 54 Load System VAIS eee eee rere e past reo Ree e n aa gu dene assess gale ce ie PRRE R RE ERE eer E YE CK FREE 54 Parse File i see en ent onere v Dudes vidas ds cue E ERES PEERS E pk d vyvavvva kae Pese dur flle tears bebe 55 REG TY PE c m 56 Rewind Fite Poihtet ooi RI eI E I D e ERR AERE RR eX ER C OE HEN ay SY EVE ok Seka S YxERCFEEY E RS 56 Canvas Drawing Command Definitions cece c cece cece eee e eee eee teen ee sees hehehe e hehe ese ene 57 Draw CanVvasissssexes cedex assa eRU ec ov dean EE ESTA ENE Vea D VE VE veru ha diys exe ER RE D EN Ue ses 57 Clear Canvas ssseis evo a a ERR RR A MEER RR ed CORE TOR ENPR M ERNRARRERPREEEI e C DECR M E SEE REA RM IEEE TRE 57 Canvas Draw POIDter sss ee evoca Ra rre t vice hn eR ha Exc av Ra C eU a CREE P QE cas RE Ra E AR E E SE VEN REUS 57 all eidcm MITTTT 57 m 3 of 70 Sept 2014 D
3. 04 MOVE 50 00 70 00 0 00 Move axis to positions shown 05 END End of program Sine This takes the sine of an angle entered in Radians or in Degrees and returns it in the Register specified Place the cursor over the Cosine command and press enter to show a selection box for Radians or Angle Square Root This takes the square root of a value value or register and returns it in the Register specified Sum To find the sum of values contained in a series of registers enter the start register and the finish register in a range Also enter the result register to be used Once the command has run the sum will be placed in the destination register Tangent This takes the tangent of an angle entered in Radians or in Degrees and returns it in the Register specified Place the cursor over the Tangent command and press enter to show a selection box for Radians or Angle 49 of 70 Sept 2014 Timer Command Definitions Halt Stop the Timer This command has just 1 parameter and that is the register assigned to the timer that you want to stop No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 R05 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 TIMER R31 RB as 1000 The register 31 R31 data1 will be used as a down counter timer R 1 The timer will use the channel
4. If any Jump commands or similar that require a specific line number are used in the program and are below the deleted line the operator will be prompted to automatically adjust these numbers or leave as they are Display Registers and Graph 2a By pressing the corresponding key a pop up menu will be drawn as follows Ho Command The user can scroll down between the options using the UP and Down keys and press ENTER to select an option Display Registers Will show on screen the current value stored on each Register Using the up and down arrows the user can scroll through the 256 registers Display Origins This will display a small pop up box with the x y z origins that have been set for the edges of the part to be machined Display Trace Buffer This feature shows the sequence of lines that have last been run This is useful in debugging a program as you cannot always see where a jump has actually gone to or which condition was met This is a circular buffer and gets overwritten and so only shows the last 256 lines run 62 of 70 Sept 2014 um Visualise This option shows the toolpath that is generated by the commands entered This is useful for checking the part generation and the envisaged shape Running a Program M Once the database has been updated with the users program the controller is ready for use Use the F7 key to start th
5. A red side bar will be drawn to indicate where the command will skip to this helps avoid errors when programming CALL MAP Program This command calls another saved MAP program that you have previously created you can have as many sub programs as needed depending on the controllers memory capacity After the sub program is executed the program will return to the following line after the CALL command and resume the original program 39 of 70 Sept 2014 Press enter when the command is highlighted and a file selection box will appear Use the and keys to change directory and the up and down arrow keys to choose the file to be used Please remember that if you pick a file on C the pen drive will always need to be plugged in before the program is run otherwise unexpected results or possible damage to the machine will occur Once a file has been tested we suggest that it be moved to the A battery backed or B FLASH drives for permanent storage Each Sub program can have it s own Having a sub program is very beneficial when writing complex process s as they can be broken down into small routines and called as needed This also saves re writing the routing if it is to be used many times It can also be possible to test each routine on its own without running the full program which simplifies troubleshooting and prevents material wastage CALL SUBROUTINE This command has to be used together with the BEGIN command and the END FUNC
6. The operator menu can not be used without at least one product in existence To open the product that is required for production press the key below the icon open that is F3 on the controller s keypad The controller will draw the retrieve file menu as shown in Figure 25 in the next section Use the up and down arrow keys to select the required file this will be highlighted in white Press ENTER to load the selected file or MENU to return to the operator menu After a file has been selected it s name will appear in the file name box 66 of 70 Sept 2014 Loop Q If the cycles quantity required is greater than 0 zero the system will continue to operate until the counter is counted down to zero If the counter is zero when the process is started it is the same as Don t count and therefore the process will continue without limit To enter a value in the counter press the key below the icon that is F4 the controller will display a message box containing the words Enter loop quantity gt at the prompt enter the quantity required then press enter After the command the controller will display the new target count This is a temporary setting and the counter will be set to 0 automatically after the loop is finish Display Registers and Graph rv By pressing the corresponding key a pop up menu will be drawn as follows Ho Command The user can scroll down between
7. 07 OUTPUT 0 Turn OFF all the OUTPUTS 08 END End of program In the above example the loop will repeat as long as the condition stated here is met If the value stored in register RO5 is not O the execution of the program will jump to the DO command and execute all the lines in between 46 of 70 Sept 2014 Maths Command Definitions AVG This command is for averaging the value of the specified registers and the result will be stored in another specified register No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEME 10 00 The Register 5 R05 is being loaded with the value 10 01 LOAD REG RO6 WENN 20 00 The Register 6 R06 is being loaded with the value 20 02 LOAD REG RO7 MEN 30 The Register 7 RO7 is being loaded with the value 30 03 AVG R05 R07 ROO This command is averaging the values of the registers RO5 to RO7 specified in start register Data1 and end register Data2 and storing the result in ROO Data3 04 END End of program Cosine This takes the cosine of an angle entered in Radians or in Degrees and returns it in the Register specified Place the cursor over the Cosine command and press enter to show a selection box for Radians or Angle Find Maximum To find the maximum value contained in a series of registers enter the start register and the finish register in a range Also enter the result register to be used Once the command has run the num
8. TRM Motion Application Program CNC User Manual 1 of 70 Sept 2014 Table of Contents Health and SAFC ciccisicexcscnsscneiticawanuvessawacdunssaannedadsenssancansedeavas sn seeawanwaewanne 5 Version UDOALSS MN 6 REGISEEIS f dead es 6 Sticky sis scssccieciasessinsclenseve et evabedseedusievvasnns a08 cis deuisasieiaeb eds sense cause deleseeeesaiseauiaaele aes eaye s 6 CANVAS IPM E E E E E E E 6 AC Drive AIL 6 User INC ACS TET LT T IIT 7 CM e 7 enisi mE 8 Operator MEMU sss iis esset eka tra RE essin es RE EKSENE EATE ERROR RADAR EOE S ee ERES a ERR ERE 9 Edit Create Mn ue repose etie ve rss et ego soe ve sUe de Ro snae E eden cs hedede rosse VE RUPUERE UE SER REFMF DUSeS NU e eUE 9 cT ETHER 10 IBEIIUEPIRS RIDERE 10 MAP Commarids iiic ko RARE E NE RRREEREARERAR ARRIERE RE ERA URRVRUNRAM RR BARRERA QUU AA Ra TUAE 11 OVEIVICW aonne e n E omaeaenae cece las E E E Conese meee cucemnaamesyaieabadmnnemaaiie 11 Motion Control Command Definitions cccce cece cence eee eee eee eee enhn enhn 16 DELETE 16 DO MOVE WHILE isse m 16 HELIX PMC Series Only 17 HOME EET 17 hjscm ETRURIAE 17 ejr UE 18 Abso
9. 001F Draw Line There are four parameters to the Draw Line command Enter the X and Y start position in of where the line is to start in the first two data columns Next set the X and Y finish points in the last two data columns Use the Set Colours Command before the Draw Line command to set the colour of 57 of 70 Sept 2014 the line No Command Data1 Data2 Data3 Data4 Explanation 0 Draw Line 50 0 0 100 Starts drawing at the top centre of the screen and finishes at the bottom centre Vertical Line is produced 1 Draw Line 0 50 100 0 Starts drawing at the middle left of the screen and finishes at the right middle Horizontal Line is produced 10 END End of program In the above example a crosshair pair of lines is produced centrally on the screen Draw JPEG Image The Jpeg Image command draws an image on the canvas starting at draw point X Y set with the DRAW POS command The data fields are joined together to form the stored file name on the SMC this should be no more than 12 characters on the SMC and on the PMC4 16 JPEG Image Size MAP command Jpeg Size sets the size of a Jpeg image in the X and Y planes in percentage of the canvas area Data 0 X plane size max value 100 Data 1 Y plane size max value 100 This command should be used before the Draw Jpeg command so that the size is set when drawn Work Piece Size Specifies the dimensions of the work piece to be
10. 52 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 The VorR Value or Register parameter is accessed by placing the cursor on top of the data1 or data2 of this command and pressing ENTER A pop up window appears with 10 options In this example we choose Value or Register VorR which indicates that the data2 has to be a value or a register Please note that the meaning of data2 depends of the option selected 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 DEC JUMP R05 1 The program will decrement in 1 the value loaded in the Register 5 R05 and will compare the result with 0 if it is different to 0 the execution of the program will jump to line number 1 When the comparison is equal to 0 the program will continue with line number 3 03 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 04 MOVE 50 00 70 00 0 00 Move axis 0 to 100 and axis 1 to 200 05 END End of program Load Counter Allows the user to load one of two counters 0 and 1 with a value This relates to the Load Register command when it is set to load from Get Jog Encoder Position Map LD COUNTER command is used to load a value into the jog wheel registers where the value loaded is long signed data for SMC there are two channels 0 to 1 and for
11. IF statement in basic Pascal or C programming languages in that if an input bit is active and the bit number is within range the processor will jump to the line listed in the data parameter 2 For example in an application input 3 is connected to a hopper sensor such that when the hopper is below a minimum level the signal becomes inactive high When the signal is inactive a message is displayed and the process paused The following code illustrates this No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 JUMP 3 4 If port bit 3 is active low jump to line 6 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 MOVE 50 00 70 00 0 00 Move axis 0 to 100 and axis 1 to 200 END End of program Main Section The Main Section command defines the start of the Running program All code prior to this line can be regarded as set up code Main section has two options press enter to access them They are Run from start and Run if not homed Run From Start Every time the program is run the initialisation code all code before the Main Section will be run as well Run if Not Homed The initialisation code will be run only if the system has not homed
12. No Command Data1 Data2 Explanation 00 SPEED 80 00 100 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 Move axis 0 to 100 and axis 1 to 200 02 OUTPUT 4 1 The program turns ON output 7 4 is the representation of a binary number in the decimal system in this case the output 2 is the only output with a 1 03 INDEX 75 00 10 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 END End of program PRINT REGISTER Print Register prints the value of a selected register on screen as the process is running The screen position the data appears at is controlled via the X and Y columns If desired further register prints can be made in the program at a different location to avoid overwriting the previous data Use the same location to update the data already present 36 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LOAD REG R25 NN 547 This loads register 25 with the value 547 The VorR parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears PRINT REG R25 50 25 Print on screen the value of register 25 i e 547 Start printing at a position 50 of the screen width and 25 down 04 END End of program 0 WRITE This command stores the registers and its contents in a file for future use The user has to
13. SLONG Signed long is an integer number that can be positive or negative 2 ULONG Unsigned long is an integer number without sign 3 FLOAT Float is a register that can store decimal places 5 BYTE Unsigned Byte is a type of register that can only store maximum of a byte This means that the maximum number it can store is 255 If you try to store a bigger number the controller will AND the byte with 255 and will store the result Place the cursor in the Data1 or Data2 column and type in the register number to start from You can either enter the number directly or press the key for a prompt box Pressing the Enter key in either column will bring up the pop up box of options available as in the table above Scroll to the required type and press enter No Command Data1 Data2 Data3 Explanation 0 REG TYPE Roo0 BN R005 This line will set all 6 registers from 0 to 5 to type Char 1 IREG TYPE Roo6 Besi R020 This line will set all 15 registers from 6 to 20 to type Float for use with decimal places 10 END End of program Rewind File Pointer If a file has been partially completed parsed and for example a tool breaks the position can be re wound to the beginning and the whole job run again Keys can be set up as yes no by using registers to capture a key to and comparing the value captured with that expected 56 of 70 Sept 2014 Canvas Drawing Command Definitions Draw Canv
14. motion editor has a user friendly interface and has a pull down menu system Upon accessing the commands menu for example the user is presented with a list of possible commands the up and down arrow keys are then used to highlight the commands the user wishes to insert into the programme Once the command is highlighted it may be entered in to the database by pressing the Enter key then by using the right or left Arrow keys the user simply moves the cursor to the information they wish to edit The system is programmed to accept data in a strict format which prevents the end user from entering erroneous data If the end user attempts to enter data incorrectly the system will prompt advising the user of the data limits From a users point of view a major benefit of using MAP is that no technical knowledge is required in order to programme the system Using the MAP database principle any advanced application programme may be written such that the program can be run from a simple operator interface A MAP system requires calibration information in order to operate to standard measurements The installer must programme the limits for the system which include motor and encoder details axis dimension limits and operational options Please note that most menu s have a line number associated with that item However that number is not shown for clarity The top item will be O For example bring up the commands menu and press 3 and then 6 the system wi
15. CCW When Spindle is set to M5 Spindle OFF neither parameter has any affect as the output is off The M4 and M3 direction commands are setup in the Assign Outputs in the Technical Setup Menu These outputs would be linked to a drive to automatically set rotation direction useful for tapping applications A lot of machines may never use reverse rotation and therefore if the drive is hard wired the output type can be ignored and only the speed set Data 0 RPM setting from a constant or a register number 26 of 70 Sept 2014 Data 1 Maximum speed in the CSS mode only from a constant or a register number Also be aware that using the Output command to write directly to the drivers will affect the outputs set by this command TOOL Please note that this command is to be removed in future releases The Tool command has only the one parameter and this is to select the number of the too to be used The user Creates a tool map file for this command to use 3 27 of 70 Sept 2014 Input Command Definitions ADC This command is used to store the digital value of the analogue input in a register s No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis O and 10 mm for axis 1 02 MATH R05 I 2 The value stored in the Register 5 R05 will be
16. Recording data based on two parameters Maximum number of samples to take and the time period between samples Time period is in Stop Data Recording Stops Recording data there are no further parameters for this command 59 of 70 Sept 2014 Se Other Menus Ho Command LLL T the 3r Lhe praoaram OF Options Menu By pressing the key under the menu icon a pull down menu appears showing 4 options as shown above These options are r ET 3 Ex or t S i 5 Lit m M M E Loop quantity The controller has a loop counter which stops the controller when the counter reaches zero If the counter is initially set to zero then the machine will operate until the operator stops the controller by pressing a key on the Keypad The operator should programme the loop counter with the number of repetitions they wish the system to complete Once the loop counter reaches 0 the program will stop and the counter will be set to zero again Load Save Save As MAP file The user can store and recall from Memory as many files as needed the only limit being the size of the memory For the available internal memory please see the datasheet for the particular controller you are using The user can also save programs into a USB drive if extra space is required or for back up When the pop up window appears the user first has to select where to save the file by using the and keys to select a drive A R
17. at position X 110 0 Y 100 00 The centre point is always specified relative to the current position with Data1 and Data2 parameters Therefore the centre point is located in X 110 00 0 00 110 00 Xc and for Y 100 00 5 00 95 00 Yc The arc will have an angle of 90 degrees Data3 06 END End of program DO MOVE WHILE This command is a conditional Move command and is similar to the Do While command except that it includes a position for each axis to move to It will move the distance set by the user unless the condition is not true Note that this command requires the user to close the command by entering a WHILE command No Command Data1 Data2 Data3 Explanation 00 DO MOVE 100 00 0 00 The axis 0 Data1 will start to move to 100 00 and axis 1 Data2 will remain in 0 01 LOAD RO NH Loads the Register 5 R05 with the logic value of the input 2 Data2 02 WHILE m5 Bo This is the end of the DO MOVE WHILE command 03 MOVE 0 00 0 00 Moves axis 0 and axis1 Data1 and Data2 to zero 04 END End of program The Loop will repeat as long as the condition stated here is met or the DO MOVE distance has not reached its target set 100 00 in this example In this example if 16 of 70 Sept 2014 the register RO5 is loaded with O the execution of the program will jump to the DO_MOVE command and execute all the lines
18. axis 1 02 MATH R05 l2 The value stored in the Register 5 R05 will be multiplied by 2 and the result will be stored again in R05 03 REVOLVE 1 BEI 85 00 Axis 1 data1 column will revolve continuously at 85 00 04 TORQUE LIM 1 50 00 This command will limit the torque of axis 1 data1 to 50 of the maximum 05 END End of program 22 of 70 Sept 2014 Machine Specific Air Op Drill The drill command is used where an axis needs to be sensed in the up position before movement can occur and once in position a go signal is given which then waits for a down position sensor to be triggered before turning off the output and if required turning on another output to reverse the drill action The second output is sometimes not required as many drill heads have a spring or pneumatic automatic return The parameters for the command are quite straight forward there are 2 columns for the X Y positions of the hole to be drilled and the third column is for the head number to be used X Y Offsets for a maximum of 3 heads can be programmed in the installation menu along with 6 inputs and 6 outputs in the IO installation menu see installation manual for further details on setup No Command Data1 Data2 Data3 Explanation 00 Drill 25 25 0 Set X Y and Head to be used 01 Drill 50 25 1 Set X Y and Head to be used 02 Drill 100 25 2 Set X Y and Head to be used 05 END End of progr
19. in between in this case only the LOAD command The parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears with multiple options HELIX PMC Series Only The Helix command is a 3 axis command moving X and Y in a circular movement whilst changing Z in the required direction at a rate to give the required step This is also used by the Gcode G2 clock wise arc command There are four parameters to the command to determine the required result Data 0 x constant or register float relative X centre point Data 1 y constant or register float relative Y centre point Data 2 Angle constant or register float angle of rotation Data 3 Height constant or register float the relative height change The controller will automatically calculate the speeds based on the angle and Z final position A 180 angle will only give half a rotation 360 a full rotation and 720 two full rotations Increase the angle to the desired number of revolutions based on the finish required HOME The HOME Command allows the user to re calibrate to the home sensor at any time If there is no Home sensor allocated the current position will be set to zero If a sensor has been set then the display will show setting neutral and the axes will all move back to the home switches Usually the MAP system will home on first run and then retain this setting and remain accurate however
20. is to be used from The tool changer is setup in the Technical menu see installation manual The Velocity parameter is the maximum velocity set in the Speed Settings menu see installation manual There are 2 parameters available The first is the Register to put the value into and the second is the number of the axis the data is to be used from Data logger all samples are on same time period and this records the number of samples taken Parse File Adding the Parse File command to a program allows the system to extract co ordinates and other information sent to the controller Various commands in MAP can then use the information stored in the registers to move to position select a tool cut or drill before moving onto the next position A third register is used to store any leftover data that may have been received but not supported Normally another command such as While would be used to check to see if any more data was present Testing for a zero on the third register signifies that the end of file has been reached and there is no further data to process The program can then be stopped or continue with the rest of the program If the parsing of the file is stopped part way through a Rewind File Pointer command can be used to restart the parsing of the file 55 of 70 Sept 2014 REG_TYPE This command is to set the type of register There are 5 options to choose the register type They are as follows 1
21. make them easier and quick to find A new feature in MAP CNC is a sticky cursor This was implemented so that returning to the same command or category is quick and eliminates many key presses from the previous versions of MAP Press e key to reveal the commands pull down menu Ho Command Motion Contral T Harkas the IL rz T 1 OF t the Program ar siota 3 The desired command is selected by moving the cursor to the line required using the arrow keys Once the desired command is highlighted pressing the ENTER key will cause the command to be entered on the current highlighted line Any existing commands will be moved down one position If the menu has been selected in error pressing the Esc key will exit the menu without changing the database After entering a command the controller will now display the new command in the database Move the cursor to the first data location I E to the right of the command and enter data using the number keys followed by the Enter or right arrow key Some commands require data to be entered for two axis or that other values be selected by using the enter key or keys this will be indicated by a heading above the column and an information line towards the bottom of the screen If a value is entered that exceeds the system maximums a message box will be drawn this will prompt the user with the maximum data value When the user acknowledges the error the system will enter the
22. multiplied for 2 and the result will be stored again in R05 03 REVOLVE 1 B 85 00 The axis number 1 data1 column will revolve continuously at 85 00 04 ADC 2 ROO RO2 The digital value of the analogue input 2 Data1 will be stored in ROO R01 and R02 05 END End of program The ADC command uses just one or a range of registers If a range is to be used the first time the command is processed the value read will be written to the first register the next time the ADC is read the register number is indexed and the value written This way a loop can be used to write to a number of registers and then by using an average command on those registers any noise or drift can be nulled out Import This command is used to receive data into the controller from a computer a program from TRM has to be installed into the PC first or from another controller running compatible software The data received is stored into the registers for future use The controller has to be connected to the computer via a serial lead using the RS232 connector Before using this command the user has to set up the speed of communications Baud Rate in Technical Menu gt Set Up Menu gt Serial Comms Menu 28 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 0 LOAD REG R31 BE b5 Register 31 R31 is loaded with the value 5 data2 In this program Register 31 is only in use as a flag and when sending the data from the cont
23. number 8 data2 and the starting value will be 1000 data3 multiplied by 10mS e g 10S The R 1 parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears with 2 options R 1 and R 1 03 INPUT 5 0 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 HALT TIMER R31 Stops the timer running on R31 05 IF R31 HN o 2 Here we are verifying if the value of the timer used in line 2 R31 is different to O data2 or not If not the program will jump to line 2 data3 Once a timer has reach O it will stop running Please note that the timer by itself does not stop the program if the user only wants to stop the program for a little while then the WAIT command is available 05 ANALOGUE OP 3 35 00 The analogue output 3 will output 35 00 of 10 volts e g 3 5V 07 END End of program Timer This command gives access to the timers there are 8 timers available The command has 4 parameters Reg No The user has to set 1 of the registers available as a counter The user can then manipulate the counter as required by utilising any other command that can write to the register R 1 or R 1 The user has to choose if the counter is a down counter or up counter In order to select this parameter the user has to move the cursor to one of the Data columns and by pressing ENTER the 2 options will be shown i
24. parameters that can be loaded in the registers are found by moving the cursor to the command name and pressing ENTER 1 Value or Register By using this option it is possible to load into the register a value or the VorR value stored in a different register 2 Actual position The user selects a register and loads it with the actual position of any of Apos the axes the user has to specify which axis 3 Encoder Register The user can select any of the 2 SMC or 3 PMC on board encoder Encr registers and load its value into a selected register 4 Following Error The following error is loaded into the register selected by the user Ferr 5 Torque Output The torque output value is loaded into the register Torq 6 Get Input Port The decimal value of the 16 digital inputs is loaded into a selected Port register 7 Input Port Bit The user selects what input bit to load into the register As it is only one IP b bit the value loaded will always be 1 or 0 8 Get keypad Input Load the value of the key pressed into a selected register Key 9 Get Jog Encoder This command loads the position of the Jog encoder into the programmed Position register Jpos 10 Tool Number Load the current tool number into the destination register Data 1 is T gt R unused 11 Load Register The contents of a register pointed to by the value contained in another Indirect register are loaded into the destination register R R
25. program number 0 After the execution of the sub program MAP will execute the next line Sub programs are located at the end of the MAP program 02 LED 0 Turn OFF the LED s 03 CALL 0 Calls the sub program number O this is the second time the sub program O is called in this program After the execution of the sub program MAP will execute the next line Sub programs are located at the end of the MAP program 04 WAIT 0 20 Waits 0 2 seconds 05 BEGIN 0 Begins the sub program 0 All lines below a BEGIN belong to sub programs therefore will only be executed when a CALL command calls the sub program 06 MOVE 100 00 100 00 100 00 All 3 axis are moving to position 100 00 07 WAIT 0 20 Waits 0 2 seconds 08 MOVE 100 00 100 00 100 00 All 3 axis are moving to position 0 00 09 END Function End of sub program 0 After this instruction the program will return to the next line after the sub program was called In order to use this command select the END command and then move the cursor to the Data1 parameter press ENTER and select the END return option 10 END End of program BRANCH NE Branch not true this command differs from the IF command because it does not jump to a fixed line If the condition is false it only skips the number of lines that are programmed This allows lines to be added or deleted from the program and the command will always skip th
26. second column shows 1 which means turn ON the output In order to turn it OFF the user has to write 0 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 END End of program EXPORT This command is used to send data from the controller to a computer or to another controller A program from TRM has to be installed into the PC first to receive data The controller has to be connected to the computer via a serial lead using the RS232 33 of 70 Sept 2014 or RS485 interface Before using this command the user has to set up the speed of communications Baud Rate in the Technical Menu No Command Data1 Data2 Data3 Explanation O0 LOAD REG R31 HEB 1 Register 31 is being loaded with the Actual position Apos of the axis 1 data2 In order to get access to the Apos data the user has to place the cursor on data1 or data2 of this command and press ENTER and then select the option i e Actual Position 1 EXPORT R31 R31 0 Exports to the computer the data stored in registers from R31 data1 to R31 data2 For this example the only register exported is R31 The third item is the slave number to export to in RS485 communications 2 INDEX 100 00 200 00 0 00 Index is a relative move and will index 100 00 to the current position of axis 0 and 200 00 to the current position of axis 1 6 END End of program L
27. 0 09 END Function End of sub program 0 After this instruction the program will return to the next line after the sub program was called In order to use this command select the END command and then move the cursor to the Data1 parameter press ENTER and select the END return option 10 END End of program If a subroutine is created in between other code the end command can be selected from the commands menu and inserted this way A Program End will be inserted and all code below will be hidden Highlight the end command press Enter and change to Function End all code below will now re appear DEC JUMP Decrement Jump is similar to the Jump instruction but this time the program will decrement a variable loaded with any number when the variable is not zero the program will jump to the instruction line indicated when it is zero it will follow with the next line in the program 41 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 DEC JUMP R05 1 The program will decrement in 1 the value loaded in the Register 5 R05 and will compare the result with 0 if it is different to 0 the execution of the program will jump to line number 1 When the comparis
28. 00 00 300 00 0 00 Axis 0 holds position while Axis 1 moves another 100 to 300 02 MOVE 200 00 300 00 0 00 Axis 1 holds position while Axis 0 moves 100 to 200 03 END End of program If the value for an axis between two move commands does not change then there will be no movement Relative Move Example No Command Axis O Axis 1 Axis2 Explanation 00 MOVE 100 00 200 00 0 00 From start at 0 0 both axis move 01 MOVE 0 00 300 00 0 00 Axis 0 holds position while Axis 1 moves another 300 to 500 02 MOVE 200 00 0 00 0 00 Axis 1 holds position while Axis 0 moves 200 to 300 03 END End of program If the value for an axis is not zero on the second move command then the axis will move by the amount programmed relative to where the machine is currently positioned Origin This command is used to offset the position of an axis The user has to select the axis and the value to offset that axis The offset value can also be stored in a register and use that register in the offset value In order to select a register the user has to position the cursor on the offset column and press the key then write the number of the register from 0 to 255 there are 256 registers available 19 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LOAD REG R05 VorR 10 The Register 5 R05 is being loaded with the value 10 The VorR Value or Register parameter is acces
29. 14 STOP AXIS This command allows the user to stop an axis revolving following the use of a Revolve command This just has 1 parameter which is the axis number to be stopped No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 for axis 1 02 MATH RO5 2 The value stored in the Register 5 R05 will be multiplied by 2 and the result will be stored again in R05 03 REVOLVE 1 BB 85 00 The axis number 1 data1 column will revolve continuously at 85 00 Please note that the user can select between SOLO or RELINK ON MOVE by pressing the ENTER key when the cursor is on one of the data columns of the REVOLVE command 04 STOP AXIS 0 This command will stop the axis 0 Data1 revolving 05 END End of program TORQUE LIM This command allows the user to limit the output torque for the selected axis i e current The command has 2 parameters which are the Axis and power which is the maximum limit in percentage Power sets the limit for torque No Command Data1 Data2 ata3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for
30. 33 ANALOGUE OUT pu TR 33 CHANGE OP a 33 EXPORT pm 33 LED is 34 2 of 70 Sept 2014 MESSAGE E 35 lelUpdUspe 35 PRINT iidrmee 36 dice PS 37 Program Flow Command Definitions ccceecce eee e eee e eee eee e eee eee ehe ehe enhn ees nene 38 BEGIN END FUNCTION 2 5 ra ea a ua Sa eaa R Ra aa Rv ERR RR ERR SE VAR VER DNAT S P NES EV OINETEREEETEVEA 38 BRANCH M p 38 CALL MAP Program ceesees shes eh ER RAE AEO EENE ERERENESESARUR CEREEERRERPR RERAN CR FERR CER RES OSRE Ras 39 BE eie cece ene uasanagieseesees 40 DEC JUMP EET 41 Do eeeaa gees 42 dE 42 34 pm a H 42 lp H 43 Ap UOEERSTT 44 Main Sectio miresei TET TTD E See n See 44 REPEAT IF TRUE es pce ilie cles cabs rr sav P sra i cR Cerro d Pre ver We E E inca abe eae vd pee ODD A S 44 ada E EEE E E EA TE E E AEE A E 45 Maths Command DEfiNitiONS 2 5 6cccsccciseccceccdcassoas
31. AM Memory B Flash Memory C USB drive and then type the required file name 60 of 70 Sept 2014 Units Menu By selecting Units menu a new pull down menu appears from which the user can select metric or imperial units This is a stored setting so that after the power has been turned off the previously set units are used Clear Registers The user has 256 registers available in a program in which he can store data do mathematical operations logic operations etc By selecting this option the data stored into the registers will be deleted The system can also be setup in the settings menu s to clear the registers on start up if required Start New Program This option is used when the user wants to create a new program By selecting this option the user will be prompted that any unsaved data in the current program will be lost Clear Origins The Origins can be cleared with this option if set and for instance a new job is to be started Deleting a command To delete a line move the cursor over the command that requires deleting Pressing F5 a message box will appear with the caption Delete current line ENTER Yes As stated press ENTER to delete the line and any other key to cancel the delete command After deleting the current line all the lines following will be moved up one position Ha Command 61 of 70 Sept 2014
32. Commands Average Cosine Find Maximum Find Minimum Logic Operators Math Raise to the Power Sine Square Root Sum Tangent Timer Commands Halt Timer Wait 14 of 70 Sept 2014 Variables amp Data Commands Copy Child Registers Load Register Load Counter Load File Data Load Multiple Load Parameter File Load System Vars Parse File Register Type Rewind File Pointer Canvas Drawing Commands Draw Canvas Clear Canvas Canvas Draw Pointer Filled Circle Draw Rectangle Set Colours Draw Line Draw JPEG Image JPEG Image Size Work Piece Size Data Recording Data Logger Task Start Data Recording Stop Data Recording 15 of 70 Sept 2014 Motion Control Command Definitions ARC This command allows the user to execute arcs or complete circles between X and Y axis ARC must never be the first command in a program always precede with a move index or similar motion command The user has to specify the centre point X Y and the angle of the circle a positive angle will be a counter clockwise arc and a negative angle will be a clockwise arc The current position will be the starting point of the circle No Command Data1 Data2 Data3 Explanation 00 MOVE 110 00 100 00 Turn ON the LED s 01 ARC 0 00 5 00 90 00 The ARC will start
33. D End of program QUESTION This command is used for printing a message on screen the question and wait for the user to enter the answer by pressing the number keys and store the value into a register for future use in the program This command has 3 parameters Reg No The user has to select one of the registers available to store the numerical answer Msg No The user can select which message the question to print on screen The 32 messages are set up in the settings menu Digits This is the number of digits of the answer until the operator has keyed in a value the program will not continue No Command Data1 Data2 ata3 Explanation 00 QUESTION ROO 22 3 00 The message number 22 data2 will be displayed on screen this message will ask the user a numeric answer in this example 3 digits data3 The 3 keys keyed by the user will be stored in the register 0 ROO data The user can write the question he wants by editing the USER MESSAGES in this case the message 22 which are found in the settings menu PRINT REG ROO 0 0 Will print on screen the data stored in the register O ROO without any decimal points 02 KEYPRESS The program will wait in this line until the operator presses any key with the exemption of MENU key or STOP key 04 END End of program 0 READ This command reads a file created by the WRITE FILE command The file has the name outputXX mdf wh
34. ED This command gives access to the LED placed in the front of the controller A binary value can be written in the parameter being 255 the maximum or a register that contains the desired value Please note that the LED s labelled Power RDY and Key are in use for the controller so you can not fully control those To turn the LED s off enter 0 and to turn a LED or LEDS on enter a number greater than zero For example to turn on LED 2 enter decimal number 4 Bit Dec Binary 0 0 0 0 0 1 0 0 If all were on the total is 255 Writing out a value of 7 turns on the 3 LED s O 1 and No Command Data1 Data2 Data3 Explanation 00 LED 255 Turn ON the LED s 01 WAIT 0 20 Waits 0 2 seconds 02 LED 0 Turn OFF the LED s 03 WAIT 0 20 Waits 0 2 seconds 04 END End of program 34 of 70 Sept 2014 MESSAGE Message is used to display messages in the message centre on the operator screen The messages can be up to 32 characters long and there are 32 messages to chose from A message once displayed persists until the next message is displayed or a clear message command is used When executing the program the text will be displayed on screen after the Message command is executed No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the max speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and ax
35. Once homed pressing start will only run the code following the Main Section command REPEAT IF TRUE REPEAT IF command which is similar to the MAP WHILE command except that it can not be nested and it uses branch which are relative jumps The command performs a logic compare and if TRUE will run the lines below the command when the last line is run eg the last one before the branch the command will branch back to the compare and the cycle will continue until another instruction or the equation is 44 of 70 Sept 2014 FALSE A test False causes a branch outside Data 0 the base resister and is a constant register number Data 1 the compare value which is a constant or register number Data 2 the number of lines to skip Condition code gives the test options 0 equal EQ 1 Not Equal NEQ 2 Greater than GT 3 Greater than equal GTE 4 Less Than LT 5 Less than equal LTE WHILE The WHILE command is used to make comparisons between values stored in registers or a value of a register and a value WHILE can be used in conjunction with the DO command or on its own The command has 3 parameters 1 Comparison In order to select a comparison move the cursor to highlight the command and press enter to view the pop up box There are 6 options to choose from Equal Not Equal Greater than Greater or equal Less than Less or equal v v Il oS A wN A I The user has to select o
36. TION command The user can create up to 99 sub programs It is not permitted to jump in or out of the sub program Subroutines would normally be written at the end of the program to aid clarity and with sequential numbers to avoid confusion Numbers assigned can be 1 2 3 4 etc or 10 20 30 as the programmer desires Enter a Begin command followed by any other commands as needed to create the subroutine Once complete place the cursor over the end command and press enter Select the Function End option and press enter This will insert a new End command and move the Program End command down 40 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LED 255 Turn ON the LED s 01 CALL 0 Calls the sub program number 0 After the execution of the sub program the MAP will execute the next line 02 LED 0 Turn OFF the LED s 03 CALL 0 Calls the sub program number O this is the second time the sub program O is called in this program After the execution of the sub program the MAP will execute the next line 04 WAIT 0 20 Waits 0 2 seconds 05 BEGIN 0 Begins the sub program 0 All lines below a BEGIN belong to sub programs therefore will only be executed when a CALL command calls the sub program 06 MOVE 100 00 100 00 100 00 All 3 axis are moving to position 100 00 07 WAIT 0 20 Waits 0 2 seconds 08 MOVE 100 00 100 00 1100 00 All 3 axis are moving to position 0 0
37. am Further MAP commands can be added around and in between the drill commands to achieve the correct procedure for the machine being used The X Y positions can also be set from registers and these in turn can be set from a downloaded file to speed up the programming cycle This enables the operator to use one Drill command in a loop to read multiple drilling positions see Load Parameter File and Parse Parameter File commands for further details No Command Data1 Data2 Data3 Explanation 00 REG TYPE ROOO BIB R002 Set register type to float to use decimal points 01 LD PAR FILE Load the data via serial port 02 MAIN_SECT Start of the main section 03 PARSE FILE ROOO ROO2 R003 04 DRILL ROOO ROO1 ROO2 05 END End of program COOLANT Pressing enter while the cursor is over the Coolant command will pop up a menu with 3 options These Also relate to the three G code commands M7 8 and 9 which are as follows M7 Coolant Spray 23 of 70 Sept 2014 M8 Coolant Flood M9 Coolant OFF Select the option required The outputs used by these commands are setup in the Assign Outputs menu in the Technical Setup Manu When the program is run initially all the outputs will be in the OFF state Once a Coolant command is run with M7 or M8 the associated output will be turned on and will stay on until either a M9 is used or the program is terminated If the program ends or is sto
38. as This allows the user to redraw the Canvas run screen following a Clear Canvas command Clear Canvas Clears the running screen of all data For example it may be necessary to setup a machine by printing many registers to the screen Once complete this data is no longer required and can be removed from the screen Normally following a Clear Canvas command a Draw Canvas command is used to restore the screen data Canvas Draw Pointer Sets the position on screen in percent as to where the data or object will be drawn Filled Circle Draws a circle or quadrants of and fills with a block colour Colours can be set via the set colours command prior to executing the Filled Circle command Quadrants are 1 2 4 or 8 and combining those values will draw just those Quadrants If 15 is used then a full circle is drawn Draw Rectangle Once a position has been set using Canvas Draw Pointer a rectangle size can be set again using Set Colours The Foreground and Background colours can be set for items being drawn Enter the value of each colour required in Hexadecimal There are 5 bits of Blue 6 Green and 5 Red For example entering FFFF will give a peak white colour whilst 0000 will produce Black Turning on each bit of a colour increases it s brightness and by mixing the brightness of each of the three primary colours the user can program any of 65535 colours Peak RED F800 Peak GREEN 07E0 Peak Blue
39. ber of the register containing the maximum value will be placed in the destination register Find Minimum To find the minimum value contained in a series of registers enter the start register and the finish register in a range Also enter the result register to be used Once the command has run the number of the register containing the minimum value will be placed in the destination register Logic Operators These are Binary to the power of Shift Left Shift Right OR AND XOR and NOT Shift Left and Shift Right Shifts the value already in the register by the number explicitly specified or in another register and stares the result in the initial register OR AND XOR NOT Does a binary conversion on the two values given and returned into the register specified 47 of 70 Sept 2014 For example the AND operation on 8 and 3 would result in 0 eo eo eo eo oo Oo Ka 3 Result oO Oo hy 4 0 0 0 O O Oo Whereas 8 and 14 8 8 4 2 U 8 0 0 0 0 1 0 0 0 3 0 1 1 1 0 Result 0 1 0 0 0 MATH This command is to make mathematical operation between the data stored into the specified registers The user can select the Mathematical operation by positioning the cursor on the MATH command line and in the column of one of the registers and press ENTER A pop down window will be displayed with all the mathematical and logical functions a
40. between this creates a function or subroutine that can be called from the main program EXIT MAP EXIT causes map to exit from the current process If the process is a child then map returns to the calling process whereas if the process is the main process it stops 42 of 70 Sept 2014 execution of MAP There are no data fields associated with this command IF This command compares a selected register to another register or value and jump to a different line in the program if the comparison is false This command has 4 parameters 1 Reg No The user has to select the register that is going to be compared against a value or a value held in a different register 2 Comparison Type In order to access them move the cursor to one of the other parameters and press ENTER a window appears with the tests available 3 Compare Value The user can compare the register selected in No 1 against a value or a different register In order to compare it against a value enter the value using the keypad or select a register by pressing the key and enter the number of the register required 4 Line No This is the line the program will jump if the condition is met No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 R05 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 TIMER R31 BN 1000 The regis
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42. comes along No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 R05 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 mm for axis 1 02 MATH R05 2 The value stored in the Register 5 R05 will be multiplied for 2 and the result will be stored again in R05 03 REVOLVE 1 B 85 00 The axis number 1 data1 column will revolve continuously at 85 00 Please note that the user can select between SOLO or RELINK ON MOVE by pressing the ENTER key when the cursor is on one of the data columns of the REVOLVE command 04 REVOLVE 0 W ROS The axis number 0 will revolve continuously at the speed set in R05 05 END End of program SPEED This allows the user to adjust the speed as a percentage of the maximum speed of each axis set in the Speed Settings Menu see installation manual The speed is set in percentage of maximum speed where 100 is maximum and 0 01 is the minimum No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 INDEX 75 00 10 00 0 00 Advance 75 mm from the current position for axis 0 and 10 mm for axis 1 03 END End of program 21 of 70 Sept 20
43. drawn in the live tool path image There are 3 dimensions for the workpiece they are X Y and Z which can be set directly or via a register Press the key to enter the register number 58 of 70 Sept 2014 Data Recording Log Task The data logger can record ADC inputs DAC outputs and other features of the controller that may need to be recorded This gives the user great flexibility when analysing data as diagnostics may show that when a certain combination of outputs and inputs are active there is an adverse affect in the analogue readings or it may be used as verification that once a setpoint is reached an operation actually occurs Options are ADC Channel Position Reg Elapsed Time Torque Demand Register Input Port OuKRWDN Explanation 1 If the ADC command is selected there are 2 available data options the channel to be recorded and the number of samples to average during a read of the ADC 2 The position register option has one parameter which is the encoder number the second option is ignored 3 Elapsed Time has no options to be set 4 Torque Demand option has one parameter which is the axis to be recorded 5 Register option has one parameter which is the register number to be recorded 6 Input Port has no options and records the whole port This command should be followed by the Start Log command which is where the number of samples and time period are set Start Data Recording Starts
44. e motion control program running To stop the machine press the STOP key or MENU key When the controller is running the program it will display the canvas as currently set up x Setting zero position Stop e This Icon is only displayed when the program is running By pressing F8 the program will Stop the execution of the program at the current line Running the program again will resume from the position stopped at Exiting the menu and returning will cause the program to start from the beginning Jog Screen This screen allows the user to move to a position with the axis under control The axis are torque limited as some machines need to be jogged whilst guards are open speed is also set at a reduced rate 63 of 70 Sept 2014 aa aa e Tina Axis Select Use the Letter key assigned to an axis or the Left and Right arrow keys to select between the axis that are enabled on the controller This will change the Ax value to the axis selected Tool Height Set pall Using the tool height set option will move the tool at a pre set speed to contact the tool setter which must be positioned accurately under the tool position Also check that the setter is clean and no swarf is trapped under the device which will give a false reading Likewise the tool itself should be clean before performing this operation limits set for that axis Speed Increase e Pressing or holding this key increases
45. e same amount of lines 38 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 ADC 0 ROOO ROOO Get a reading from Analogue channel 0 01 BRANCH_NE Ro00 BB 50 2 If ROOO is less than or equal to 50 carry on to line 2 otherwise the condition is false and 2 lines will be skipped Line 4 will then be the next command 02 CHANGE OP 1 1 Output 1 will be turned on 03 MOVE 50 100 0 Move axis 0 and 1 to 50 and 100 04 MOVE 0 0 0 Move all axis to 0 05 CHANGE OP 1 0 Output 1 will be turned off 10 END End of program In the above example the register ROOO will be loaded with a reading from the ADC channel 0 the compare command will then test to see if it less than or equal to 50 If it is Output 1 will be turned on and the axes 0 and 1 will move to 50 and 100 respectively This will then be followed by line 4 and 5 and then the cycle will start again If the compare condition is false the lines 2 and 3 will be skipped and the axis kept in position at 0 0 the output will also be kept turned off The cycle then repeats The Compare command has 4 parameters The register number being used The type of test press enter for options The value or register being compared to The number of lines to skip The tests available are Equal Not Equal Greater than Greater or equal Less than Less or equal v v I Ov Ur A wN A I
46. e screen is intended to help with data entry as 9 of 70 Sept 2014 each command has it s own header No represents the line number of the program Command is the name of the MAP command used and are the three heading that will change based on the command Where a valid command is selected and a column displays no data should or can be entered The menu has a hint which is displayed in the information line this hint changes to indicate to the operator what information is required System Tools Menu All the technical information the controller needs to run the machine is stored here and most menus are password protected for security For more information please review the MAP CNC Installation Manual System Tools Menu Language Menu Selecting the Language option will display a pop up box on screen with a list of languages available Should your language not appear in the list please check with TRMss sales or support teams for updates or electronic manuals in that particular language Scroll to the language required and press enter the box will disappear and the system will now work in the chosen language There is no need to re boot the controller 10 of 70 Sept 2014 MAP Commands Overview The commands that can be used for a MAP program are organised into categories to
47. ere XX is the number of the file The user has to specify the number of the file and the start and end of the array of registers to read 31 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 WRITE FILE outputOO 0 15 The 16 registers from register 0 mdf Data2 to 15 Data3 will be saved in the file called output00 mdf Data1 This file can be retrieved later on for using the registers 03 READ FILE output12 5 15 The 11 registers from register 5 mdf Data2 to 15 Data3 will be loaded with the values of those registers stored in the file called output12 mdf Data1 04 END End of program Yes No Box MAP YES_NO command uses a question box to load a message and requests a yes or no answer from the user If the user prompts NO to the question the program branches to the line number specified in DATA 1 on yes the program continues on the next line after the YES_NO command Data 0 the message number from those setup in the User Messages menu Data 1 the number of lines to skip on a NO response data To the right of Data 1 a preview of the message is displayed to aid programming 32 of 70 Sept 2014 Output Command Definitions ANALOGUE OUT This command allows the use of one of
48. f 70 Sept 2014 This parameter accepts XYZ positions which is where the controller can move the head to so the machine is safe and the tool or part cannot be damaged Also as most machines will have custom IO not only for electrical but also pneumatic operations it may not always be desirable to turn off cylinders or extraction facilities By placing the cursor over the Park command and pressing enter a pop up box will appear giving two choices Park and turn off all Outputs or Park and Preserve outputs Please note that the Z axis will retract before any other axis moves to ensure that the tool is clear of the job to avoid damage to either the tool or the part PLANES MAP Planes command is used to the set the arc planes of travel It uses no data fields but there are 3 condition code options Condition code 0 XY are the set planes Condition code 1 XZ are the set planes Condition code 2 YZ are the set planes The planes command is to be used before the Arc command and by highlighting the command and pressing enter a pop up box will appear allowing you to select the plane required This is a persistent command and any following arc will use the planes set by this command Use another Planes command to reset to normal axis SPINDLE Spindle Has two parameters and also a pop up menu Highlight the Spindle command and press enter the options given are M5 Spindle Off M4 Spindle CCW M3 Spindle CW G96 M3 CSS CW G96 M4 CSS
49. he buffer even if the controller is executing another command When the data is stored in the buffer the status flag Stat is set to 1 which means there is data ready to be loaded By selecting this option the controller will load the data already in the buffer and after will clear the status flag Stat If there is no data ready stat flag is cleared the program will continue to the next instruction command without loading any data e Load if Data Present LDP The same as LDR but will not clear the Status flag Stat 29 of 70 Sept 2014 Wait Load amp Clear stat WLC When the import command is executed it will check for the status flag if it is set it will load the data straight away If it is cleared it will wait until receiving the data and then load the data after which it will clear the status flag and continue to the next command Wait for data amp Load WLD It is as the option above but after loading the data it will not clear the status flag Stat Please note that the controller will always be open to receive data into the buffer regardless of the value of the status flag stat Input This command is intended to pause the program until an input corresponds to the programmed level high or low The system can be set up In the options menu so that while waiting the command will display a message box to advise the operator Operation of the program continues after the designated input goes low or high dependi
50. if a system is liable to change due to temperature wear or some other means a Home command can be used to reset the zero point as often as necessary INDEX This command is similar to the MOVE command however it is a relative position move Therefore if the command is INDEX 5 the axis will advance 5 units from the current position The data entered is the same for both Absolute and Relative axis as it is an increment from the current position not from Home 0 0 17 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 MOVE 100 00 200 00 0 00 Move axis 0 to 100 mm and axis 1 to 200 01 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 mm for axis 1 02 END End of program MOVE The move command as it might suggest causes the controller to move one or more axis All moves are automatically interpolated moves Since an axis will only move when the system encounters a MOVE or INDEX command there must be a difference in the old new positions Therefore it is simple to move only one axis if required by changing the position data for only one axis between two or more MOVE commands The Move command works by taking the current position and moving all the axis in an interpolated move therefore if an axis has its current and new positions programmed the same then the axis will not move only the axis which have a new and different destinat
51. ings the motors to a controlled stop and disables the drives END We hope that you find the information you need in this manual In the event that you are unsure or find that something is not covered please in the first instance contact your local distributor If they are unable to help it will then be referred back to TRM s Technical support staff 68 of 70 Sept 2014 Notes Identifying an axis If it rotates around a line parallel to X it s an A axis Y it s B Z it s C MM 69 of 70 Sept 2014 p 70 of 70 Sept 2014
52. ion will move The movement will take place in the following sequence 1 The controller will calculate the distance of each axis relative to its current position 2 The controller will then work out which is the master axis the master axis is the one which is moving the greatest distance where more than 1 axis are Masters because all are moving the same amount the controller will use the lowest number as the master i e AXO AX1 AX2 3 The controller will then ensure that none of the axis will be running at greater than its maximum speed the speed therefore is the maximum speed of the slowest axis The move Command may include positive or negative moves if the axis has been programmed to accept negative moves in the calibration menu No Command Axis 0 Axis 1 Axis2 Explanation 00 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 Please remember that MOVE command is a Linear interpolation command 01 MOVE 150 00 300 00 0 00 Move axis 0 to 150 and axis 2 to 300 Please remember that MOVE command is a Linear interpolation command 02 END End of program Note in the example above we assume that the axis are set as Absolute in the technical menu the data could be mm inch or degrees etc 18 of 70 Sept 2014 Absolute Move Example No Command Axis 0 Axis 1 Axis2 Explanation 00 MOVE 100 00 200 00 0 00 From start at 0 0 both axis move 01 MOVE 1
53. is 1 to 200 02 MESSAGE The message is displayed on screen The user can edit the messages in the Technical Menu in the option User Messages 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 END End of program Placing the cursor over Message in the command column and pressing enter will give the user two options Normal Message and Erase the message box This can be used to easily erase a previously set menu and can be placed anywhere in the code OUTPUT The OUTPUT command gives the user direct access to the PLC facilities of the controller The controllers outputs can be individually operated via the output command Data may be entered in numeric form where a decimal number represents the driver pattern To turn the drivers off enter 0 and to a driver or drivers on enter a number greater than zero For example to turn on driver 2 enter decimal number 4 Bit Dec Binary 0 0 0 0 0 1 0 0 If the cursor is moved to the command name and the enter key is pressed a wizard pop up will appear This allows the user to move along to the outputs required and set to on or off When enter is pressed again the correct decimal value is entered into the Value column and a representation of the outputs set appears next to the value 35 of 70 Sept 2014 1 0H H 0FF u u
54. is solely the user s owners responsibility and appropriate Risk Assessment records should be kept at all times 5 of 70 Sept 2014 Version Updates Registers Number of registers available increased from 32 to 256 Sticky Menus Menu Selections are now sticky saving time on navigation and data entry Canvas Canvas facility added to allow personalisation of screens AC Drive Delay Timer delay added to allow drives to power up and avoid kick in the motor i 6 of 70 Sept 2014 User Interface Overview Motion Application Program MAP CNC is a new way to programme motion control systems The programme consists of a database manager and a motion control kernel The database is used to store commands and position data for the motion control command sequence The end user is presented with a user friendly front end with which to manipulate the database The database can contain up to 65 000 different commands and due to the structure of MAP it is a simple matter to change the system to suit another application Map is a very flexible language written in C It is easily adapted to other applications as each of the user functions is written as a case statement Adding commands is a quick and easy matter and for custom requirements we can roll up a number of commands into a single macro command The user interface consists of an icon driven interface with scroll bar menus The
55. ll insert a Print Reg command This can be a great time saver for frequently used commands 7 of 70 Sept 2014 Opening Screen As shown below the opening screen for MAP is a very simple icon driven interface At the top of the screen the revision number is shown so that when upgrades become available the user can check to see if there are any new features that may be useful and can then decide to upgrade if necessary TEM Helcome Menu revision 1 8u 2 uU At the bottom of the screen are four Icons which take you into the Operator Interface Edit Create Screen System Tools Menu and the Language Picker On non touchscreen controllers pressing the corresponding button below or to the side of the Icon will activate that option The central blue area can display a JPEG image 320 x 200 pixels of the machine company logo or similar 8 of 70 Sept 2014 Operator Menu When the Operator menu is selected a simplified run screen is displayed This gives the operator the information required to run the machine without the ability to edit and change machine settings or program flow Operator Menu 1 B G m Edit Create Menu When the Edit Create menu is selected the controller will display the screen below Ho Command ea PROG Marks the end of the program or function S Cmds F4 Menu Fa Delete F DDisplau Fr Fun DP Fa The text in the box at the top of th
56. lute Move Example 555 terror cies eon re aa een EE SEE RR RUE FE e REESE C EE ECER E SAT RE MEE 19 Relative Move Example siccosssctcise cexteaccvens cen Eua Rn Ee ESREERPESERRRPEERE AK ORAS E ERRE sean eels 19 nre GG OUPDUTEUPE Rn 19 Rapid MOVE RP 20 REVOIV Esai cccucinscnieees i E E E gue gated anmctemul duewsns teu OON Ese OREENPEURAN I RUIT OP UU DECR 20 SPEED me 21 STOP c M 22 TORQUE M 22 Dr te reser om 23 Pyme 23 COOLANT uem EE 23 FEEDRATE siesta EET 24 eue EP 25 Park andi Power DOWD h i22 diene wane pe Ii RR SR RUP IPIS EO ESR RA deals tiagiastetacdssaucsnmeasdedsesdadeas 25 PLANES 26 ilecee Emm 26 pia 27 Input Command Definitions iore eret ote herr tr pe rU RE E deeds REY ERES UPE TEE b Ed a a OPE EEUU 28 p TUE 28 luce 28 Options for importing datas css ccvscsseeevsecvece hr nri ease Meer Ra E RT RR agr er gar dseviandedessions 29 le 30 VISITER EE TEE IET TL COT EET E T R A E SETE OE EEE N EE aiai 30 QUESTION eec 31 READ OnUOTUDEMEOME 31 Yes No BOK saeed aidien a NELER OET NEEE A OTERI E EAS EEA Gann AARON E 32 Output Command DeTinitiONSsssccceseddviss scaciaecesedvansssdecdans votecien ces REPE ERR ASEKAN ESARET
57. maximum value in the database If a typing error is made the left hand ARROW key can be used to delete the last character typed 11 of 70 Sept 2014 Following are a list of the available categories Main Menu Motion Control Machine Specific Inputs Outputs Program Flow Maths Timers Variables amp Data Canvas Drawing Data Recording Selecting an item from the above menu will display one of the following lists of commands Motion Control Commands Arc Do Move Helix Home Index Move Origin Rapid Move Revolve Speed Stop Axis Torque Lim Note The actual list of commands will depend on the model of controller used 12 of 70 Sept 2014 Machine Specific Commands Air Op Drill Coolant Feed Rate G Code Park amp Power Down Planes Spindle Tool Input Commands ADC Analogue In Import Input Keypress Question Read File YesNo Box Output Commands Analogue Out Change Op Export Led Message Output Print Register PWM PMCA Only Write 13 of 70 Sept 2014 Program Flow Commands Begin Branch not true Call MAP Program Call Subroutine Dec Jump Do End Exit If Jump Main_Section Repeat_If_True PMC4 only While Maths
58. n a pop up box Select the option required and press Enter 50 of 70 Sept 2014 Channel Select 1 of the 8 timers available from 1 to 8 e Initial value By pressing the key in the Data3 column you can opt to use another register to set the timer to Otherwise just enter the value required whole number no decimals Please see an example of the TIMER command together with HALT TIMER command Wait The wait Command allows the controller to wait for a specific period of time The minimum time is 10 ms The time delay is entered in seconds The command will allow time entry to 0 01 seconds by using the decimal point When the Wait Command is executed a message can be displayed depending on setup options to the operator informing them that the controller is timing After the given amount of time the controller will commence execution of the next instruction The command can be terminated at any time by pressing MENU while the command message box is being displayed The Wait message box can be enabled or disabled in the Options Set up Menu If set to disabled the controller waits for the programmed time but the screen remains blank No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 WAIT 10 00 The program waits 10 seconds before executing li
59. ne 3 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 END End of program If a register is used to set the wait time there are various options An integer register will set the time in whole seconds only therefore if decimals are needed the register type must be set to a floating point type The minimum time period is still 10mS 51 of 70 Sept 2014 Variables amp Data Command Definitions Copyback Copy Child Registers This command must be used in each child process if the entire register range is not to be copied to the parent on return to the parent process By using the Map CopyBack command you can set the values of the start and end registers to copy back to the parent process If used and set to RegO RegO as a range just the one register will be copied back Data 0 the start register number to copy back note this must be the lowest value Data 1 the end register number to copy back note this must be the highest value Example if Data 0 100 and Data 1 200 registers from 100 to 200 will be copied back to the parent process Load Register Load register is used for loading a value into one of the 256 registers with a value that can be from a keypress inputs ADC reading a pulse count and more The user has to specify what register to load from 0 to 255 and what value parameter to load or copy into the register The full list of
60. ne of the options by default the Equal will be displayed Reg No The user has to select the register to be compared Compare The user can compare the register selected against a value or a different register In order to compare it with a value just enter the value using the keypad or select a register by pressing the key and enter the number of the desired register Ww N See following table 45 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 R05 is being loaded with the value 10 01 DO The DO while loop starts here all commands between this loop will execute at least the first time If the condition in the WHILE command is true the loop will repeat again 02 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 mm for axis 1 03 LOAD REG R5 BB Loading the value of the input 3 data2 into the register R05 The IP b parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up yellow window appears with 10 options 04 WHILE R5 Bio This is the end of the DO WHILE command 05 OUTPUT 5 Turn ON the Outputs 0 and 2 for its representation in binary The user can use a wizard by pressing the ENTER key when the cursor is in the parameter 5 in this example 06 WAIT 10 00 The program will wait 10 seconds in this line
61. ng on the parameter STATE selected The minimum low time is 1 ms The command can be terminated at any time by pressing MENU while the command message box is being displayed No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 INPUT 15 1 The program waits until the controller reads a 1 on the digital input 15 before executing line 3 03 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 for axis T 04 END End of program Keypress Keypress is a simple command and can be inserted in a program to allow the operator time for inspection or as a confirmation all is OK to continue The program halts on this line and the message Press Run to Continue is displayed Once any key is pressed the sequence continues 30 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the maximum speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 KEYPRESS The program waits until the operator presses a key on the controller 03 INDEX 75 00 10 00 0 00 Index advance 75 mm from the current position for axis 0 and 10 for axis T 04 EN
62. nid nias ERE NE EE 67 D ENIEVAGTIECICRTT 67 Display OridiMS rees I D M 67 Display Trace B ffet eer ree eee ve Ne exo eaux RYN KY ex ky nte ve Cre wr ewan POOR ge PV RN ORA EX ean 68 MEUM us acon dent tiedieu A EEEE EEE E E deaiseaegebeceremed deen sieeees 68 RUM ESRM 68 Moo M U M MMMT 68 a 4 of 70 Sept 2014 Health and Safety 1 The user should ensure that safe working practices are adhered to and that correct Personal Protective Equipment PPE is used at all times relevant to the nature of work undertaken and the type of machinery being operated 2 Before powering up or using MAP CNC the user should ensure that the machine being operated is clean debris free and is being operated in a safe manner as required by the Laws Rules Regulations and Best Working Practices in force for the Country in which the equipment is being operated and that all safety devices are in undamaged and correct operating order 3 This software MAP should not be used by personnel that have not been trained in the use of such software or the machinery it is used on 4 TRM cannot be held liable for the miss operation or incorrect programming of the system be it operating program or setup parameters 5 Training and operation of machinery
63. on is equal to 0 the program will continue with line number 3 03 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 04 MOVE 50 00 70 00 0 00 Move axis 0 to 100 and axis 1 to 200 05 END End of program DO This command has to be used together with the WHILE command The program will execute the lines located between DO and WHILE as long as the condition set in the while command is met As the test is after the commands written in between the Do While the commands will always be executed once on each loop of the program Please see the example with the WHILE command and also see Do Move command if a position needs to be included END The End command is used to tell the system that the end of the programme has been reached and is the only command that cannot be deleted from the end of a program When a new program is started an End command will be automatically inserted You may use the End Command to break up a programme which you are trying to debug This can be done by inserting the End Command at the appropriate points in the programme and all code below will be hidden and therefore not executed Delete the End command to restore the hidden lines If the Command is highlighted with the cursor and the Enter key is pressed an option box appears to allow a Function End option to be selected Function end would normally be used to follow a Begin command With other commands in
64. onds 06 JUMP 20 4 Always jumps to line 4 which will cause the file selector box to re open for the next Gcode program to be selected 07 END End of program In the above example program we have setup an initialisation section that will ensure the machine is ready for use In reality this will probably be a longer section as sensors may need to be tested safety features checked for and other sensors outputs of the machine setup The MAIN SECT command defines where the operating part of the program starts and in this case we are asking for a Gcode file Once the program is selected from the pop up box the Gcode will be checked for consistency and any errors advised The user then has the option to setup their origins and start the processing of the Gcode If selected a live drawing will be shown that informs the operator where the machine is currently up to and what the part should look like Once the Gcode has completed the machine will pause at the wait command before jumping back to the Gcode line and asking for a new file This provides a simple way of running files continuously with out having to re run MAP Park and Power Down If there is a need for an operator to access the machine to remove or reload parts then as a safety precaution the machine needs to be powered down This can be done however with the head left in an inconvenient position it would be difficult to reload the machine 25 o
65. pped all outputs will be turned off automatically Throughout a program M7 can be followed with M8 and back plus M9 where necessary to suit the cut being performed FEEDRATE This is a single parameter command and affects all axis moved on the following motion commands until reset to another value Feedrate sets the feed rate in feet per minute or metres per minute according to the data in data 0 It Automatically adjusts the speed depending on the measurement standard in use Data 0 the feed rate in constant float or register representing travel in mm or inches per minute Y effective rate B 137 81IPM ii ye O od pe X effective rate 375 87 IPM 24 of 70 Sept 2014 Gcode This command allows the execution of a G code program created externally This is an excellent command for multi axis CNC machines The user generates the G code via a CAD CAM package or manually with text editor and then by using the USB port the user loads the file into the controller and executes it No Command Data1 Data2 Data3 Explanation 00 OUTPUT 0000 Turns off all outputs 01 MOVE 0 0 0 Ensures that all axis are at zero position 02 INPUT 7 0 Waits for input 7 to read 0 input 03 MAIN_SECT Start of the main section Commands above this line will only be run once 04 G CODE When this line is run a file selector box appears and the Gcode file can be selected that is to be run 05 WAIT 10 Machine waits for 10 sec
66. raw Rectangle eee eret sis ci rohs a vee eas aiene e EUER ERE ERE Geese sien sawed auis EFC EIE leew EE CERE 57 Set COlLOUIS T M U 57 Draw Line esce e Ex E Pe eee S XNNERN RIEN SENA Seve gine UC ENERO SERE eO xN KE NUR ET see ed s VE FURIE NR ae ee 57 Draw JPEG Image ie enn RE enn RR xR ER EX Pe abakea NER AUN EE NR EXE ERE Ve eS SEE RRYSEEKENEEVE Holes 58 JPEG IMAGESIZE sass ioo eee ea neon ex gno ANE a e can exeuKue E pew einen SH He one AEN EN EX RESET A M RES 58 Work Piece Size serrer o ae eene aa ERR RESET SUERN ERU EEEE ON REEE EEG E VRCRAT OON REESE NER E NE 58 Data Recording sis ranns srie KEE Rue E EROE EN EAEEREN EE UEM EE ERSENUS REMOSSEE T LEER ORE ERR TEMERE 59 LOS Task cm C E 59 Start Data cse pU 59 Stop Data Recorditig 15 usce e nore e vase EEE CER EURRURVEEN FUSE T EEXMAN EU VIR VUE P OSEE E Red 59 Other MOTUS cr aaa 60 Options Me H ROES 60 LOOP quantlty sisse so kso RR ER RESRRRE RE RR ERESRARRSVERRR cae ERRVEERANR EERREWERSATRR QS ARRA ER SRSRERETRE GE FREE 60 Load Save Save As MAP file ccc ccccc cece eee eee cence ee i eee eeeeeeee sees sss essere ene 60 US eL andere A EA E E TE E E 61 S Id PCIE TT EAEE EET EEEE E EE N E T E TAE E 61 Start New PrOSha MM esmi 61 Teu
67. roller be sure to load 0 The VorR parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears 1 IMPORT ROO JEN R31 Please remember to use the register 31 as a flag only for this example Load it with a value 0 Here the controller will import the information from ROO data1 to R31 data2 The LDR parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears An explanation of each options below this table 2 IIF R31 HB o 1 The If test is comparing the flag register 31 is equal to 0 and will jump to line No 1 if it is NOT 0 In other words it is waiting for data from computer The parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears 3 MOVE ROO R03 R06 Lines 3 to 5 and on are the program you want to run if the register R31 is 0 4 MOVE R01 R04 R07 Please remember that the register 31 is used as a flag so do not use it for importing data Always load R31 with 0 for this example MOVE RO2 RO5 RO8 6 END End of program The program will start again waiting to receive data from the computer unless it is already received the data while moving uo Options for importing data Load Data amp Clear Stat LDR when the data is sent out to the controller it is stored in t
68. s To load certain system variables this command can be used and the value to be modified is chosen by placing the cursor over the command and pressing enter A list of values is then selectable from a pop up window Options are Calibration Length Tool Height Tool Diameter Tool Changer X Tool Changer Y Tool Changer Z Velocity Data Logger Counter The Calibration Length is the length that has been set in the Calibration menu as the maximum size for an axis If Calibration Length is selected there are 2 parameters available The first is the Register to put the value into and the second is the number of the axis the data is to be used from The tool parameters are setup in the Technical menu see installation manual If Tool Height is selected there are 2 parameters available The first is the Register to put the value into and the second is the number of the tool the data is to be used from The tool parameters are setup in the Technical menu see installation manual 54 of 70 Sept 2014 If tool Diameter is selected there are 2 parameters available The first is the Register to put the value into and the second is the number of the tool the data is to be used from The tool parameters are setup in the Technical menu see installation manual If Tool Changer X Y or Z is selected there are 2 parameters available The first is the Register to put the value into and the second is the number of the tool the data
69. sed by placing the cursor on top of the data1 or data2 of this command and pressing ENTER A pop up window appears In this example we choose Value or Register VorR which indicates that the data2 has to be a value or a register Please note that the data2 is attached to the option selected 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 MATH R05 I 2 The value stored in the Register 5 R05 will be multiplied for 2 and the result will be stored again in RO5 The parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears 03 ZERO Pos 1 Val 5 00 The axis 1 data1 will be offset 5 and the axis will remain offset 5 until a new value is used The Val parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears with 2 options If the Man Manual option is selected the program will run normally but at this command the user will be required to offset manually the axis specified in data1 e g axis 1 04 MOVE 50 00 70 00 0 00 Move axis 0 to 100 mm and axis 1 to 200 05 IEND End of program Rapid Move Moves the programmed axis at it s maximum set speed which is setup by the machine installer in the defaults menu A position to move to can be entered in each of the available axis columns Test the process wi
70. specify the start and end of the array of registers to be stored in the file The file has the name outputXX mdf where XX is the number of the file No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the max speed 01 MOVE 100 00 200 00 10 00 Move axis 0 to 100 and axis 1 to 200 02 WRITE FILE outputOO 0 15 The 16 registers from register 0 mdf Data2 to 15 Data3 will be saved in the file called output00 mdf Data1 This file can be retrieved later on for setting the registers 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 END End of program 37 of 70 Sept 2014 R Program Flow Command Definitions BEGIN END FUNCTION This command is for creating a sub program that can be called at any time This can be used when the same routine is executed in different parts of the program and saves the user writing the same code multiple times These sub programs will normally be located just before the END of the program At the end of the sub program it is required to use a END FUNCTION command which will indicate to what line the program will return after executing the sub program It is possible to have 99 sub programs in every MAP program No Command Data1 Data2 Data3 Explanation 00 LED 255 Turn ON the LED s 01 CALL 0 Calls the sub
71. ter 31 data1 will be used as a down counter timer R 1 the timer will use the channel number 8 data2 and the starting value will be 1000 data3 multiplied by 10mS e g 10S 03 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 04 IIF R31 Ho 4 Here we are verifying if the timer used in line 2 R31 has reached 0 data2 or not If not the program will jump to line 4 which is the same line so the program will remain in this line until the timer has reached 0 Once the timer has reach 0 the program will continue to line 5 Please note that the timer by itself does not stop the program if the user only wants to stop the program for a little while then the WAIT command is available 05 ANALOGUE OP 3 35 00 The analogue output 3 will output 35 00 of 10 volts e g 3 5V 06 END End of program The IF command has 6 comparison options these options are visible by positioning the cursor on the Data1 or Data2 column on this command and pressing the ENTER key A pop up window will appear on screen with the following options 43 of 70 Sept 2014 1 Equal 2 Not Equal l 3 Greater than gt 4 Greater or equal gt 5 Less than lt 6 Less or equal lt The user has to select one of the options by default the Equal will be displayed when selecting the IF command JUMP Jump is similar to an
72. the PMCA there are 3 channels 0 to 2 Data 0 the constant long data for the channel Data 1 The data to load into the jog encoder register No Command Data1 Data2 ata3 Explanation 00 01 DO 02 LOAD REG ROOO pes o Loads the Register 0 with the Jog Encoder Position IF LD_COUNTER 0 1000 Loads the counter 0 with 1000 03 WHILE ROOO 1500 04 05 END End of program 53 of 70 Sept 2014 Load File Data New command Load Multiple Load Multiple registers in one command In Data1 set the start register in Data2 set the end register and in Data3 set the value to load into those registers Bear in mind certain values can only be loaded in to specific register types so ensure the type has been set first In Data3 you can also use the key to set the value from another register Load Parameter File This command is used to load data via the serial communications port The command does not accept any other information and simply waits for data to be received on the RS232 port A message is displayed to the operator confirming that the data can now be sent selecting send on the PC software will then download all of the data to the controller This data is stored on the controller in a system file which is not accessible to the operator The Parse File command looks for the assigned file and reads the data into registers see Parse File for further details Load System Var
73. the analogue outputs when it is not in use for motion control this command has 2 parameters Channel which is the number of the axis to use and Op which is the analogue output voltage in percentage being 100 equal to 10 V and 0 equal to 0 volts No Command Data1 Data2 ata3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 mm for axis 1 02 MATH R05 2 The value stored in the Register 5 R05 will be multiplied for 2 and the result will be stored again in R05 03 REVOLVE 1 BB 85 00 The axis number 1 data1 column will revolve continuously at 85 00 Please note that the user can select between SOLO or RELINK ON MOVE by pressing the ENTER key when the cursor is on one of the data columns of the REVOLVE command 04 ANALOG OP 3 35 00 The analogue output 3 will output 35 00 of 10 volts e g 3 5V 05 END End of program CHANGE OP Set a single output The user has to select the output number and the desired value 0 is in active 1 active No Command Data1 Data2 Data3 Explanation 00 SPEED 80 00 100 00 0 00 Sets the speed of axis 0 to 80 and axis 1 to 100 of the max speed 01 MOVE 100 00 200 00 0 00 Move axis 0 to 100 and axis 1 to 200 02 CHANGE OP 7 1 The program turns ON output 7 The
74. the options using the UP and Down keys and press ENTER to select an option Display Registers Will show on screen the current value stored on each Register Using the up and down arrows the user can scroll through the 256 registers Display Origins This will display a small pop up box with the x y z origins that have been set for the edges of the part to be machined 67 of 70 Sept 2014 Display Trace Buffer This feature shows the sequence of lines that have last been run This is useful in debugging a program as you cannot always see where a jump has actually gone to or which condition was met This is a circular buffer and gets overwritten and so only shows the last 256 lines run Visualise This option shows the toolpath that is generated by the commands entered This is useful for checking the part generation and the envisaged shape Run lel Once the system has a valid file loaded the process can be started The program can be loaded either by the edit create menu or the memory but an error message will be display if the operator tries to run an empty data base To start the process simply press the key below the icon that is F5 The first time the system is running all axis that have valid home switch settings will start by moving towards the home position After homing the system will commence the program Stop e This Icon is only displayed when the program is running Pressing the stop key terminates the motion br
75. the speed for the selected axis within the limits set for that axis Stop Motion e Pressing this key terminates the motion brings the motors to a controlled stop and disables the drives 64 of 70 Sept 2014 Destination The destination for an axis can be set in different ways The external Jog Wheel is one These tend to have axis selection inputs as well as coarse or fine speed adjustments and are useful for setting positions as the tool and job can be viewed whilst manually moving the axis If fitted the internal jog wheel can be used along with the keypad to select the axis or the position typed in directly with the numeric keypad The up and down arrow keys can also be used to scroll the destination if an accurate position is required we suggest that position is typed directly a 65 of 70 Sept 2014 C Operators Screen Operator s Screen 2 Select the Operator s screen from the main menu and you will be presented with a screen as set up using the Canvas options All screens will have the same bottom row of icons regardless of how the canvas is set up Operator Menu B c m M This screen is designed to execute a program already created however it is not possible to modify a program from here There are very few facilities in this menu these are Select a file Enter the number cycles to run Start and Stop the process e Display Graphs Open File 3
76. thout tooling initially to ensure no collision or damage will occur The alternative to this command is to set a 100 Speed command a Move command followed by another Speed command to return to the required system speed REVOLVE This command allows an axis to continuously revolve at a desired speed In order to do that the axis has to be set as a relative axis without limits in the installation menu see installation manual The command has 3 settings the first one is the number of axis the second one is to select if the axis will be affected in a move command in another part of the program or not and finally the speed set to revolve 20 of 70 Sept 2014 In order to have access to the 2nd type parameter the user has to position the cursor over the Command name and press ENTER this will give the user 2 options Relinked on Move and Solo Axis By selecting Solo Axis the axis will remain revolving when a MOVE command appears in a different part of the program Selecting Relinked on Move will mean that the axis revolves and executes the rest of the program when a move command is processed the axis is then moved by the distance programmed This latter option may be useful for conveyor type situations where the conveyor runs until eventually a product is detected via an Input command the process then has to move a set distance for an operation to be performed and once complete starts revolving again until the next product
77. vailable Mathematical operations available are Add Subtract Multiply Divide Not The Not operation takes a value and re writes it as a negative number i e 100 becomes 100 All the user needs to do is specify the register to use to perform this operation on 48 of 70 Sept 2014 No Command Data1 Data2 Data3 Explanation 00 LOAD REG ROS MEN 10 The Register 5 RO5 is being loaded with the value 10 The VorR Value or Register parameter is accessed by placing the cursor on top of the data1 or data2 of this command and pressing ENTER A pop up window appears with options In this example we choose Value or Register VorR which indicates that the data2 has to be a value or a register Please note that the data2 is attached to the option selected 01 INDEX 75 00 10 00 0 00 Index advance 75 from the current position for axis 0 and 10 for axis 1 02 MATH R05 2 The value stored in the Register 5 R05 will be multiplied by 2 and the result will be stored again in R05 The parameter is accessed by placing the cursor on data1 or data2 of this command and pressing ENTER A pop up window appears with options 03 MATH R05 RO7 The value stored in the Register 5 R05 will be divided with the value stored in Register 7 RO7 and the result will be stored again in RO5 In order to select the RO7 register the user has to position the cursor in the point and press the key

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