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ADT-8860 - CNC Controller

1. a bbb JET ELSES 3 6 Look ahead algorithm and S curve acceleration deceleration drive During continuous track processing the user can enable the look ahead algorithm integrated in PMC This algorithm can check the corner size or ending of the processing track ahead and adjust the feed speed automatically to avoid the system having frequent start stop at the connection of segments It can significantly improve the processing efficiency smooth processing speed prevent processing impact and lower user s workload on processing speed control In this mode the user also can select linear or S curve acceleration deceleration mode 3 7 Position management Logical position counter and actual position counter The logical position counter outputs pulse in positive negative counting direction counts up 1 when outputs a positive pulse and counts down 1 when outputs a negative pulse The actual position counter counts the input pulses from external encoder allows selecting A B phase signal or independent 2 pulses up down counting signals for input pulses with command and the counting direction can be set Allow writing or reading the data of two counters and the counting range is 2 147 483 648 2 147 483 647 MNAE i ri t Pal fi v UO Pur n Bo ECB E EPHOPMART PEIN a a 24H ok dA EX Two phase pulse input mode fk ETF2X Count up 44 FAL Count down E FAKE Up down pulse input mode 24 MALI TECH MAF PMC Pro
2. 3 Linkage send single axis driving instruction to all axes of selected driving object interpolation send interpolation instruction to all axes of selected driving object stop stop the pulse output of all axes All above data use pulse as the unit 1 3 2 Initialization code of motion control card int ret ret g CtriCard Init Board m 1Noid 1f ret t AfxMessageBox Motion control card initialization succeeded j else t AfxMessageBox Motion control card initialization failed j 1 3 3 Monitoring module Monitoring module is used to get the driving info of all axes in real time display motion info and control to restricting sending new driving instruction during driving Monitoring module is completed with timer event and the code follows void CMy8860DemoDlg OnTimer UINT nIDEvent t CString str CStatic lbl int logpos 6 int actpos 6 UINT speedpos 6 UINT nIDI 8 IDC LOG POSXjDC LOG POSY IDC LOG POSZIDC LOG POSAJDC LOG POSB IDC LOG POSC 109 MALT ECH MAF PMC Programmable Motion Controller UINT nID2 IDC ACT POSX IDC_ACT POSY IDC ACT POSZ IDC_ ACT POSA IDC_ ACT POSB IDC_ACT POSC UINT nID3 IDC RUNSPEED X IDC RUNSPEED Y IDC RUNSPEED Z IDC_RUNSPE ED AJDC RUNSPEED B IDC RUNSPEED C int ret g CtrlCard Get CurrentInf m iNoid logpos actpos speedpos if ret 0 i for int 1 1 1 lt 7 1 i DoEvent Ibl CStatic GetDlgltem nID1 1 1 str Format 9old logpos 1
3. 104 MALI TECH MAF PMC Programmable Motion Controller return Result JE SE Se sie se sese oe se oe e se s se oe lese oo AS ese sioe ee espe e eb se eo de sese sie sese oe te AS SE se se se oe e se oe epo tese AS a eese Function feature set the working mode of pulse Parameter 1d slave station No axis axis number 1 6 value 0 pulse pulse 1 pulse direction logic 0 positive logic pulse 1 negative logic pulse dir logic 0 direction signal positive logic 1 direction signal negative logic Return 0 send successfully 1 send failed olololololcioicicicicici ici AR SR A AS AR RA SR FAS A i ii i IR ii A SR SR AR SR RIS RS FS IR FIC AR AR fl int CCtrlCard Setup_PulseMode int 1d int axis int value int logic int dir logic t Result pmc set pulse mode id axis value logic dir logic return Result PERRA AA E AR AR AR 2 AS AR 2 E AE AE E A A E AR IR FAS A E AS AE E AS A FE AE AE AR IR FAS AR A FAS FE AE A E AS A EE FS R E FS AR Function feature set the mode of positive negative limit input nLMT signal Parameter id slave station No axis axis number valuel 0 positive limit valid 1 positive limit invalid value2 0 negative limit valid 1 negative limit invalid logic 0 low voltage level effective 1 high voltage level effective Default mode positive limit valid negative limit valid low voltage level effective Return 0 true 1 false PBS FAS A AS AR EFAS A AR IR a AR SR o siii ci iii ii iii
4. Num axis number me e None parameter 0 execute successfully 1 send failed The parameters of speed curve must be set properly before writing drive command pmc continue move int pmc continue move INT32S id INT16U axis INT16S dir Description Continuous drive of every axis id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter axis axis number 1 6 dir running direction 0 positive non zero negative me e None parameter 0 execute successfully 1 send failed The parameters of speed curve must be set properly before writing drive command pmc continue moveExt int pmc continue moveExt INT32S id INT16U axis INT16S dir INT16U num Multi axis quantitative drive 16 PMC Programmable Motion Controller id slave station w dd for TCP UDP transmission connection address and port No Input parameter should be set for UDP transmission axis save the array of axis number 1 6 dir save the array of running direction 0 positive non zero negative Num axis number PM e None parameter 0 execute successfully 1 send failed The parameters of speed curve must be set properly before writing drive command pmc lineX Function name Description Input parameter Output parameter Return pmc line3 Function name Description Input parameter int pm
5. int pme fifo4 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S pulse4 INT32U speed Cache four axis interpolation motion Input parameter id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission pulsel pulse2 pulse3 pulse4 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 me None parameter 0 execute successfully 1 send failed pmc fifo5 Function name int pme fifo5 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S pulse4 INT32S pulse5 INT32U speed Cache five axis interpolation motion Input parameter 80 id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission pulsel pulse2 pulse3 pulse4 pulse5 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 MALI I C H 7374 PMC Programmable Motion Controller S None parameter Return 0 execute successfully 1 send failed pmc fifo6 int pme fifo5 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S Function name _ pulse4 INT32S pulse5 INT32S pulse6 INT32U speed Description Cache six axis interpolation motion id slave s
6. 5 SYSTEM REGISTER AND MODBUS PROTOCOL ssssseccccccsssssccceccsssssscceecossssssseee 29 6 CONSOLE FUNCTION DESCRIPTION u cssccssssssssscsssccssccsssccsssccssscsssscsssscsssscseess 34 7 INSTRUCTION PROGRAMMING sosaseissucessecscsesecassvehusvesesvsdecseuessersteondnseusteseesevencoussusess 42 Til PROGRAVIMING BASICOS sana ivi pios 42 ZLI KEYWORD AND INS FRUCTIONS TABLE sscsssssesvevsshssesseveesteseonssssscessessveshesvesesvestesssnescssseseseesstss 42 7 1 2 MOTION DIRECTION AND NAMING OF CONTROL AXIS cccccccsscccscsccccscscscccccccccccccccssccccccces 45 7 1 3 COORDINATE SYSTEMS OF MACHINE TOOL AND WORKPIECE sseecccseccccccccccceccccceccccsececcseeee 45 7 1 4 MODE AND MODELESS INSTRUCTIONS nai 49 7 1 5 PROGRAM STRUCTURE AND OPERATION MECHANISM cccccssssssssssssscccccccccccccccccccccccccccees 49 TAO VEO TION INSTRUCTI N icaro sidecar piatta licensa 53 7 1 7 OTHER MOTION RELATED INSTRUCTIONS scccssssscsssccesssccesscccesscccsscccsssccssssccesssesesssecesees 56 LS IO OPERATION INSTRUCTION suitable NTa EEn E eudi 59 7 2 MATHEMATICAL OPERATION INSTRUCTION cccccccccccccccccccscsssccsccccccccccccccccccccccccccccccecceees 60 ZI IU OTHER SY STEM INSTRUCTIONS curada 62 5 ONLINE DEVELOPMENT ccscsssesceccseusconcocssescccesetsersteneeccssuicondocssesetsesetseussssesceseuscredecasessts 65 8 1 BASIC LIBRARY FUNCTIONS LIST eee eee e eere eee eee eee
7. XXX XXX XXX XXx and the range of n is 0 2 indicating the objects respectively The command to configure MAC address is SET MAC xx xx xx xx xx xx After setting the network parameters please save the system parameters and restart the system to take effect 9 3 Network configuration related information IP address 4 section decimal value each section is separated with the value in every section shouldn t be larger than 255 and the first section shouldn t be larger than or equal to 223 or equal to 1 Generally the first three sections are subnet number and the last section is the host number in the subnet there 1s also exception but only the general condition is described The IP address of control card should be in the same subnet with the control host If the control card and the control host are in different subnets please adjust the mask properly it is recommended to set the control card and the control host in the same subnet Subnet mask 4 section decimal value each section is separated with the value in every section shouldn t be larger than 255 and is used to distinguish the subnet number and host number Default gateway 4 section decimal value each section is separated with the value in every section shouldn t be larger than 255 and the first section shouldn t be larger than or equal to 223 or equal to 1 If there 1s real gateway in the subnet please enter the real IP address of the gatewa
8. int pmc get dpara INT32S id INT16U addr INT32U data INT16U len Get parameters of drive register id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter addr register address corresponding to system parameter 32 bit double word address len get parameter length MALT C H 7374 PMC Programmable Motion Controller Output E data save the parameter values parameter 0 execute successfully 1 send failed pmc run int pmc run INT32S id Input id slave station No invalid for TCP UDP transmission connection address and port parameter No should be set for UDP transmission de e None parameter 0 execute successfully 1 send failed pmc_set_timeout int pmc set timeout INT16U timeouts INT8U repeat times Set the timeout and repeat times of corresponding port port communication port No Input parameter timeouts timeout unit ms gt 500ms repeat times repeat times None parameter 0 execute successfully 1 send failed None pmc read data int pmc read data INT32S id INT16U start addr INT8U pReadBuff INT16U Function name len TOS en as client port read server data function 1d slave station No invalid for TCP UDP transmission connection address and port Input No should be set for UDP transmission parameter start addr starting address of read data len
9. m When D38 is 2 if there is new quick shift instruction before previous instruction completes the system will check whether the axes conflict if not execute current quick shift instruction immediately if yes wait the previous instruction to complete and then execute the new instruction MOVE G00 programming example The position of starting point is X 50 Y 75 instruction G00 X150 Y25 the tool may run the following track ab es ex xt 46 Ki Starting point 2 di Ending point 2 Working feed instruction 53 MALT ECH MAF PMC Programmable Motion Controller Cutting feeding instruction includes linear interpolation and arc interpolation The axes in feed have interpolation relationship and their motion combination is cutting feeding motion The speed control of cutting feeding has three modes which is determined by the content of register D39 When D39 is 0 or 1 the cutting feeding speed is specified by the F address in the instruction and the default unit is mm min In processing program F is a mode value 1 e originally programmed F value is always valid before new F value is specified When PMC system 1s just electrified the F value is specified by register D41 The maximum value of F is controlled by register D42 If the programmed F value is larger than this value the actual feeding cutting speed will be maintained at this value m When D39 is 0 every motion has independent acceleration deceleration process next
10. FASE RESET ars FED RESET B LOAD an SFE LOAD 2 MOTION HC HABRA MOTION HOSS HS Re FEE T lel B RUH aS tefl RUN 2 eT Dare Rie EXIT an FE fl EXIT 2 LEG TASHA ARRAS CLOSE aS EG CLOSE 2 Ei ete ale SES BS eae EXITBUF Ars Fl EXITEUF 2 FIFA TH Ss steer ARPA AREA AUTO FILE an FEG AUTO FILE PMC HC ERAL Beh ever tt dra E SET AUTO 1 1 BEST EE i eile Be Eia IRS iE Ren ES AES AST PAUSE mrs TED PAUSE WS ETE aaah Bs HPA RESUME an FE fal RESUME praia Anes eS ns TSTOP SEO TST0P 1 SEMPER REC rai es LEES LEER FRI TT LOAD SYS an FEA LOAD SYS 0 1 METTA om P AFRO SAVE SYS ans Fp SAVE SYS 0 1 2 IT ae eB ee a pt ay om DEFAULT rS TED DEFAULT ESRL AER TIME_UNIT an Fl TIME_UKIT Ofl ee SAT OA AS HEW COORD an FE NEW COORD 1 STRE Sr ae l DEL COORD an RR DEL COORD 1 Miri ars Fel 1 Sonic ES E Ar FEB 4D36 1 Aer Fae DOG 5 rS PEDI 1 1 10 He HER Fest rie 1 BP COORD a HEP COORD Teresa ars FFA COORD O eRe NIRS aa na TER gu i IR COORD HOME fit SEA COORD HOME SAE EAS BIS tr REIS s ABSM ar FEB ABSM 0 1 HESKI E AE Gan Br EDI 690 PASA E gal ars PEDI cal We a Ais f AE AR T GIT ar EDI GIT Tee alse tree TEP Any TR 618 SEM G18 Peat LIEFE FA 619 ar SHE Gig Real Re L TESI TELATTZAE n TASK fr TEDI TASK SEMA ESE TIA ar FEB TASK 1 iS RAS aS SPEEDM an FEO SPEEDM 0 1 2 RHR RS SAAB Ee SE EE REE MOVE ars Teel MOVE X1DY10z10 SoS ue LINE fre LINE XIOYIOZIO Bg iz
11. IFA TREE FREU fa DES AT STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF STOF no co mo A LI hoe oo SSS SSS SSS SSS SSSSSS SSS SSS SSSSSSSS APCE EDI PIRTIS 2E 4545 ome 15075 110 10cm 2 2210075 ACER ARA ERI www daxia com peb AAA it ED A ARRAY PULS eel None LOAD 31 START EAT EUN 31 ewe meus com 5 5 R 4T4 com EHR 115200bps 6 CTS 0 DISR 0 RLSD 0 2 IETEXSTT HETA 0 Running program quantity 0 43 0 Mask 0 FESS J Program No Load 13247 Run JEY Program name FT AXEZ Open file File name PO Serial port No X AO Close serial port 58 Help RIE X fF Send file R17 fi O Save window IR MN Clear window HEX 7 HEX display Y HE Extend RAR Baud rate if Data bit fib Stop bit KIAL Parity JK Flow control SERT AX Schedule send HEX Rf HEX send E TB AME String entry box RI P T Send new line AX Send At this moment the system isn t running any user program and then we will execute LOAD 31 START BAT RUN 31 This command will load and run a user program named START BAT the No of which is 31 This program is actually text file program written in C similar language style script supported by PMC controller The function of this program is to load and run other programs in batch written by the user Now we will execute this command and then use the TASK command
12. absolute coordinate mode the coordinates of the motion end point in current coordinate system are specified in increment coordinate mode the distance of every coordinate axis relative to starting point motion is specified Three modes are available to set absolute coordinates and increment coordinates 1 Use script instruction ABSM 0 1 0 increment mode coordinates 1 absolute mode coordinates 2 Use G code instruction G90 absolute mode coordinates G91 increment mode coordinates 48 MALT ECH MAF PMC Programmable Motion Controller 3 By setting the value of register D36 0 increment mode coordinates 1 absolute mode coordinates Example diagram IX y SRI H xi HR gt E 120 0 M G90 X20 Y120 V x HR dA AE EN G91 X 70 Y80 40 0 20 0 90 0 E 22 4 Ending point ZXTAETE WEE Absolute instruction programming JE t HB 2m Fe Increment instruction programming Xe Ki Starting point Through above example we can understand the programming in absolute value mode and increment mode better 7 1 4 Mode and modeless instructions The so called modal function is always valid once a code is designated in the current block until another code of same group appears in the block and this instruction doesn t need to be specified if it is used by next block The so called modeless function refers to a code is only valid in the block where it 1s in and should be re specified if the next block uses it For exampl
13. H MAF PMC Programmable Motion Controller reference point to write the processing program Therefore the coordinate system created with this reference point is the workpiece coordinate system When the processed workpiece is fixed on the machine tool workbench first move the tool to specified workpiece reference point and set the machine tool coordinates of this point as the coordinate origin of the workpiece and thus the tool will use this workpiece coordinate system as the reference system when the system is executing processing program and process according to program instruction Therefore the home offset function of coordinate system 1s very important for CNC machine tool This system allows establishing and setting up to 32 workpiece coordinate systems and workpiece coordinate system 0 is established by default when PMC system is electrified i FY i Y i Y Y AFAR i IRA TEASER ZB TA FARRO i Y i Y N Y TARA TEASER 2 TEASER AS wa X ios X eee TA Xe T S USA TA FAB AK A Workpiece coordinate system JUR ZZ Mechanical reference point New coordinate system instruction Format NEW COORD n N workpiece coordinate system code 0 31 new coordinates are consistent with machine tool coordinate system by default The user can set the offset of every workpiece coordinate system relative to machine tool coordinate system and mapping of logic axes through axis configuration instruction Axis configuration instru
14. Please contact us if there any question Note Either two of PU PU DR and DR can t be connected directly or else the internal circuit may be damaged 2 6 IN3 wire No description 16 lines input refer to the silkscreen on the board for the sequence IN3 IN7O 20 IN71 19 IN72 18 IN73 17 IN74 16 IN75 15 IN76 14 IN77 13 IN78 12 IN79 11 INSO 10 IN81 9 IN82 8 9 IN83 718 IN84 6 7 IN85 5 ADO GND 4 AD INO 3 4 ADI CND 2 AD TN 1 a 3 81mm 16 rt m PMC Programmable Motion Controller Reference ground of analog input line 1 RA ZA AD INI ADI GND AD INO ADO GND IN85 IN84 OO 2 Z IN80 IN79 IN78 IN77 76 IN75 IN74 7 IN72 IN71 IN70 Universal input IO UY 93 N a aa m 2 7 OUT2 wire No description 16 lines output refer to the silkscreen on the board for the sequence OUT 1 EXT 24V GND cuz 7 1 OUT25 312 OUT26 4 OUT27 5 OUT28 6 OUT29 7 OUT30 8 OUTM 9 8 OUT32 10 2 0UT33 11 0UT34 12 OUT35 13 0UT36 14 OUT37 15 0UT38 16 OUT39 17 EXT 24V s 175 SALT ECH AAAF PMC Programmable Motion Controller Wire No Name Function OUT24 OUT25 OUT26 OUT27 OUT28 OUT29 OUT30 OUT31 OUT32 OUT33 OUT34 OUT35 OUT36 OUT37 OUT38 OUT39 EXT 24V 24 power input terminal require gt external switching power supply The power supply of the main
15. Result pmc modpara init card initialization function if Result lt 0 return Result for int 1 1 lt MAXAXIS i t pmc set limit mode id 1 0 0 0 set limit mode set positive negative limit effective low voltage level effective pmc set command pos id 1 0 clear logical position counter Em MALI TECH MAF PMC Programmable Motion Controller pmc set actual pos 1d 1 0 clear actual position counter pmc set speed 0 1 50 1000 200 10 set driving speed j return 1 PERRA AS A E AR FS AE RAS 2 E AR E A SS A AR A FAS AR AS E AS i ii A AS IS FAS A AE SIE A A AS iii AE SS IS AR SR AR E FE Function feature set communication mode Input parameter port corresponding communication port No mode communication mode of writing data and data type configuration parameter default data access mode readable writable Output parameter None Return 0 send successfully 1 send failed O int CCtrlCard Set Basic Para unsigned char port int mode t Result pmc set signle para port mode return Result PERRA AR A E A E E 2 E AS AR A A AE A AR AE FAS ii iii AS FES A A FE IS FS AR IR FAS iii ii A SS A SE FE AS RR Function feature serial port initialization Input parameter port serial port 0 1 2 3 baud set the baud rate corresponding to serial port databit serial port data bit 5 6 7 8 bit stopbit serial port stop bit 1 2 bit Parity serial port parity bit no odd
16. TAA bs 0 EJ IT BS SAA AR Fh ZA BU AIR A fei Ak Set coordinate system 0 as the current coordinate system of current task and show the info of current coordinate system T4 SHIA ELTE W CA RU A n A II i Set current position as the home of current coordinate system WE AU AA ER ZR JI m aZ Set current coordinate system to increment mode or absolute mode WB M A E Set current coordinate system to increment mode Ve EE 2A Bu Ab AW Zo OX Set current coordinate system to absolute mode Wee AU AA AI CVE A XY 1H Set working plane of current coordinate system as XY plane WB ga d BS LIEB XZ FT Set working plane of current coordinate system as XZ plane WE Mg A AN AE ERA YZ F iil Set working plane of current coordinate system as YZ plane APTA TEARS TT TA View the running status of all tasks KAES 1 EA ARIES Set task 1 as current task WIRE RES AAP BD SJR E Set the speed mode including single section acceleration deceleration constant look ahead smoothing HA 11123 Three axes joint point motion hth 322J Three axes interpolation motion JW I EL dE JJ Clockwise interpolation motion JIE EL FAM Clockwise interpolation motion Hz Three axes linkage Wifi 322J Three axes interpolation motion JW I EL dE SJ Clockwise interpolation motion WN Et ER 3S 23 Counterclockwise interpolation motion SA WAS API BH View current position of current coordinate system BLK S BY S5 B pr BERI S B View current position and feedback position of machine t
17. even Output parameter None Return 0 normal 1 send failed SUR Re A USUS UOS ISIS TROIS RS AR ep SAR ve att AS SUR e e NOI ae aS IS HIS PISCIS UR NESIOROR HI ale SORORIS ON eene int CCtrlCard Set Serial Init unsigned char port unsigned int baud unsigned char databit unsigned char stopbit unsigned char parity Result pmc serial init port baud databit stopbit parity TRUE return Result j PERRA a a AR A i ii A AR SR ii iii AR AS A A A AR FS AR Function feature initialize TCP UDP network connection of Modbus 04 MALT ECH MAF PMC Programmable Motion Controller Input parameter port network port No only the port No for TCP and UDP connection devnum device No corresponding to network communication conip connected server IP address conport connected server communication port No Modbus communication 1s fixed at 502 generally Output parameter None Return 0 normal 1 send failed KR eee soe ooo ak 3k 3 so oo sb oe 3 3e PAS a oboe oe boo SAS 2 ES PR sebo eoe seo oe eoe int CCtrlCard Get Net Conn unsigned char port int devnum int conip unsigned short conport i Result pmc net conn port devnum conip conport return Result j FE 2 AR AR AR FIG a ak ak ak ak ae AS AR IR ak ak AS ak AR FIG ae AR ak ak 3 3e AR SR iii ii iii ii ii iii FAS akk IC FS SR A AR Function feature close communication port Input parameter port communication port No only valid for TCP UPD network port
18. interpolation instruction will wait previous instruction to complete and then execute the system software will analyze and execute interpolation instructions one by one m When D39 is I the interpolation will execute constant speed motion the system software will save the analyzed interpolator instructions in hardware interpolation cache and the hardware interpolator executes automatically the system software won t wait previous instruction to complete and execute later interpolation instructions directly m When D39 is 2 the system will use look ahead arithmetic adjust feed speed automatically according to feed track and ending and the maximum speed is determined by register D41 When executing look ahead arithmetic the system will analyze track segment of specified quantity in register D7 in advance and the motion starts when reaching specified quantity or encountering WAIT instruction or reaching program end Note at present look ahead arithmetic only supports random three axes feed mode if more than three axes are in motion the system will report error and stop Linear interpolation instruction LINE and G01 the two instruction keywords have exactly the same function X Y Z A B C coordinate values determine whether absolute position value or increment position value according to the mode value of current coordinate system F instruction following speed Function LINE GOI instruction makes current motion mode become linear interpo
19. l corresponding function pmc write Outbit int pmc write Outbit INT32S id INT16U bit start INT16U bit num INTSU Function name status status Set single output point id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter bit start output port No bit num continuously read input port number Output status number of saving output status parameter 0 execute successfully 1 send failed Not Refer to the hardware manual of respective controller for the range of output point and ote corresponding function pmc_read_Outbit int adt8860a sudden write bit int dev num int number int value Read the status of single output point id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter bit start input port No bit num continuously read input port number Output e status number of saving input status parameter 0 execute successfully 1 send failed Not Refer to the hardware manual of respective control card for the range of output point ote l and corresponding function 8 2 8 System category pmc_set_cpara Function int pmc set cpara INT32S id INT16U addr INT32U data INT16U len name Set parameters of system register 83 OD C H 7374 PMC Programmable Motion Controller id slave st
20. long pulse2 long pulse3 long pulse4 long pulse5 long pulse6 Result pmc_line6 id pulsel pulse2 pulse3 pulse4 pulse5 pulse6 return Result PERA AR FIG ae AS ak ak ak ae AS ARS ak ak ak ak SR RIS AR ak ak 3k iii A ak ak ak 3k AR IR iii ii iii ii iii ii ciccio Function feature this function provides immediate stop mode and decelerating stop mode Parameter Id slave station No mode 0 immediate stop 1 pause 2 resume Return 0 true 1 false IS RES DIS AES AE E SE E RE IE DIE E E RE SIE DIS EE re DIE E A HER DE IRE DIE De e e DE IE EE ERRE int CCtrlCard StopRun int id int mode i if mode 0 i Result pmc_stop id j else if mode 1 i Result pmc_pause id j else if mode 2 i Result pmc_resume id j return Result j FE 2 AR e a ae AS ak ak ak ae AS AS ak ak AS 3k 3e AR RAS ak ak ak RAS AS FESR FAS akk 3k AR IR FAS 28 AR ak ii AR oto ak ak AR SR RIS AR AR 8 Function feature this function is used to get the driving state of single axis Parameter Id slave station No 101 MALT ECH MAF PMC Programmable Motion Controller status status2 status3 status4 status5 status6 status indicator 0 driving ends non 0 driving Return 0 true 1 false PBS FIG AR AS 28S a AR SR 8 A AR FAS A SR FAS A AR i iii IR FIG A i SR SR A SR RIS AR FS IR i int CCtrlCard Get ONLY Status int id short int status l short int amp status2 short int amp status3 short int amp status4 short i
21. 1s 11 30 25 Get system date instruction Format DATE No parameter Function get current date from the console Get system time Format TIME No parameter Function get current time from the console Save system parameters 63 MALT ECH MAF PMC Programmable Motion Controller Format SAVE SYS n Parameter n is saving mode the range of which 1s 1 2 3 5 6 7 Function the system registers in key areas will be saved in ferroelectric RAM Nonvolatile Memory or ROM The saved register areas are I0 I127 E0 E127 S0 S127 C0 C127 D0 D700 FO F127 m Ifn 1 the system parameters will be saved in ferroelectric RAM m If n 2 the system parameters will be saved in ROM m Ifn 3 the system parameters will be saved in ferroelectric RAM and ROM m Ifn 5 the system parameters and current coordinates of the machine tool will be saved in ferroelectric RAM m If n 6 the system parameters and current coordinates of the machine tool will be saved in ROM m If n 7 the system parameters and current coordinates of the machine tool will be saved in ferroelectric RAM and ROM Load system parameters Format LOAD SYS n Parameter n is loading mode the range of which is 1 2 5 6 Function load the saved data from ferroelectric RAM or ROM into key register area which may be I0 1127 E0 E127 S0 S127 C0 C127 D0 D700 FO F127 m Ifn 1 the system parameters will be loaded from ferroelectric RAM m If n 2 the system parameters will be loade
22. Bahis IP Hd BR FE IHS a IP Hatt 1 192 168 0 124 O Obtain an IP address automatically 5 Use the following IP address IP address 192 168 B 124 FEHER n 255 255 255 0 Subnet mask egg 255 255 BRL PI qu 192 168 ic 1 Default gateway 192 168 U 1 Basf DES ARS B SAAT HB DNS BRS SEHE C 2 Use the following DNS server addresses Biz DAS ARS F 192 168 0 1 iH DNS ESA i Preferred ONS server 192 168 0 1 Alternate DNS server Fig 11 In Internet Protocol TCP IP Properties window select Use the following IP address and then the user can set the IP address Subnet mask and Default gateway of the control host according to the subnet number in the LAN If the subnet doesn t have real gateway set the gateway to the first host number in the subnet e g 192 168 0 1 In actual application the subnet number of the control card should be consistent with the subnet number of control host If the subnet number of the control card is inconsistent with the subnet number of control host please modify the network configuration file of the control card through serial software tool If the control card and the control host are connected directly through crossover cable it is also possible to adapt to the control card by modifying the IP address of the control host 9 5 Network topology structure m Point to point interconnection Control host and the device
23. Read Input int id int svbit int number unsigned char status t Result pmc_read_Inbit id svbit number status 103 MALT EC H MAF PMC Programmable Motion Controller return Result PERA AR FIG e AS 2 AR FAS AR ARS AR RAS A AR FAS AR AR IR ii AR IR ii iii ii A SR AS AS AR IR FAS A SR IR FS 28 IC AR SR SR Function feature output signal of single point Parameter id slave station No svbit input port No number continuously read input port number status save the array of input status 0 low 1 high Return 0 true 1 false PBS FAS AR AS 28 A AR IR AS AR IR FIG A cicci ii iii ii iii i ARS i iii RIS 28 A IR FAS A AR IR iii i int CCtrlCard Write Output int id int svbit int number unsigned char status Result pme write Outbit id svbit number status return Result 75 FB AR A a AR a a OR SR AS AR 2 A SR RAS A SR FAS AS AR iii AR IR FAS A AR IR FAS A A iii ii FIC RAR SR AR Function feature set logic position and actual position Parameter 1d slave station No axis axis number pos set position value mode 0 set logic position non 0 set actual position Return 0 true 1 false dope ses e 4S OFS 6 seo spese spes se A sob spese spe bo eoe poeseos dottor int CCtrlCard Setup Pos int id unsigned short amp axis int amp pos int mode if mode 0 Result pmc set command posExt id amp axis amp pos 6 j else Result pmc set actual posExt id amp axis amp pos 6 j
24. Speed Internet ocal Area Connection o ie FEF Disable Network Tasks Create a new connection b Set up a hame or small a Status office network Repair Change Windows Firewall settings Bridge Connections et Disable this network device Create Shortcut Wi Repair this connection Delete mij Rename this connection Rename KO View status of this Properties connection Change settings of this connection Other Places E Control Panel amp J My Network Places E My Documents Y My Computer General Advanced Connect using Ei Realtek RTL8102E Family PCI E Fast This connection uses the following Items i File and Printer Sharing For Microsoft Networks 2 aos Packet Scheduler L Internet Protocol TCP IP Install Description Uninstall Transmission Control FProtocolInternet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected Notify me when this connection has limited or no connectivity 115 SID TECHM7 PMC Programmable Motion Controller Internet HH TCP IP REPE ld SIM Internet Protocol TCP IP Properties Bal General ae A git adage mo NEN EI la WE All ou can get IP settings assigned automatically if your network supports this capability Othenvise you need to ask your network administrator for the appropriate IP settings C
25. and pay attention to the influence of strong current and weak current while wiring please refer to the circuit diagram of the control box for details 1 Check whether the current of the drive is proper and whether the subdivision setting is appropriate 2 Check whether the motor and corresponding motion axis are proper 3 Check the correlation of input and output circuits 4 Check whether the power switch of the control box is disconnected Inspection item and period Under general conditions environment daily average temperature 30 C load rate 80 running rate 12h day please implement daily inspection and periodic inspection according to the items below e Check the ambient temperature and dust e Check whether there is abnormal vibration and sound e Check whether the vents are blocked by yarn Daily inspection 120 MALT ECH MAF PMC Programmable Motion Controller Troubleshooting o Motion axis XYZA doesn t act 1 Check whether XYZA output mode direction pulses and millimeter per rotation in Basic Parameter Settings are appropriate 2 Check whether XYZA has limit input signal in I O Testing if yes check the wiring 3 Check whether the motor and the drive are connected properly whether the drive and the card are connected properly and whether the drive provides sufficient current to drive the motor for servo check whether the control mode of servo is set properly this software supports po
26. connection address and port Input parameter IE No should be set for UDP transmission Output parameter status interpolation status read of the system 0 idle 1 interpolating 0 execute successfully 1 send failed 8 2 3 Motion parameter setting category pmc set speed int pmc set speed INT32S id INT16U axis INT32S sv INT32U speed INT32U acc INT32U pmm Set the parameters of every axis id slave station No invalid for TCP UDP transmission connection address and port Function name No should be set for UDP transmission axis axis number 1 6 Input parameter sv axis starting speed speed axis driving speed acc axis acceleration pmm axis pulse equivalent numerator 0 execute successfully 1 send failed pmc set speedExt int pmc set speedExt INT32S id INT16U axis INT32U sv INT32U speed INT32U acc INT32U pmm INT16U num Set parameters of multi axis id slave station No invalid for TCP UDP transmission connection address and port Function name No should be set for UDP transmission axis save the array of axis number 1 6 Input parameter sv save the array of axis starting speed speed save the array of axis driving speed acc save the array of axis acceleration pmm save the array of axis pulse equivalent numerator 0 execute successfully 1 send failed pmc set command pos int pmc set command pos INT32S id INT16U axis INT32S pulse Set t
27. devnum device No corresponding to network communication Output parameter None Return 0 normal 1 send failed SS SS 28 e EFAS 28 cicci ici iii ii iii 2S OOO int CCtrlCard Close NetDev unsigned char port int devnum i Result pme clos netdev port devnum return Result eee et console command communication port FF Input parameter Port set port No Output parameter None Return 1 true 0 false KR Ek deck ob se oo ste oe opos sese AS ee spe ole ebook e ole seo oe spe ob eoe se obo deseo Ae e soto tob took int CCtrlCard Set Consle Port unsigned char port t Result pmc set consleport port return Result 7 28 AR 2B a 2 AR AR FIG A AS AR SR A SR SR AS ii iii Sof AS ii iii ii FAS AS AR IR FS 28 AR 95 MALT ECH MAF PMC Programmable Motion Controller Function feature serial port read data function Input parameter Port communication port No rbuff storage area of read data length specify the length of read data Output parameter None Return actually received data length AA AR FAS AR FAS AR A AR A ci ici ici ici AR AS i ii A SS AR AS i AR SS AR IR FAS AR AS FS A ii A AR RR int CCtrlCard Get Uart Recv unsigned char port unsigned char amp rbuff int length t Result pmc uart recv port amp rbuff length return Result 8 TE SR k k k k k k k k k k 0111 console command communication port KOK 2K 2K 2K K K K K K K K K K K K K K K Input parameter None Output parameter None Return Set cons
28. every axis returning to the reference point relates to current machine tool coordinates If the current position of the axis is positive return to negative direction if current position of the axis is negative return to positive direction If the machine tool coordinates are set manually before returning to reference point the direction of returning to reference point can be changed Several modes are available in the process of returning to reference point and mainly depend on whether STOPO and STOP signals are valid Please refer to the introduction below for details Set STOPO signal instruction Format SET STOPA n n n The first parameter is specified physical axis The second parameter is signal enable symbol The third parameter 1s signal effective voltage level Function STOPO signal is usually for the sensor signal of external reference point if STOPO setting is valid when the motor runs to reference point position the axis driving stops immediately when encounters effective trigger voltage level If STOPO is invalid PMC internal software checks the reference point signal automatically when returning to reference point if reference point signal is valid decelerate to stop If STOPI is invalid PMC driving axis scans STOPO in low speed and stops when there is valid signal returns to reference point and then PMC sets STOPO to invalid automatically If the speed of returning to reference point is high and the inertia 1s large it m
29. id slave station No invalid for TCP UDP transmission connection address and port Input P Di No should be set for UDP transmission parame pFilePath path of read file absolute path including absolute path Output pFrameTotal read frames required for file transmission parameter pFileSize read file size 0 normal 1 send failed pmc write file 86 MALI I C H 7374 PMC Programmable Motion Controller int pmc write file INT32S id char pFilePath INT32U pFrameTotal INT32U Function name re 7 pFileSize write information of specified file id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input i pFilePath path of written file arameter f P FrameTotal frames of file to be transmitted FileSize size of written file Output parameter 0 normal 1 send failed CN pmc_wfile_data Function int pme wfile data INT32S id INT32U FrameCnt INT8U pWriteBuff INT16U name DataSize Description write file data according to frame No id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input FrameCnt frame No of writing file data the maximum byte length of write data once parameter is FileFrameSize pWriteBuff storage area of write file frame data DataSize size of frame data written once Output parameter 0 normal 1 send failed pmc r
30. iii ciccio Function feature first four axes interpolation motion Parameter Id slave station No pulsel pulse2 pulse3 pulse4 pulses Return 0 true 1 false kill LLL LL ILL LLL LI E 2S IR FIG 28 AC 2S IR FIG LL int CCtrlCard Interp Move4 int id long pulsel long pulse2 long pulse3 long pulse4 t Result pmc_line4 id pulsel pulse2 pulse3 pulse4 return Result FE AR 2B LE ak ak Ll LL AR ak ak ak ak AR a dp LC LL LL lC CLE C LLL EC LL LL IC FS IR FS Ee Function feature drive first five axes interpolation motion Parameter Id slave station No pulsel pulse2 pulse3 pulse4 pulse5 pulses Return 0 true 1 false SS 28 SFIS 28 AC ak 3k 3k 28 AR ae IR FAS i ii ii akk akk i i i ii ii i ii akk ak i iii iii int CCtrlCard Interp MoveS int id long pulsel long pulse2 long pulse3 long pulse4 long pulse5 t Result pmc line5 id pulsel pulse2 pulse3 pulse4 pulse5 return Result y FE AR e FIG a ak ak ak ak ae AS ae cicci sii cicci iii ii ii i AR ak ii AR IR ii AS A SR RIS AS sii iii sii ciccio Function feature six axes interpolation motion 100 MALT EC H MAF PMC Programmable Motion Controller Parameter Id slave station No pulsel pulse2 pulse3 pulse4 pulse5 pulse6 pulses Return 0 true 1 false akk ak ak ebook se o ak akk se eos ok ak 3k 3 3e oe e oe sole eo ese obe ak ak 3k 3 o obo oe seo oko oe oe eb ok eoe seco obese eoe int CCtrlCard Interp Move6 int id long pulsel
31. motion instructions When it is in online running mode any third party software can access PMC internal system register area through standard Modbus communication protocol to control the various function of the motion control card and provide flexible open architecture 1 1 Hardware system description e This system uses SAMSUNG series 32 bit high performance processor Samsung S3C2440AL with 400MHz main frequency e SDRAM memory onboard 64MB SDRAM standard configuration SDRAM clock frequency is up to 100M Hz e Nand Flash onboard 256MB Nand Flash standard configuration nonvolatile sufficient storage capacity for processing files satisfying the running and processing requirement of complicated programs e CorePower professional 1 25V core voltage power supply solving the CPU heating problem perfectly e Use super large scale programmable device FPGA and real time multitask control technology and hardware interpolation technology to ensure high stability e Output pulse frequency is up to 2M interpolation precision is 0 5 pulse e 56 lines input IO 40 lines output IO full optical coupling isolation e Support step motor and servo motor e Support USB1 1 interface allow user updating new software to USB disk at any moment or copying latest application from USB disk to the controller ensuring convenient on site operation e Reasonable structure all coupling isolation control strong anti interference capacity e 3 lines RS2
32. of user program and can t be accessed by external program The register areas are described below I register area input global 32bit unsigned integer data The addressing range of the register 1s I0 11023 This register area also supports bit addressing and the addressing range is 0 32767 of which the lower 0 79 bits corresponds to the real physical input IO of the controller and other higher addressing bits are used as virtual input IO in the program The word access function code of I register area in Modbus is x04 read multiple input registers the address range is 0 2046 and two words 16bit are combined into one unsigned integer 32bit Modbus input point access function code is x02 read multiple input points state and the address range 1s 0 32767 I register area is usually used to process signal input and participate in the calculation or control process E register area output global 32bit unsigned integer data The addressing range of the register is E0 E8191 This register area also supports bit addressing and the addressing range is 0 65535 of which the lower 0 23 bits corresponds to the real physical input IO of the controller and other higher addressing bits are used as common bit registers in the program The word access function code of E register area in Modbus is x03 read holding register x10 write multiple holding registers the address range is 0 16382 and two words 16bit are combined into one unsigned i
33. real control card IP address and MAC address with serial tool and then confirm the uniqueness of the address in the subnet 6 The physical connection isn t reliable please check 7 Default gateway setting isn t appropriate 8 If above methods aren t effective please cut off the power supply and restart the control card 117 F a I j je F j Em gpm i Pi nu E SOTELO 2 i d il d B a A FO TA p M C p rog ra m m d ble M oti 0 n C 0 ntro ler I i i dll om j T r 10 System Alarm Info All system alarms can be shown in the console including alarm source alarm ID alarm code code position and alarm reason and write these data into the register area started with C96 register Alarm source This is the task program that the alarm originates and the task number 0 31 is the alarm source If the error originates from the console the alarm source will be 32 Alarm ID Every type of alarm corresponds to an alarm ID so as to confirm the alarm type according to alarm ID table Alarm code If the alarm reason originates from console or program code keywords the console will record the error code Code position If the alarm reason originates from console or program code keywords the console will record the offset position of the error code in the program Alarm reason Simple description of system alarm reason 10 1 PMC program execution alarm Pd IL DI l EC AN Pr A PMC Programmable Motio
34. unexpectedly during running if hardware limit signal is valid the motion stops immediately If doesn t want to use hardware limit signal the user can use PLC program to achieve software limit 7 1 8 IO operation instruction PMC system provides 80 physical input IO points and 24 physical output IO points and certain IO points have dedicated function but won t affect the operation of IO instruction All input output IO points have internal cache to save the status of last operation Read input IO signal instruction Format IN n Parameter n is specified input IO label the range of which 1s 0 65535 Function read the status of specified physical input IO or virtual input IO m Ifnis 0 79 the status of real physical input IO is read and the read state is saved in IO cache m fnis 80 65535 the status of virtual physical input IO 1 e input IO cache is read Actually the IO address in IN instruction corresponds to the bit address in I register area I register area 1s read only and can t be rewritten by register evaluation Virtual input IO extends the read only bit address in PMC to internal IO in program mode to strengthen the program processing Virtual input IO has dedicated command to write value The addressing range of the virtual input IO can be accessed with function code 0x02 in Modbus protocol Write virtual input IO signal instruction Format WVIN n n The first parameter n is specified virtual input IO label the range
35. written by the user into the cache of specified task if no specified program or other errors are found PMC system will report error Program running instruction Format RUN n Parameter n is the task No Function run specified loaded program task if the program isn t loaded PMC system will report error Exit program instruction Format EXIT n Parameter n is the task No Function stop specified running task and the program cache is still valid when the task is stopped Close program cache instruction Format CLOSE n Parameter n is the task No Function close specified stopped program cache 6699 which is the file name of the instruction Set startup program file instruction Format AUTO FILE xxxxxxxx xxx Function set specified program file as startup program this program name is actually saved in C73 C76 registers and will take effect after the system parameters are saved Set startup mode instruction Format SET AUTO n n The first parameter sets whether load startup programs automatically after started the value of which is 0 or 1 and 1 is valid The second parameter sets whether run startup programs automatically after started the value of which 1s 0 or 1 and 1 is valid Function set the start mode of startup files the two parameters are saved in C71 and C72 registers respectively When PMC is electrified the system will check C71 and C72 register parameters automatically If the two parame
36. zh ARC aS Fel ARC A X10Y10120720 mE ERR EE ARC B aS Feo ARCA X10Y10120720 JRPEpd sn 300 areal 6000 X10Y10710 Eh 601 ar Steal Goi X1OY1OZ1O Shah ant 602 ars Fee co movioIzogzo JMEtstafttzan 603 aS TFB GOS MIOYIDIZONTZO iEETTDESRMESU 0 POSA fr Fil POSA CESSA a POSE an t fill POSE AAA RENE ini SET_LPOS fn SEO SET_LPOS 1 0 Trig E FE RAEE E AO SET_APOS apr FH SET_APOS 1 0 TREE E IAE ALE tf E 0 CLE FOS fr SEQ CLE POS 1 2 5 fete te EET 2 SRE ea Ez tm Pr eee IU CLEA ars FEA CLEA BAUER ie a Sa ini ELTE ATO sl ACER DIT RIED RESA Lor BE A EEAS meik 10x10cm H 2510075 Temes 1000 mA Larini aaa ERI HERE M IEE TT waw daxia com peb TUBAE ARA El A CURIE HR eww mens com 8 5 R 6132 com ETF 115200bps 5 crs 0 ISE 0 ELSI 0 EREA p EH Pe IPR BE HARE SAA LAA a SER Control keywords allowed in the console these keywords also can be used in user program fis EE Command example FRAN HES d Hh fa Get help info on keywords ARR JA Reset and restart the system AUN P FET XAF MOTION NC FJES 2 WERE SE FF AR RIP Load client program file MOTION NC into the program cache of specified task 2 ST CARMA 2 54 Run the 2 task loaded in the program 2 IEIEXEXA TT HI 2 EEG ARERR FARE PRAY Stop running 2 task program but the program cache is retained EMBDEASIER 2 4 Release the program cache of stopped 2 task 2 IE TEFEIS AT AY 2 S EAS TRY PEP STE IR SE AR AT Stop running 2 task program and the program ca
37. 1 Ibl gt SetWindowText str Ibl CStatic GetDlgltem nID2 1 1 str Format old actpos 1 1 IbI SetWindowText str Ibl CStatic GetDlgltem nID3 1 1 str Format old speedpos 1 1 IbI SetWindowText str UINT nIDINS 12 IDC HOME X IDC HOME Y IDC HOME Z IDC HOME A IDC PLIMT XjJIDC NLIMT X IDC PLIMT Y IDC NLIMT Y IDC PLIMT Z IDC NLIMT ZIDC PLIMT A IDC NLIMT A y UINT nIDIN2 6 IDC HOME B IDC HOME C IDC PLIMT B IDC NLIMT B IDC PLIM T CJDC NLIMT C INT16U bit start 0 INT16U bit num 85 INTSU status3 86 int 11 0 110 ZJTD I EC H MAT PMC Programmable Motion CButton btn CButton btn2 int ret2 ret2 g CtrlCard Read Input m iNoid bit start bit num status3 if ret2 0 i for 11 0 11 lt 12 11 if status3 11 0 btn CButton GetDlgItem nIDINS 11 btn gt SetCheck 1 j else i btn CButton GetDlgItem nIDINS 11 btn gt SetCheck 0 j j for 11 0 11 lt 6 11 btn2 CButton GetDlgItem nIDIN2 11 if status3 11 17 0 btn2 gt SetCheck 1 j else btn2 gt SetCheck 0 j j j INT32U regpos 0 g CtrlCard Get RegisterPos m iNoid regpos Ibl CStatic GetDlgItem IDC_ REG POS str Format ld regpos Ibl gt SetWindowText str Controller 111 SAW TECH MATE PMC Programmable Motion Controller CDialog OnTimer nIDEvent j 1 3 4 Stop module Stop module is used to control the emergencies in the driving process and the drivin
38. 14 HU STOP 13 HU STOP 16 HU STOP IT HU STOP 18 HU STOP 19 HU STOP 20 HU STOP 21 HU STOF de HU STOP Za HU STOP 24 HU STOP 25 TES RUN SF PLC b TES RUN TE PLL eT TES RUN SPEEL PLC O TES RUH TEST PLC 29 TES RUN ADT PLC 3l TES RUN DENG PLC al TES STOP START EAT RTS AFCE DIL PLE it ti sedi SPR AT aN X 2EGEBIB 5cmEIEBUL 10x10cmH 2210075 Temas 1000 mak a ana RERO HEXELE e BEIT www daxia com ncb FERNE Arta EARLE www mewS1 com 8 2 R 588 com EHF 115200bps 8 cTs 0 ISE 0 RISD 0 e IEZEXS TIE Et 7 Running program quantity 7 44 2113929218 Mask 2113929218 FEF Dia Program No Load 1347 Run F Program name FT AXEZ Open file File name FR E157 Serial port No X AJR N Close serial port 8 Help AX X fF Send file TRA HM Save window ik fd O Clear window HEX 235 HEX display H HE Extend TUR Baud rate Zt Data bit f 1E Stop bit IAL Parity Vit HL Flow control ETES Schedule send HEX RI HEX send F TAME String entry box RI P T Send new line AX Send PMC console supports commands with various functions If the user doesn t know the function and writing of instructions please use HELP command to get the information of all commands and keywords in the console as shown below 39 MALT ECH MAF PMC Programmable Motion Controller fi sscoms 2 ES AA TT http eee cul com Email men52 163 com 2l n x TERG PAGERS ES AAA ARA LEA PERE frs FEB HELP EA nS BIS E
39. 2 24V power supply 2 4 JDA1 wire No description Two lines analog voltage output refer to the silkscreen on the board for the sequence 5125 MALI TECH MAF PMC Programmable Motion Controller JDA1 3 01mm 2 5 X1 Y1 Z1 Al BI C1 drive control interface wire No description JCP4 PUCOM F 1 XPU EXT_VCCAC XPU 24V O ib 3 BS 24AVGND 11 2 XDR 2 gt XDR z lt XALARM XECA 19 14 7 OUT18 XECB gt 7 T XECB y de E lt XECZ DB15 15 RE3L CE ZEAEPKRAH In 15 pin female connector same to milling machine ELT MALI I C H MAT PMC Programmable Motion Controller Universal input point used for alarm input 5 nALARM X 34 Y 35 Z 36 A 37 B 38 C 39 Universal output point OUTn X 18 Y 19 Z 20 A 21 B 22 C 23 Encoder Z phase input 7 nECZ X 42 Y 45 Z 48 A 51 B 54 C 57 Encoder Z phase input 9 PUCOM Used for drive of single terminal input Provide 24V power supply externally Encoder A phase input 12 nECA X 40 Y 43 Z 46 A 49 B 52 C 55 Encoder B phase input 14 nECB X 41 Y 44 Z 47 A 50 B 53 C 56 14 MALT ECH MAF PMC Programmable Motion Controller a ca Fu COM egli o eee s A amp MIBI ESGI ze _ Lec a PC410 cuts Li 12 EC A Ele is nh PC410 con 14 isla aos doa Eos FC410 TIE I 7 ZERO tet HTS ZE E Ez Ts ALARM TW 5 OLUT wssp Eas a Dita PAPES cawEH if 24V Ei 24V power supply Brief Internal Circuit Diagram o
40. 2S pulse5 INT32S pulse6 Six axis linear interpolation id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter pulsel pulse2 pulse3 pulse4 pulse5 pulse6 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 0 execute successfully 1 send failed The speed of six axis interpolation bases on X axis speed 18 MALI TECH MAF PMC Programmable Motion Controller pmc_fifol Function name int pmc fifol INT32S id INT16U axis1 INT32S pulsel INT32U speed Cache random single axis interpolation motion id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 Input parameter a Wem x A pulsel output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 ma Eme None parameter Return o 0 execute 0 execute successfully 1 send failed sss 0 execute successfully 1 send failed sss failed Ng POSS pmc_fifo2 int pme fifo2 INT32S id INT16U axisl INT32S pulsel INT16U axis2 INT32S pulse2 Function name _ INT32U speed Cache random two axis interpolation motion id slave station No invalid for TCP UDP transmission connection address and
41. 32 15KV ESD protection e Standard industrial CAN bus interface reserved e Support handheld box input reserved e Standard network interface e Buzzer prompt ZIDTECHAA PMC Programmable Motion Controller Product specifications Function Function Name Name Description Number of control axes 6 axes X Y Z A B C Control axis Random 1 6 axes linkage Number of simultaneous contro Random 1 3 axes linear interpolation axes Random 2 3 axes arc helical interpolation 4 6 fixed axes linear interpolation USB interface For system orders and file transmission Maximum instruction value Motion Communication mode Return to reference point synchronously or R f eturn to reference point step by step G00 G01 G02 G03 Positioning linear interpolation MOVE LINE ARC A ARC B arc interpolation 7 7 Offline operating Offline operating Execute up to 32 programs synchronously Oulu conte Create work network with up to 64 controllers through Ethernet Motion instruction Operating mode Console human computer Run in command line input mode interaction PMC Programmable Motion Controller system and pause Automatic coordinate setting Program storage capacity number Total capacity 256MB single file up to IMB of stored program no limit on quantity of processing files Sequence loop goto subroutine call Display Use PC or third party human computer interface AXI
42. 320 000000 mie ER T H gt 4e3H Bth seo 000000 Meo ZHH gt 4338 kta Et 320 000000 t BO AME 438 Mp3 320 000000 fate BO EHI gt 4558 ike SS 320 000000 rats ED CHH gt sed kie Et 320 000000 rate ED Current coordinate system quantity 1 Mask 1 Coordinate system 0 Mode absolute coordinates X axis axis Pulse equivalent Offset Y axis gt 2 axis Pulse equivalent Offset Z axis gt 3 axis Pulse equivalent Offset A axis gt 4 axis Pulse equivalent Offset B axis gt 5 axis Pulse equivalent Offset C axis 6 axis Pulse equivalent Offset Set workpiece coordinate system home instruction Format COORD HOME no parameter This command can be used to set current position as the home of current workpiece coordinate system this instruction will re calculate and set the offset of current coordinate system relative to machine tool coordinate system View current coordinate system position info instruction Format POSA No parameter This instruction will make the console show the current position info of current coordinate system as shown below POSA SIERO 4 0 0000 mm log O Y 0 0000 mm log O 2 0 0000 mm log o A 0 0000 mm loz o E 0 0000 mm loz E 0 0000 mm Loz HAA ERA 0 Current coordinate system 0 3 Absolute coordinates and relative coordinates programming The coordinates in motion instructions have two expression modes absolute and increment In
43. A a AR i AR SR SR A a A IC FS i int CCtrlCard Setup LimitMode int 1d 1nt axis int valuel int value2 int logic Result pme set limit mode id axis valuel value2 logic return Result j JE Eie sop ken ae spe seo op ese oos soe so soe de AR e pole epe sie ool PRS a e obo qon poor oppo sopore Function feature set the mode of stop0 signal Parameter id slave station No Axis axis number 105 MAL TECH MAF PMC Programmable Motion Controller Value 0 invalid l valid Logic 0 low voltage level effective 1 high voltage level effective Default mode invalid Return 0 true 1 false TORTE eoe sede qup Sie ie he qe sop A seno sede ie Ae Pe is See ae ok eee e oie Soke int CCtrlCard Setup StopOMode int id int axis int value int logic i Result pmc set stop0 mode id axis value logic return Result PERA AR a e AS 2 OR RAS AS AR RAS AS AR RAS A AR IR FIG 28 i ii ii iii ii iii ii FAS AS AR IR FAS SS AR SR AR Function feature set the mode of stopl signal Parameter id slave station No axis axis number value 0 invalid 1 valid logic 0 low voltage level effective 1 high voltage level effective Default mode invalid Return 0 true 1 false PIS FAS AR AS AR SFIS A AR IR FIG A cicci ici AR SR SR AR AR AS 28 AR iii ii iii FAS 28 AR IR iii int CCtrlCard Setup_Stop1Mode int id int axis int value int logic t Result pmc set stopl mode id axis value logic retur
44. ADT 8560 PMC Programmable Motion Controller User s Manual AIDTECH MAT ADTECH SHENZHEN CNC TECHNOLOGY CO LTD 5th Floor 27 29th Building Tianxia IC Industrial Park Yiyuan road Nanshan District Shenzhen Post code 518052 Tel 86 755 26722719 Fax 86 755 26722718 E mail export adtechen com http www adtechen com MALT ECH MAF PMC Programmable Motion Controller Copyright Adtech Shenzhen Technology Co Ltd Adtech hereafter 1s in possession of the copyright of this manual Without the permission of Adtech the imitation copy transcription and translation by any organization or individual are prohibited This manual doesn t contain any assurance stance or implication in any form Adtech and the employees are not responsible for any direct or indirect data disclosure profits loss or cause termination caused by this manual or any information about mentioned products in this manual In addition the products and data in this manual are subject to changes without prior notice Copyright All rights reserved MALT ECH MAF PMC Programmable Motion Controller Version Update st ADT 8860 2011 8 15 Remark The three digits in version number have the following meanings Lo Main version number of library Secondary version number of library Reserved Remark 1 Adtech has collated and checked this Manual strictly however we can t guarantee that there is no error or omission in this Manual 2 A
45. CI2 Evaluate absolute value function amp amp Yes 1882 Logical AND operator Les p o Logical OR operator Ps E Logical XOR operator ll Yes 2 J LogicalNOT operator amp j Yes l amp 2 Bitwise AND operator rs hi Bitwise OR operator An Ys X 2 J Bitwise XOR operator e ves EL iis negation operar p ____ fine arithmetic operator Yes EE Positivevaluesymbol p EE i Subtraction arithmetic operator Yes HERI Negative value symbol Yes 253 Multiplication arithmetic operator Po es 32 Division arithmetic operator Yes 3 2 j Remainderoperatr IF No Fano Check whether the expression condition is true If the IF expression isn t true execute the ae NEU pss sentence after ELSE ELSEIF No ELSBIFf 3 ELSE IFconditionnesting WHILE No WHILE 3 Cycling condition determination DO WHILE No DOf WHILE DO WHlLEloopstructur BREAK No BREAK Outofthe WHILElop GOTO No GOTO NIII Jumpto NIIII program label unconditionally CALL No CALLOI2 CallsubroutineO123 ___________ RETURN No RETURN Retumfromsubroutine Instruction end symbol the function is same to Yes Enter generally used to differentiate multiple instructions in s
46. FAS AS ak ak 3k 28 AR Function feature set timeout and repeat times of corresponding port Input parameter time timeout unit ms gt 500ms renum repeat times Output parameter None Return TRUE normal EERE se Ste ie As ae ES Sie eRe She Ste is Phe ee sep heehee dep spots sop opos qon opt te hs ae ie deo dor oro oe Rohe Pe Sie Sie int CCtrlCard Set TimeOut unsigned short time unsigned char renum t Result pmc set timeout time renum return Result FE 2 AR AR AR FIG e ak ak ak ak ae a AR IR ak ak ak AR AR FIG A AS AR ak 3k ak 3e A SR ak ak AR SR AS A ak ak 3k 3 A iii iii AR IR FAS AS ak ak 3k A SR Function feature set starting speed driving speed and acceleration of the axis Input parameter Id slave station No Axis axis number Startv starting speed Speed driving speed Add acceleration Pmm pulse equivalent numerator Return 0 true 1 false _Q7 MALT ECH MAF PMC Programmable Motion Controller dest ebook ek tes se oe spe oe opo sob oe se ok eb obe oe bobo e soe bos eoo eoe oe opos epos oe tote int CCtrlCard Setup Speed int id int axis int startv unsigned int speed unsigned int add unsigned int pmm if startv speed gt 0 constant speed motion Result pmc_set_speed id axis startv startv add pmm j else acceleration deceleration motion Result pmc_set_speed id axis startv speed add pmm j return Result j FE 2 AR 2 AR FIG a ak ak ak ak ae AS ARS ak ak ak a
47. FER ADT 8860 test program PAO Serial port No WFX Baud rate WF Data bit fb Stop bit JSN Parity PO Serial port No w ID Device ID WX Baud rate 204 41 Data bit 147 Stop bit TUS Parity ER Connect Modbus M2 Modbus network 108 MAL TECH MAF PMC Programmable Motion Controller 7S tt MAC Hutt MAC address ASHE IP HEHE IP address 2 Ym IP Client IP Ekz Linkage A 17 Pause 2 Buffer fi Interpolate ki Resume Vy EHi Clear position EZEZ FF Continuous running V IO Jill IO test 471E Stop REER Jy zk Coordinate mode ji A Increment 24X t Absolute JRA home 1EDR4 positive limit f PRA negative limit is a pules s Motion parameter setting pulse s 44 Axis No GIRE RE Starting speed IKEJ Driving speed JE E Acceleration 4 Y Equivalent numerator ESMAS Motion status 7 Axis No Hbi Target position 1444 17 Logic position Scb E Actual position ia TUR Running speed fitte PE Mode selection 1 A 4p b 7j 3X Set current coordinate mode 122338 4 H4T JjzX Motion instruction execution mode Z lizz2 7 3 amp Multi axis motion conflict mode Note 1 Speed setting used to set the start speed driving speed and acceleration of every axis position setting set the driving pulse of every axis driving info display the logical position actual position and running speed of every axis in real time 2 Driving object confirm the axis for linkage or interpolation by selecting driving object
48. G o 90 S43 SSTOPU STOPI SIGNAL caninos edere neret sire 90 8 5 MOTION CONTROL DEVELOPMENT PROGRAMMING EXAMPLE 90 8 5 1 VB PROGRAMMING EXAMPLE vos crvsceeeesicssepecccssusesucsseuaaetasesesscesesecncksgetsavesseusrcceweiescees 91 5 5 2 VC PROGRAMMING EXAMPLE ricreare ars 91 9 NETWORK SETTING nina 113 D EJNEINORK ENVIRONMENT uri dc 113 9 2 CONFIGURING NETWORK PARAMETERS eee ee eee Re Eee recata 113 9 3 NETWORK CONFIGURATION RELATED INFORMATION ccccscccsssssccccssssccccsscsccccssccccccsssscosees 113 9 4 HOST UPPER PC NETWORK CONFIGURATION eeeeeeeeeeeeeeeee esee eee eee eese esee eese e esee eese e esee eeeee 114 9 5 NEFWORKTOFOLOGYSIRUCTURE 55 999 020685 029902100000 I HUNE Ee cia 116 9 6 COMMON NETWORK E MLURES sanos s pdas 117 10 SYSTEM ALARM INFO coastal 118 11 PRECAUTIONS AND TROUBLESHOOTING eeeee eee ee eee ense aestas etas sense 120 MAW TECH MAT PMC Programmable Motion Controller 1 Product Overview ADT 8860 is a multipurpose and onsite programmable six axes motion controller PMC program motion control with PLC function It supports offline operating mode online real time operating mode and console operating mode and is widely used in various automation control equipment When the controller is running in offline mode it used C similar language style instruction programming and control and is partly compatible with G code
49. O 12 13 14 l 16 17 2 2 IN2 wire No description 17 lines input refer to the silkscreen on the board for the sequence 10 MALT ECH MAF PMC Programmable Motion Controller IN2 INCOM2 18 IN17 17 IN18 16 IN19 15 IN20 14 IN21 13 IN22 12 IN23 11 IN24 10 IN25 9 IN26 g 2 IN27 7 IN28 6 IN29 5 0 IN30 4 IN31 E N32 2 IN33 1 A 3 81mm Wire No Name Function I Universal input IO refer to the silkscreen on the board for the sequence Universal input IO Universal input IO Universal input IO Universal input IO Universal input IO 7 Universal input IO Universal input IO Universal input IO 10 Universal input IO Universal input IO C negative limit universal input IO C positive limit universal input IO B negative limit universal input IO B positive limit universal input IO C home universal input IO B home universal input IO Input common terminal 2 please connect it to s INCOME 12V 24V power supply 2 3 OUTI wire No description 18 lines output refer to the silkscreen on the board for the sequence 5 12 13 14 l 16 17 sI MALT ECH MAF PMC Programmable Motion Controller OUT 1 EXT_24V_GND 555 1 OUTI 312 OUT2 4 OUT3 5 OUTA 6 OUTS 7 OUT6 8 OUT 9 8 OUTS 10 9 OUTO 11 OUT10 12 0UT11 13 0UT12 14 0UT13 15 0UT14 16 OUT15 17 OUT16 18 OUT17 19 EXT 24V Output 0 17 Load 24 power input terminal require external 1
50. ORDI _ Delete coordinate system 1 COORD TE configuration info of all coordinate COORD coordinate system Set current position as the home of current COORD HOME Yes Yes COORD HOME 7 coordinate system ABSM Yes Yes ABSM 0 1 Set current coordinate system in increment or absolute coordinate mode G90 Yes Yes G90 Set current coordinate system in absolute coordinate mode Set current coordinate system in increment G91 Yes Yes G91 coordinate mode A L MS B tdo configuration info of physical aste _ Yes fD36 AccssD36rgiser 0 0 GENI fe fern ge a basic unit sizes SETIP Yes SET IP 192 168 0 123 Set PMC IP address save system parameters and wpe MALT ECH 7374 PMC Programmable Motion Controller ee O ee SET MAC Set PMC MAC address save system parameters PT es 11 22 33 44 55 66 and restart to take effect SET UART Yes reed Set configuration parameters for serial port 0 0 115200 8 0 1 SET DATE Yes SET DATA O11 03 2 22 Set system date to Tuesday April 22 2011 SET TIME Yes SET TIME 15 31 50 Set system time to 15 31 50 DATE Yes DATE Show system date TIME Yes TIME Showsysemtime IPCONFIG Ye IPCONFIG o Show system IP MAC address and serial port configuration info VERSION Yes VERSION Show system software version IN Yes JjINO Read status ofinputportO RIN Yes JRINO ______ Readcachestatusof
51. S configuration 1 3 Operating environment Operating voltage 24V DC with filter Operating temperature 0C 45 C Optimum operating temperature SC 40 C safety function Program storage Program NN eee 10 90 no condensation BAAD TECH 774 PMC Programmable Motion Controller 1 4 Installation layout POWER ALARM RIN D D 0 JA INPUT Ml 01234 6 13 10 1LI2 3 41516 SD CARD U DISK USB COM MALT ECH MAF PMC Programmable Motion Controller 2 Electrical Interface and Connection 2 1 INI wire No description 17 lines input refer to the silkscreen on the board for the sequence INA INCOM1 18 INO 17 IN1 16 IN2 15 IN3 14 INA 13 IN5 12 ING 11 IN7 10 INS 9 INQ g 2 IN10 71 IN11 6 IN12 5 9 IN13 4 IN14 3 4 IN15 2 IN16 1 3 81mm Wire No Function l IN16 Universal input IO IN15 Universal input IO Universal input IO Universal input IO Universal input IO A negative limit universal input IO 7 A positive limit universal input IO Z negative limit universal input IO Z positive limit universal input IO 10 Y negative limit universal input IO Y positive limit universal input IO X positive limit universal input IO A home universal input IO 5 Z home universal input IO Y home universal input IO N X home universal input IO 18 INCOMI 17 lines input point common terminal 1 X negative limit universal input IO IN
52. The registers in C register area are described below CO serial port 0 baud rate 9600 14400 19200 38400 56000 57600 115200 optional default 115200 C1 serial port 0 data bit fixed at 8 read only C2 serial port 0 stop bit 1 bit 2 bit optional default 1 C3 serial port 0 checksum mode 0 None 1 Odd 2 Even optional default 0 C4 serial port 0 0 hide testing info 1 show program execution process 2 show testing info C5 C9 reserved C10 card No address 0 127 default 0 C11 serial port 1 baud rate 9600 14400 19200 38400 56000 57600 115200 optional default 115200 C12 serial port 1 data bit fixed at 8 read only C13 serial port 1 stop bit 1 bit 2 bit optional for Modbus RTU protocol select 2 C14 serial port 1 checksum mode 0 None 1 Odd 2 Even optional default 0 C15 C19 reserved for serial port 3 C20 C39 reserved C40 IP address default 192 168 0 123 C41 IP address mask default 255 255 255 0 C42 gateway IP address default 192 168 0 1 C43 C44 NIC physical address default 00 AB CD 00 12 03 C45 network communication port No default registered port No of Modbus 502 C46 C49 reserved C50 C59 second network interface parameter area reserved C60 quantity of current used coordinate systems read only C61 mask of used coordinate system No read only C62 quantity of currently running programs read only C63 mask of currently running program No read only C64 qua
53. al receives alarm signal from servo motor drive If it 1s set to valid it monitors ALARM input signal and stops driving immediately if the signal is valid These input signals used for servo motor drive can be read with universal I O function Universal output signals can be used for bias counter clear alarm reset servo on etc 26 MAW TECH MAT PMC Programmable Motion Controller 4 PMC System Architecture ADT 8860 is a multipurpose and onsite programmable six axes motion controller PMC program motion control with PLC function It supports offline operating mode online real time operating mode and console operating mode and is widely used in various automation control equipment Offline operating mode When the controller is running in offline mode it used C similar language style instruction programming and control and is partly compatible with G code motion instructions The programming is simple flexible support multi task mode and can achieve complicated calculation and control Online operating mode When it is in online running mode any third party software can access PMC internal system register area through standard Modbus communication protocol to control the various function of the motion control card and provide flexible open architecture Console operating mode In the process of application development the user can control the whole process of PMC through serial communication based console and get desired
54. ame line of code Ga Yes G Q 0 4 3 Expression boundary symbol Pa I A LL Block boundary symbol y Program note symbol ignoring the later content UU of the program ACOS ACOS 0 5 44 DT EC H MAT PMC Programmable Motion Controller 7 1 2 Motion direction and naming of control axis L_ tZ Pi yy P4 gt y y Y Y X li e E F 4 s ut Pal i DL e NS ur d A y LY 7 vA fr dl yA a d JER AB a T F Workpiece X Y LEG X Y workbench JE RE Base acr d eX 4 4Z cl e Fa fe A E This system can control the quick motion of random six axes feed interpolation of random one two or three axes and first four five or six axes interpolation Axis direction definition uses Cartesian coordinate system as follows facing to the machine tool Z The upward downward motion of the tool relative to the workpiece is Z axis motion the upward motion is Z axis positive motion and the downward motion is Z axis negative motion X The leftward rightward motion of the tool relative to the workpiece is X axis motion the leftward motion is X axis negative motion and the rightward motion is X axis positive motion X The frontward backward motion of the tool relative to the workpiece 1s Y axis motion the frontward motion is Y axis positive motion and the backward motion is Y axis negative motion A B C They are usually used as rotation coordinate axes as well as other auxiliary
55. arameter n 1s the stop bit width of serial transmission and the virtual value 1s 0 or 2 0 stop bit width is 1 2 stop bit width is 2 1 stop bit width is 1 5 unavailable at present default 0 Function set serial communication parameters serial port 0 is used for PMC console operation and serial port 1 is used for Modbus data communication Actually these parameters will be written into C0 C3 serial port 0 or C11 C14 serial port 1 registers Serial parameter setting takes effect immediately but hasn t been saved in system parameter file If the parameter setting isn t proper the system will restore original setting after restarted If the user confirms that the parameter configuration 1s appropriate please save with the SAVE SYS command Get system communication interface info Format IPCONFIG No parameter Function show network configuration info and serial port configuration info in the console Set system date instruction Format SET DATE n n n n The first parameter n 1s the year The second parameter n 1s the month The third parameter n is the week day The fourth parameter n 1s the date Instruction example SET DATE 2011 4 5 1 indicates that current date is Friday April 1 2011 Set system time instruction Format SET TIME n n n The first parameter n 1s the hour The second parameter n is the minute The third parameter n 1s the second Instruction example SET TIME 11 30 25 indicates that current time
56. are connected directly through 568B crossover cable Ure 32 xu Control host 114 1 Device 1 m Star topology interconnection 116 MALT ECH MAF PMC Programmable Motion Controller Control host and the device are connected through switch or hub with 568A straight through cable While building network the industrial Ethernet standard 1s recommended B4 ERES iud AMARE E S ia Tal EA ix4 amp 1 Device 1 iz 4 amp 2 Device 2 124 3 Device3 12 4 Device 4 iz4 amp 5 Device 5 124 61 Device 6 Ard BYEZ AS Switch or hub WEHL Control host He EAL Other host 9 6 Common network failures 1 The IP address and NIC address of the control card aren t reconfigured causing address conflict Solution reset the network options of the control card 2 The IP address of the control card and the IP address of the control host aren t in same subnet Solution set the IP addresses of control host and control card in the same subnet or modify the subnet mask 3 Several devices with same IP address and NIC address exist in the LAN The solution is same to 1 4 The network cable doesn t match the control card and the control host should be connected with crossover cable directly while the control card and HUB or switch can be connected with either crossover cable or straight through cable 5 The IP address and MAC address of the control card specified during network connection do not exist Solution get or modify
57. ateway address of PMC The default IP address of PMC is 192 168 0 123 to connect PMC to the LAN the IP address must be unique in the LAN and the IP address and mask should match the LAN SET IP instruction actually writes above parameters into C40 C41 and C42 registers and the saved system parameters take effect after restarted Set NIC address instruction Format SET MAC xx xx xx xx Xx xx The address parameter is a string x 1s hexadecimal character and the range 1s 0 9 A F two xx combine a section and there are six sections totally Every section is separated with For example 1 1 22 33 44 55 AA Function set the NIC address MAC of PMC to connect PMC to LAN the MAC address must be unique in the LAN SET MAC instruction actually writes above parameters into C43 C44 registers and the saved system parameters take effect after restarted Set serial port instruction Format SET UART n n n n n The first parameter n is serial port No the range of which is 0 1 The second parameter n is serial baud rate 9600 14400 19200 38400 56000 57600 115200 optional default 115200 The third parameter n 1s valid data bit width of serial transmission and the virtual value is fixed at 8 The fourth parameter n is the parity mode of serial transmission and the virtual values are 0 1 2 indicating No odd and even respectively 62 MALI TECH MAF PMC Programmable Motion Controller The fifth p
58. ation No invalid for TCP UDP transmission connection address and port Input No should be set for UDP transmission npu a addr register address corresponding to system parameter 32 bit double word address parameter data save the parameter values to be set len set parameter length LO None parameter Return 0 execute successfully 1 send failed Note pmc get cpara Function name int pmc get cpara INT32S id INT16U addr INT32U data INT16U len Get parameters of system register id slave station No invalid for TCP UDP transmission connection address and port Input No should be set for UDP transmission parameter addr register address corresponding to system parameter 32 bit double word address len get parameter length Output data save the parameter values parameter 0 execute successfully 1 send failed pmc set dpara int pmc set dpara INT32S id INT16U addr INT32U data INT16U len Set parameters of drive register id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter addr register address corresponding to system parameter 32 bit double word address data save the parameter values to be set len set parameter length Se None parameter Reum Reum fo execute O execute successfully 1 send e 1 O execute successfully 1 send e failed Ne POSS pmc get dpara
59. ay cause mechanical impact when STOPO 1s valid If this command is used when the program is running it can be used as hardware limit signal Set STOP signal instruction Format SET STOPB n n n The first parameter is specified physical axis The second parameter is signal enable symbol The third parameter 1s signal effective voltage level Function STOPI signal is usually used as external servo encoder Z phase signal If STOPI setting 1s valid the motor runs to reference point position and stops when encounters STOPO and then scans STOPI signal at low speed If there is valid trigger voltage level the axis driving stops immediately and returns to reference point If STOPI is invalid it stops when encounters STOPO and then scans STOPO in low speed If the reference point signal 1s valid it stops immediately and the returning completes Set hardware limit signal instruction Format SET LIMIT n n n n The first parameter is specified physical axis 9B MAL TECH MAF PMC Programmable Motion Controller The second parameter is positive limit signal enable symbol of which 0 indicates valid and 1 indicates invalid The third parameter 1s negative limit signal enable symbol of which 0 indicates valid and 1 indicates invalid The third parameter is limit signal effective level of which 0 indicates low level and 1 indicates high level Function hardware limit is usually used to prevent the device exceeding the valid motion range
60. board is 24V which is provided by external switching power supply The power wiring follows Universal output 0 17 m O NIAI OH AITO l oO 2 8 Power wiring mode 24VDC 2 9 Serial port 1 Serial port 0 is usually used for system update console testing and system info display 18 MALI TECH MAF PMC Programmable Motion Controller DB9 4L DB9 female connector 1 NC 3 RXI Data receiving 2 10 Serial port 2 Serial port 2 is used for R232 based Modbus protocol communication at present COM Data receiving Data 1 transmitting 19 PMC Programmable Motion Controller Power ground Provide 5V power supply externally Provide 5V power supply externally 2 11 Standard USB interface USB Standard USB storage e g USB disk interface 2 12 Standard Ethernet interface RJ45 When the host is connected to the control card directly please use crossover cable 1 e use 568B category cable on one end and use 568A category cable on the other end When the host is connected to the control card through router use 568A category cable on both ends KESA Male 568B Male 2 13 Other reserved interfaces Serial port 3 VGA interface LVDS interface SD card interface and handheld box interface are reserved 2 14 Wiring mode of input signals THA Optical coupling input Connect INCOM terminal to positive end of external power supply and connect the input si
61. byte length of read data Output pReadBuff storage area of read data parameter 0 execute successfully 1 send failed Pote 85 MALT ECH MAF PMC Programmable Motion Controller pmc write data int pme write data INT32S id INT16U start addr INT8U pWriteBuff INT16U Function name en 7 T en as client port write data to server function id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input start_addr starting address of write data arameter d pWriteBuff storage area of write data len byte length of write data Output i pData ModParam structure pointer parameter 0 execute successfully 1 send failed pmc rfile data int pmc rfile data INT32S id INT32U FrameCnt INT8U pReadBuff INT16U Function name os pDataSize read file data according to frame No id slave station No invalid for TCP UDP transmission connection address and port Tamil t No should be set for UDP transmission nput parameter dis FrameCnt frame No of read file data the maximum byte length of read data once is FileFrameSize Output pReadBuff storage area of file frame data parameter pDataSize size of frame data read once 0 execute successfully 1 send failed Nw pmc read file int pmc read file INT32S id char pFilePath INT32U pFrameTotal INT32U Function name i pFileSize read information of specified file
62. card to complete corresponding function by calling interface functions 8 3 2 Calling DLL in Windows The DLL ADT8860 dll in Windows is written with VC It is in Development Kit Drivers DLL in the CD and is suitable for the programming language tools in Window VB VC etc 8 3 3 Calling in VC 1 Create a new item 2 Copy the files ADT8860 lib and adt8860 h from Development Kit VC in the CD to the path of the new item 88 MALT EC H MAF PMC Programmable Motion Controller 3 In the File View of the Work Area of the new item right click the mouse and select Add Files to Project select Library Files lib in the Add Files dialog box search and select ADT8860 lib and click OK to load the static library 4 Add include adt8860 h to the statement of source file or header file or global header filer StdAfx h After above four steps the user can call the functions in the DLL Note The calling in VC NET is similar as VC 8 3 4 Calling in VB 1 Create a new item 2 Copy the file adt8860 bas from Development Kit VB in the CD to the path of the new item 3 Select Project Add module menu and select the Save tab in the dialog box search the adt8860 bas module file and click the Open button After above three steps the user can call the functions in the DLL Note The calling in VC NET is similar as VB 8 3 5 Calling help whe
63. ccelerating and decelerating it stops accelerating and keeps at constant speed Therefore even if the output pulses are less than 1 2 of total output pulses it is still in constant speed pU e xi PE Speed im a P 2x PatPd Inter 1E Accelerating stop nann i P HIRO HT HH IEP Output pulses A Pa WIKIES Pa HBR IN YR Ze Pd REIHE SEE MC Ex Pa Pulses consumed in accelerating Pd dace TE A A r Pd Pulses consumed in decelerating FECE COR CJ EP 78 3 LE Triangle prevention driven by linear acceleration deceleration TA ne fai Time DD MALT EC H MAF PMC Programmable Motion Controller 3 2 Continuous drive During continuous driving output driving pulse continuously until high level stop command or external stop signal 1s valid Use this function for home search and motor rotation control 3 3 Speed curve The driving pulse output of every axis usually uses positive negative quantitative driving command or continuous driving command In addition the speed curves of constant speed linear acceleration deceleration and S curve acceleration deceleration are generated by setting mode or parameters 3 4 Constant speed drive Constant speed driving will output driving pulse in constant speed If the driving speed is lower than the start speed there will be constant speed driving only instead of acceleration deceleration driving When use home search encoder Z phase and similar signals accelerati
64. che is also released tHE ITAL A S T BEEF XA Specify the startup program file REHM ABUT PEP BS 1T 27 AA BH SUN Aa 1247 Specify the running mode of the startup program as auto load or auto run YE Bees ill eS AY dU U 4 Connect to the virtual USB disk in the controller AH Eee HEY U dx Close connected virtual USB disk WAR RRS EMIS AREA ST Stop motion immediately and also stop the specified task in the system can abbreviate to ST PEETRE 1145 4 PAPause running motion can abbreviate to PA TRB fies Fy 4qS 4 REResume the motion can abbreviate to RE TEA MEA RICA RAR EA BAT Specify the task to stop program running when the system has error or stops in emergency 40 MALT ECH MAF PMC Programmable Motion Controller MK Fa gk rom Hak A Kath E SW Load system configuration parameters from ferroelectric RAM or ROM RAF SR BU B A AUI FB BY romSave system configuration parameters in ferroelectric RAM or ROM IKE AREA Restore default system parameters WB ARE RIA AP 1 294 9 Set system speed time unit 0 second 1 minute HE AAA A 1 Create new coordinate system 1 HERA AK A 1 Delete coordinate system 1 x18 BEA Show the configuration info of 1 axis A 48 D36 WE Evaluate register D36 Tex de X AC ZA BA 1 EN ALR 5648 10 koh Assign logic axis X to physical axis 1 and the relative machine tool coordinate system offsets 10 pulses TAP A s AREY BL View the parameters of all coordinate systems
65. ction Format n x n The first parameter n is specified physical axis the range of which is 1 6 The second parameter x is specified logic axis the range of which is X Y Z A B C The third parameter n indicates the offset of current axis in current workpiece coordinate system relative to machine tool coordinate system A typical example of coordinate system setting instruction 1s 1 X 10 1 e logic axis X 1s adapted to 1 physical axis and this axis offsets 10 dimension units relative to machine tool coordinate system Select current coordinate system instruction Format COORD n n is the specified workpiece coordinate system Every task can use specified coordinate system as current coordinate system of the task through COORD n instruction If this coordinate system isn t established the system reports error automatically Current motion must be stopped before changing current coordinate system Delete coordinate system instruction 4 MALT ECH MAF PMC Programmable Motion Controller Format DEL COORD n n is the specified workpiece coordinate system The user can use DEL COORD n instruction to delete a redundant workpiece coordinate system and trim related statistics info View system coordinates info instruction Format COORD no parameter This command can be used to view the configuration info of all coordinate systems in the system in the console as shown below COORD SRIRAM HERS ERA 0 AA SER Ea HB gt 4158 4138
66. d from ROM m Ifn 5 the system parameters and current coordinates of the machine tool will be loaded from ferroelectric RAM m If n 6 the system parameters and current coordinates of the machine tool will be loaded from ROM Get system software version Format VERSION No parameter Function show current PMC software version in console 64 MALI TECH MAF PMC Programmable Motion Controller 8 Online Development PMC system opens its internal register area to any third party software or controller accesses these registers through standard MODBUS communication protocol and executes related control functions PMC supports R232 serial based and Ethernet media based MODBUS communication as well as ASIC and RTU data stream modes Ethernet media based MODBUS communication also supports TCP IP or UDP protocol mode This PMC system development kit also provides upper computer API function library based on Windows PC online development mode and corresponding engineering DEMO and related tools Actually most of these API functions are achieved by operating the system registers in PMC through Modbus protocol and we also provides basic functions to operate these registers so that the users can extend the functions according to actual requirements and improve system flexibility The development process connected to third party controller depends on the software development environment of the third party controller Generally if only it supports sta
67. dressing range of the register is LO L1023 and every task the register independently L register area can t be accessed in Modbus because it is private register area of every task L register area is usually used to process calculation or control process 25 IAL TECH MAT PMC Programmable Motion Controller 6 Console Function Description Console is a serial communication and command line based basic human computer interaction mode The consoled bases on serial RS232 communication media and can be run in any serial testing software e g the Hyper Terminal in Windows Through the console the user can fully operate and monitor the system status in the process of program development improving the system testing efficiency significantly The SSCOM32 EXE serial testing tool provided in this system CD even can be used in Linux The following screenshots describe how to create Hyper Terminal in windows and set the parameters ARM Developer Suite v1 2 fg Pt 3 CT Microsoft Visual Studio amp 0 x 9 A Microsoft Office k a Eyes o FORE Pies Sede lS Li MERA 4 ME REG i H 0 mE Aha der 00 AT mi JESH xbh iL Windows XP Professional KARTHALU Programs Et Documents b E Settings HyperTerminal po Search e Network Connections Communications ke Network Setup Wizard s New Connection Wizard 5 Run E Log Off Administrator 9 Turn OFF Comp
68. dtech is committed to continuously improving product function and service quality The product software and Manual are subject to changes without prior notice MALT ECH MAF PMC Programmable Motion Controller Contents L PRODUCT OVERVIEW sradicare 6 LI HARDWARE SYSTEM DESCRIPTION 4 ciscsssacsssusenssusuvsbuensastnsewendenuesenvecnsussssbanstustscducndanavasasetneuente 6 1 2 PRODUCT SPECINICA TIONS wicsssscsisssenivevisetsciescenieccassdsensdseninebisetaciwsossiessansisebsddeinubisessedesesniesede 7 ES OPERATING ENVIRONMENT T 1d ENSISEDATIONTANODT 559 01290290920000092000092009 99 00000 0000 ceo alocada 9 2 ELECTRICAL INTERFACE AND CONNECTION eee e eee eee eee eee eee eee ene nune 10 ZL INI WIRE INO DESCRIP PION abili 10 2 2 ANZ WIRE NO DESCRIPTION ana naaa 10 2 94 OUTE WIRE NO DESCRIPTION aiii 11 24 JDAXLWIRENG BESCRIPEION AP PP ganerinacaralliararenradacivaranariaia 12 2 5 XL YL Z1 A1 B1 C1 DRIVE CONTROL INTERFACE WIRE NO DESCRIPTION e 13 205 MINS SVIREAJNO DESCRIPTION pggrivivaiii vii esstussi tessuti EN oed init 16 2 7 OUT2 WIRE NO DESCRIPTION coscssvensseusucissensssuesovensteensnsoevsnsestaksteustenseuasssuacessevisesseseusenssseaes 17 210 TOWER WIRING MODE asma n 18 PA MEDALS PORT A O 18 2 10 SERIAL PORE Dunia ita 19 2 11 STANDARD USB INTERFACE USB sscscisecssusecesesasicnessoncesssncacssansosee
69. e G01 X150 Y25 F100 linear interpolation to X150 Y25 X50 Y75 F120 linear interpolation to X50 Y75 GO1 is mode instruction and can be omitted XO linear interpolation to X0 Y75 F120 is mode instruction and can be omitted The mode properties of all instructions can be viewed 7 1 1 Instruction Table 7 1 5 Program structure and operation mechanism PMC provides C similar language style program code structure which is much different from standard C language PMC only supports capitalized program keywords doesn t have main function entry in the program doesn t support the function libraries variable statement pointer or array operation in standard C and only supports program cycles such as IF ELSE ELSE IF WHILE DO WHILE BREAK GOTO CALL program structure function processed by branches and motion control related special functions as well as mathematical and logic expressions in addition PMC also support commonly used G code motion function preparation word The keywords are separated with space and tab The program has illegal keywords during executing the system will report error automatically and stop current motion task The instruction code of every line is called as a block which has up to 64 ASIC characters the note statement after isn t limited The starting position of the block has a block No started with character N followed by four digits value e g N1234 This block No must be started from the t
70. e ee o eee eee eee ee tees ee eese eaae 65 8 2 DETAILS OF BASIC LIBRARY FUNCTIONS cccscscccccersssssccsscccccssscessssssees 67 8 2 1 COMMUNICATION INTERFACE CATEGORY 0 cscccsssscesssccsssccssscccssccessscsesees 67 8 2 2 DRIVER STATUS CHECK CATEGORY urinaria on 69 8 2 3 MOTION PARAMETER SETTING CATEGORY ccsssssssssscssssscssscssscscssecseees 70 8 2 4 MOTION PARAMETER CHECK CATEGORY sscccsssssssssccsssccssscccsssccesssccesees 74 S25 DRIVER CATEQUBR Y Lara 75 BS26 SIOPCATEGORY sra euin eH Ein ER 81 8 2 7 SWITCH QUANTITY I O CATEGORY cssccssscsssccsssccsssccssscssscccssscsssscsssscsssssseess 82 S529 SYSTENECATEGORY aiii cios EA 83 8 3 MOTION CONTROL FUNCTION LIBRARY GUIDE ee ee eee eee ee ee eee se 88 8 3 1 ADT 8860 FUNCTION LIBRARY DESCRIPTION e eee eee eee esee eee eene etnue 88 IAW TECH MAT PMC Programmable Motion Controller B X2 CALLEENG DELE UN WINDOW Susi 2 icin oq 88 1 LALLINGINV om PH 88 BS Sd CALEING EN Y Lit 89 8 3 5 CALLING HELP WHEN USE APPLICATION DEVELOPMENT ee eee 89 8 4 MOTION CONTROL DEVELOPMENT POINTS ee eee eee eee eene eee eee eee eeSe 89 8 4 1 CARD INITIALIZATION AAPP cosarsequasocacesecagsautexsceanss lt ansceuasoeacesscagesseases 89 5012 AXIS SPEED SETTIN
71. e line2 INT32S id INT16U axisl INT32S pulsel INT16U axis2 INT32S pulse2 Two axis linear interpolation id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 pulsel output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 axis2 axis number 1 6 pulse2 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 None 0 execute successfully 1 send failed Support random two axis interpolation and the interpolation speed bases on the minimum axis speed int pmc line3 INT32S id INT16U axis1 INT32S pulsel INT16U axis2 INT32S pulse2 INT16U axis3 INT32S pulse3 Three axis linear interpolation id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 pulsel output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 axis2 axis number 1 6 pulse2 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 axis3 axis number 1 6 pulse3 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 Return 0 execute successful
72. ead dir Function Hi int pmc read dir INT32S id char pDirPath CDir pDirList INT32U pDirNum name read directory info id slave station No invalid for TCP UDP transmission connection address and port out No should be set for UDP transmission npu i pDirPath read directory path arameter i pDirList save read directory info pDirNum save the directory or file number in read directory info Output parameter 0 normal 1 send failed Nw PO pmc_create_dir 87 MALI I C H 7374 PMC Programmable Motion Controller Function ol int pmc create dir INT32S id char pDirPath name create directory id slave station No invalid for TCP UDP transmission connection address and port Input i i No should be set for UDP transmission arameter E pDirPath the directory path to be created Output parameter 0 normal 1 send failed pmc del dir Function name int pmc del dir INT32S id char pDirPath Description Delete directory inco id slave station No invalid for TCP UDP transmission connection address and port n i No should be set for UDP transmission arameter B pDirPath the directory path to be deleted Output parameter 0 normal 1 send failed me 8 3 Motion control function library guide 8 3 1 ADT 8860 function library description ADT 8860 function library is the interface for users operating motion control card The users can control the motion
73. ed to PC based control The user also can customize and package advanced API functions through most basic Modbus protocol register operation based low level function to achieve more complicated function control Similarly the user also can use Modbus communication protocol supported and configuration software based touch screen controller to control PMC online Before this these touch screen controllers are widely used in PLC controller industry Through opening these register areas PMC achieves more flexible system expansion characteristics realizes controller network group consisting of several PMC through Ethernet based Modbus communication protocol and expands the application of PMC in plant level controller network system E MALT ECH MAF PMC Programmable Motion Controller 5 System Register and MODBUS Protocol PMC register introduction ATD 8860 PMC motion controller provides several register areas of special functions used to configure basic system parameters or participate in the calculation and control process Most register areas can use third party software or controller to access through Modbus communication protocol and ensure the perfect openness and scalability of the system The system registers consist of I register area E register area S register area C register area D register area F register area and L register area of which I E S C D and F register areas are global variables L register area is internal variable
74. eration deceleration Use this function to move to specified position or perform specific action Quantitative driving of acceleration deceleration is shown below When the remaining of output pulse is less than acceleration accumulated pulses it starts accelerating and the driving also stops after outputting specified pulses The following parameters should be set for the quantitative driving for acceleration deceleration a Acceleration deceleration A D b Start speed SV c Driving speed V d Output pulses P XE RE SERERE VIRES fad BEBE ik TERZ du LE RE Speed IK zJj3 AE Driving speed A THE Start speed ERE Automatic deceleration fem HH Fig xe HI ky ea fib Stop after outputting specified pulses se IX Quantitative driving HA Time Acceleration deceleration quantitative driving usually starts automatic acceleration from the calculated deceleration point shown in the picture above Triangle prevention of quantitative driving During quantitative driving of linear acceleration deceleration if output pulses are lower than required pulses triangle wave will be generated as in the picture above and the triangle prevention function will be enabled at this moment The triangle prevention function also prevents triangle wave even if the output pulses are less than required pulses in quantitative driving of linear acceleration deceleration during accelerating when the consumed pulses are more than 1 2 of total output pulses in a
75. est Xie FS HERRERA uiu yep BO BBO I maz Heo s WW MCUSI COM re pe AECE PLAN SSeS ES IUE AES 6545 onde 5070 1 1001 dem H 3210075 mese ECO SAREI EX EE cM REST www daxia com ncb ES AT GALA A a alge 4 TAA e om TR 115200bps 8 TS 0 DSR 0 EIBD 0 O i ine KRESS 2 l0l 4 5 A Command line keywords press Enter the insert RE d E Serial parameter settings tu S WAT TAL Execution mode of multiple commands FT FEC Open file File name FH E15 Serial port No X A O Close serial port 5 Help BOGE X fF Send file RTF f Save window BR N Clear window HEX lxs HEX display H JE Extend WFX Baud rate ACHE Data bit 2147 Stop bit fis Parity Yid Flow control sE IR Schedule send HEX Ki HEX send 7 FR MA HE String entry box RI P T Send new line AX Send In the console the user can get desired system info or operate the control system directly by entering related commands e g read write variables in every register area of the system load start stop programs view system and running info set system operating mode etc It even supports common mathematical expressions and instruction help info and the powerful console function is helpful to user in testing program and controlling system status After executing TASK command in above picture the interface follows 36 rr La tif PMC Programmable Motion Controller Email mcu52 163 com
76. f IO or register variables A typical demonstration code of the PLC program follows Flash LED demonstration program 8 output IO output high voltage level in turn at 200ms interval E 100 0 initialization parameter E101 0 WHILE 1 the program has been running and never exits i IF IN 10 if input point 10 is in high voltage level execute flash LED i IF E100 0 check variable value of E100 to initialize state of flash LED i OUT 0 0 OUT 1 0 OUT 2 0 OUT 3 0 OUT 4 0 OUT 5 0 OUT 6 0 OUT 7 0 51 MALT ECH MAF PMC Programmable Motion Controller E100 1 flash LED has initialized the label E101 0 flash LED S N j OUT E101 0 clear last flash LED state IF E101 gt 7 check whether flash LED arrives at boundary E101 0 ELSE E101 E1014 1 prepare this action for the flash LED OUT E101 1 this flash LED outputs high voltage level ELSE t E100 0 E101 0 j DELAY 200 delay 200ms Task view instruction Format TASK No parameter Function view the running state of every task in PMC system including program loading and program running mapping relationship between every task and program file name C62 register saves the total running tasks of PMC C63 register saves the total running task mask parameters of PMC C64 register saves total programs loaded in program cache of PMC and C65 register saves the program masks loaded in program cache of PMC 2 Subroutine PMC subroutine
77. f Pulse Output Wiring mode of step motor drive with differential input Take Adtech drive for example All Adtech drives are in differential input mode which 1s recommended due to its strong anti interference The wiring of CNC step motor drive and step motor follows 10 11 12 13 14 15 CNC 5 ill ae Hak y CNC controller pulse interface Hi LIEBE DC power supply Ze XE pLIXz Jss Step motor drive 77 Xt UL Step motor gt Wiring diagram of step motor drive with single input The step drives of certain company connect the cathode of optical coupling input 1 e common cathode connection which isn t suitable for this controller It is common anode connection to 15 MALT ECH MAF PMC Programmable Motion Controller connect together the anodes of optical coupling In this case please connect the wires according to the figure below and do not connect PU and DR together or else pulse interface will be damaged CNOFS all ge RRP CNC 2 bil 45 Hk REA CNC controller pulse interface 2v APLIKAS Step motor drive HYS Power supply v Xt FAL Step motor Wiring diagram of step motor drive with common anode input Wiring diagram with servo motor drive Since most are in differential connection please refer to the connection of differential mode for the pulse part Many servo drives require 12 24V power supplies and can use the 24V power supply provided by pin 10 amp 11 The specific connection depends on the servo drive
78. g of all axes must be stopped immediately The code of stop module is in the click event of CmdStop button and the code follows void CMy8860DemoDlg OnButtonStop t g CtrlCard StopRun m_1Noid 0 112 AAW TECH MAF PMC Programmable Motion Controller 9 Network Settings 9 1 Network environment ADT 8860 control card can run in the LAN that consists of several subnets but it is recommended to run in dedicated subnet The subnet shouldn t be accessed by irrespective network to avoid communication delay or failure due to busy network When the host controls in real time please close other applications to ensure that the host has a better response performance Since the client LAN may have different environments we can t ensure that the IP address and NIC address MAC of the controller device are unique in client network before the device is delivered The controller only has one default IP address and NIC address MAC before delivery and therefore all new control cards should be confirmed with serial testing tool SSCOM32 EXE supplied or the network option should be re configured and ensure that the IP address and NIC address are unique in the LAN Default network configuration follows IP address 192 168 0 123 Subnet mask 255 255 255 0 Default gateway 192 168 0 1 NIC address MAC 0B 16 21 2C 37 42 9 2 Configuring network parameters The command to configure IP address subnet mask and default gateway is SET IP n
79. gency stop has significant impact on the machine and may damage the machine easily To stop the motion task in other states please pause first and then use the STOP instruction to stop the motion This command is equal to D32 1 and D32 register resets automatically after emergency stop Wait motion complete instruction Format WAIT No parameter Function after motion instruction if it is necessary to wait the motion to complete before executing next instruction please use WAIT instruction to avoid checking the motion state repeatedly and reducing the efficiency DELAY instruction Format DELAY n Function insert n ms delay in current instruction position and the range of n 1s 1 65535 Plane selection instruction G17 select plane XY G18 select plane ZX G19 select plane YZ This group of instructions is used to select the plane of arc interpolation Usage method Linear motion instruction doesn t have relationship with plane selection For plane selection related to instruction please refer to the content about arc interpolation instruction Return to reference point instruction Format HOME n n n n n n The position of parameter n corresponds to axis 1 6 and the range is 0 or 1 Function if the value of every parameter n is 0 the axis won t return to reference point 1 the axis will return to reference point The machine tool coordinate system is established through the operation of returning to refe
80. gnals to the pins of respective terminals In which the common end of INO INI6 is INCOMI the common end of IN17 IN33 is INCOM2 please connect the common end to 24V power supply The input points are low voltage level valid The current of single input shouldn t exceed 15mA and shouldn t be lower than 5mA 20 MALT ECH MAF PMC Programmable Motion Controller 2 15 Wiring mode of output signals The switch quantity output of this control system is collector open circuit output The common terminal is the first pin of JC1 and the GND of load power supply Please connect pin 20 of JC1 to 24V power supply The output point is low voltage level valid Please connect the load between 24V and output point The internal output circuit has relatively complete protection measures for over current overvoltage short circuit overheating and freewheeling however if inductive load is connected e g relay please connect freewheeling diodes on both ends of the relay coil as shown below Des EXTCOM s DOUTnGND EXTCOM or DOUTnGND OVDE EXTCOM sk DOUT ro ND Note The recommended voltage is lower than 24V and shouldn t exceed 30V Do not short connect the anode and cathode and do not short circuit the load or else it will damage the module e AAW TECH MAF PMC Programmable Motion Controller 3 Motion Function 3 1 Quantitative drive Quantitative driving is to output specified quantity of pulse in constant speed or accel
81. grammable Motion Controller 3 8 Interpolation The controller allows 2 6 axes linear interpolation During interpolation driving the interpolation calculation is run under the basic pulse sequence of specified X axis and therefore before interpolation command set the start speed and driving speed of specified X axis first 3 8 1 2 6 axes linear interpolation The linear interpolation starts after setting the end point coordinates relative to current position The coordinate range of linear interpolation is 24 bit with symbol and the interpolation range is from current position of every axis to 8 388 607 8 388 607 Y ses L L LLL LLLLLLLLEC EXE Short axis AAA ER E LER dl RS mm CLLLLLLLLLLELLEETLLLLL eM 5 So Linear interpolation position precision Soar Kf Long axis BF AH Long axis AAA AAA ieat Shortaxis SII IIIT ITT Tt rr EE 0 x A CX 20 Y 9 Skah iar p ere eer EE TA HE Bh Example of end point X 20 Y 9 driving pulse output xw FLELELTLTETLTLELTLTLTLELTETLTLTLTLT LETT XPH vee IL IL IL TL It IL IL TL TL gei YPN M H X 20 Y BNE aH LT As shown in the picture above the position precision of specified straight line is 0 5LSB in the entire interpolation range Above picture also has an example of driving pulse output of linear interpolation In the set end point value the axis with maximum absolute value is long axis which always outputs pulse during interpolation drivi
82. he first parameter x is specified physical axis No the range of which is 1 6 The second parameter n is the logic position and the unit is pulse The function of this instruction is to change the current position of the machine tool coordinate system This operation will change the machine tool home and is seldom used in actual work It is usually the auxiliary function for program testing Set machine tool coordinate system encoder position instruction Format SET APOS x n The first parameter x is specified physical axis No the range of which is 1 6 The second parameter n is encoder feedback position The function of this instruction is to change the current position of the machine tool coordinate system encoder Set machine tool coordinate system home instruction Format CLRA No parameter This instruction will set current point as the home of the machine tool coordinate system and the logic position and encoder position will be cleared This instruction is seldom used in actual work and is usually the auxiliary function for program testing 2 Workpiece coordinate system Workpiece coordinate system is used for program processing and will set certain datum point on the workpiece as the coordinate system of the origin Generally the programmer doesn t know the position of the processed workpiece on the machine tool when starts programming and thus the workpiece program usually uses a point on the workpiece as the 46 ZIL I EC
83. he logical position counter value of every axis 10 PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter axis axis number 1 6 pulse set pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 0 execute successfully 1 send failed The logical position counter can be written and read at any time pmc set command posExt int pmc set command posExt INT32S id INT16U axis INT32S pulse Function name NM INTI6U num Set the logical position counter value of multi axis id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis save the array of axis number 1 6 Input parameter pulse save the array of set pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 Num corresponding axis number Return 0 execute successfully 1 send failed Note The logical position counter can be written and read at any time pmc set actual pos Function name int pmc set actual pos INT32S id INT16U axis INT32S pulse Description Set the value of actual position counter id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter axi
84. ial Init unsigned char port unsigned int baud unsigned char databit unsigned char stopbit unsigned char parity int Get Net Conn unsigned char port int devnum int conip unsigned short conport int Close NetDev unsigned char port int devnum int Set Consle Port unsigned char port int Get Uart Recv unsigned char port unsigned char amp rbuff int length int Get Consle Port void int Close Port unsigned char port int Set TimeOut unsigned short time unsigned char renum int Get TimeOut unsigned short time unsigned char renum int Axis Pmove int id int axis long pulse int MultAxis Pmove int id unsigned short axis int pulse int Interp Move2 int id int axis long pulsel int axis2 long pulse2 int Interp Move3 int id int axis long pulsel int axis2 long pulse2 int axis3 long pulse3 int Interp Move4 int id long pulsel long pulse2 long pulse3 long pulse4 int Interp MoveS int id long pulsel long pulse2 long pulse3 long pulse4 long pulse5 int Interp Move6 int id long pulsel long pulse2 long pulse3 long pulse4 long pulseS long pulse6 int StopRun int id int mode int Get Status int id unsigned int amp value int mode 02 MALT ECH MAF PMC Programmable Motion Controller int Get RegisterPos int id unsigned int amp regpos int Get ONLY Status int id short int amp statusl short int amp status2 short int amp status3 short int amp status4 short int amp status5 short int amp sta
85. id device interface The initial state 1s positive negative limit low voltage level valid pmc_set_pulse_mode int pmc set pulse mode INT32S id INT16U axis INT8U value INT8U logic INT8U dir logic Description Set the work mode of output pulse dev_num device No axis axis number 1 6 value 0 pulse pulse 1 pulse direction Function name Both pulse and direction are positive logic setting Output signal wave Pulse output La soi Driving direction PU CW signal DR CCW signal Se gi si E Independent direction driving Low level output two pulses Oz E direction driving Low level output D o duoc direction driving logic 0 positive logical pulse 1 negative logical pulse Egg LLL niger UU IEX KT Positive logic pulse 237 amp tlk P Negative logic pulse Input parameter dir logic 0 direction output signal is positive logic 1 direction output signal is negative logic dir logic L 25 Fd cra B Het 7 eo ctia cb E P kp HH I Positive pulse output 277 HH HH HIT Negative pulse output None 0 execute successfully 1 send failed Nata The initial state 1s pulse direction positive logic pulse and direction output signal is positive logic 8 2 4 Motion parameter check category pmc_get_axis_pos int pmc get axis pos INT32S id INT16U axis INT32S compos INT32S actpos Function name INT32U speed AAW T Ee CH AANS PMC Programmable Motion Controller id sla
86. iii i 28 AR i int CCtrlCard MultAxis Pmove int id unsigned short axis int pulse i Result pmc pmoveExt id axis pulse 6 return Result RT AR AR Sie zie ie ak ak oe ae ae ce AR ak ak ak AS cre AS 3k RIS ARS ak ak iii ii FAS ak akk AR oe cre AR ak ere e ARS AR k Function feature random two axes interpolation motion Parameter Id slave station No axisl axis2 axis number 1 6 pulsel pulse2 pulses Return 0 true 1 false PBS FAS 218 AR SFIS A AR AR FAS A AR SR AS AR AR iii ii iii AR IR ii AR SR SR AR OR RIS ii AR IR i int CCtrlCard Interp Move2 int id int axis long pulsel int axis2 long pulse2 i Result pme line2 id ax1s1 pulsel axis2 pulse2 return Result RT e si tie ie sie ie sie AR oe cie AS cede c AS c AE creo AS c RIS c AC c IR FAS c ii ii cere cre AC see ere e AR ek Function feature random three axes interpolation motion Parameter Id slave station No axisl axis2 axis3 axis number pulsel pulse2 pulse3 pulses 99 MALT ECH MAF PMC Programmable Motion Controller Return 0 true 1 false AE EE A AS AR EFAS A AR SR 8 EE EE A cicci iii ii FAS A AR IR E AR IR ii AS AR SR IS E AR IR FIC AR AR int CCtrlCard Interp Move3 int 1d int axis long pulsel int axis2 long pulse2 int axis3 long pulse3 t Result pmc line3 id axisl pulsel axis2 pulse2 axis3 pulse3 return Result j JPA AR AR FIG e a SR AR AS AR RAS A SR RAS ARS AR FAS AS AR IR FIC iii ii AR SR iii AR IR
87. inputpot0 WIN Yes WIN IOO1 Write I to virtual input port 100 OUT Yes OUTOI Write I to outputportO ROUT Yes JROUT O jReadcachestatusofoutputportO MOVE X100Y100 X axis and Y axis moves to specified coordinates in quick positioning mode the positions of axes eee i us G00 X100Y 100 aren t related and the motion track may be linear or curved broken line LINE X100Y 100 X axis and Y axis moves to specified coordinates in linear interpolation mode the interpolation A OOE UN speed can be specified to 3000mm min with F CW arc interpolation arc start coordinate is current point end coordinate is X40Y40 the G02 X40Y40120J20 coordinates of circle center offset 20 in both X Yes axis and Y axis direction CW arc interpolation arc start coordinate is G02 X40Y40R20 current point end coordinate is X40Y40 arc radius is 20 arc angle lt x CCW arc interpolation arc start coordinate 1s current point end coordinate is X40Y40 the G03 X40 Y40120J20F3000 coordinates of circle center offset 20 in both X LINE GOI Yes Yes ARC A G02 lt D axis and Y axis direction ARC B X40Y40R20 CCW arc interpolation arc start coordinate 1 ARC B G03 G03 X40Y40R20 current point end coordinate is X40Y40 ar radius 1s 20 Yes Yes G01 X10Y10F3600 Set the feed speed of linear interpolation as unit length unit time POSA POSA Check the position of current coordinate system POSB EMEN POSB Check
88. iption Connect TCP UDP of Modbus and map with device No and IP address respectively NetPort network port No only the port No for TCP and UDP connection uiConlp connected server IP address Input parameter e T nConPort connected server communication port No Modbus communication is fixed at 502 generally pmc clos netdev int pme clos netdev INTSU NetPort INT32S iDevNum Close the communication port NetPort communication port No only valid for TCP UPD network port Input parameter mE iDevNum device No corresponding to network communication pmc set consleport Function name int pmc set consleport INTSU Port Set console command communication port Input parameter Port the set port No pmc uart recv int pme uart recv INT8U Port INT8U rbuff INT16U length Serial port reading data function Port communication port No Input parameter rbuff storage area of read data length specify the length of read data pmc get consleport int pmc get consleport void get console command communication port No Output None parameter Return the set console command communication port No pmc close port int pme close port INT8U Port 68 m m gt uu DOTEC H AAH PMC Programmable Motion Controller Close the corresponding connection port of Modbus Port communication port No including serial port and network port Output None parameter 8 2 2 Driver status chec
89. is used to program an arc less than 180 and a negative R value is used to program an arc bigger than 180 A full circle only can be programmed by specifying the circle center x 90 120 140 200 Above tracks are programmed in absolute value mode and increment mode respectively 1 Absolute value mode G00 X200 0 Y40 0 ZO G90 G03 X140 0 Y100 0 I 60 0 F300 0 G02 X120 0 Y 60 0 I 50 0 Or G00 X200 0 Y40 0 ZO G90 G03 X140 0 Y 100 0 R60 0 F300 0 G02 X120 0 Y 60 0 R50 0 2 Increment mode G91 G03 X 60 0 Y 60 0 I 60 0 F300 0 G02 X 20 0 Y 40 0 I 50 0 Or G91 G03 X 60 0 Y60 0 R60 0 F300 0 G02 X 20 0 Y 40 0 R50 0 The feed speed of arc interpolation is specified with F which is the speed of the tool in arc tangent direction 7 1 7 Other motion related instructions Pause instruction Format PAUSE No parameter Function pause the motion in certain deceleration rate all motion instructions won t be lost and will continue running when there is resume instruction This command is equal to D33 1 Resume instruction Format RESULT No parameter 56 MAL TECH MAF PMC Programmable Motion Controller Function resume the paused motion at certain acceleration rate This command is equal to D33 0 Emergency stop instruction Format STOP No parameter Function stop the executing motion immediately delete the motion instructions that haven t been executed and exit the task that is executing the motion Note in motion state emer
90. k 3e AR RAS ak ak AR FAS AS AR IR i i i ii A ak 3 RAS ak akk FAS AS FS IR FS 28 AR Function feature set starting speed driving speed and acceleration of multi axis Parameter Id slave station No Axis axis number startv starting speed speed driving speed add acceleration pmm pulse equivalent numerator Return 0 true 1 false PBS FAS AR AC AR AR A AR IR FIG A AR SR SR A ici iii ii iii i ii AR IR FIG 28 AC i i AR SR IR iii int CCtrlCard Setup SpeedExt int id unsigned short axis unsigned int startv unsigned int speed unsigned int add unsigned int pmm Result pmc_set_speedExt id axis startv speed add pmm 6 return Result PEA AR e IS e AS a e FS 28 a 28 IS 2 SR Single AXIS driving function oe OK OK K K K K K K K K K K K K OK OK K OK K K K Function feature single axis quantitative driving function Parameter Id slave station No Axis axis number Value output pulses Return 0 true 1 false 98 MALT ECH MAF PMC Programmable Motion Controller Sie ak ak ek tok dese se opo spe ok O eoo oe ooo oko AS int CCtrlCard Axis Pmove int id int axis long pulse t Result pmc pmove id axis pulse return Result JEANS 2S iii ii ii AR ii ARS a AS AR 8 Function feature this function is used to drive multi axis motion Parameter Id slave station No Value output pulses Return 0 true Return 1 false PBS FAS AR AS AR EFAS 28 AC AR SR a ici A cicci iii ii iii i ii AR IR i
91. k category pmc_get_run_status int pmc get run status INT32S id INT32U status id slave station No invalid for TCP UDP transmission connection address and port Input parameter um No should be set for UDP transmission Output parameter status motion status read of the system 0 idle 1 in motion 0 execute successfully 1 send failed pmc get back status Function name int pmc get back status INT32S id INT32U status Description Get the status of home function id slave station No invalid for TCP UDP transmission connection address and port Input parameter EN No should be set for UDP transmission Output parameter status home status read of the system Return 0 execute successfully 1 send failed pmc get axis status int pme get axis status INT32S id INT16S status1 INT16S status2 INT16S Function name uon E status3 INT16S status4 INT16S status5 INT16S status6 id slave station No invalid for TCP UDP transmission connection address and port Input parameter a No should be set for UDP transmission Output parameter status read axis motion status 0 execute successfully 1 send failed pmc get inp status Function name int stdcall pmc get inp status INT32S id INT32U status Description Get drive status of interpolation 69 MALI I C H 7374 PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission
92. lation mode the tool moves to specified position to current position its track 1s a straight line F specifies the speed of the tool in linear motion and the unit is mm min LINE G01 program example Suppose that the position of current tool is X 50 Y 75 and the block follows N1 G01 X150 Y25 F100 N2 X50 Y75 The tool will run the track shown in the figure below pe N2a amp poss oF ME ESS ci E 25 S 5 me TT a BS i 7 gt N2 FER Hi N2 block ending point NI JEF NI block ending point x Hi Starting point 54 MALI TECH MAF PMC Programmable Motion Controller Arc interpolation instruction The instructions below can make the tool move in arc track In X Y plane G17 G02 G03 X Y L_ J__ R__ F __ In X Z plane G18 G02 G03 X Z 1 K__ R_ F__ In Y Z plane G19 G02 G03 Y Z__ JJ__ K__ R_ F__ Specify arc interpolation on plane X Y Plane selection Specify arc interpolation on plane Z X EM uu Specify arc interpolation on plane Y Z EE pO Arc interpolation in CW direction Arc direction Arc interpolation in CCW direction Two axes instruction in Coordinates of ending point in current Ending G90 mode X Y Z workpiece coordinate system oint sa i i P DE Two axes instruction in Distance from starting point to ending position G91 mode l ie X Y Z point directional Distance from starting Two axes instruction in Distance from starting point to circle 4 EN XN to circle ce
93. ly 1 send failed bop MALI I C H 7374 PMC Programmable Motion Controller Support random three axis interpolation and the interpolation speed bases on the minimum axis speed pmc lined int pmc line4 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S Function name 7 pulse4 Four axis linear interpolation id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter pulsel pulse2 pulse3 pulse4 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 Output parameter 0 execute successfully 1 send failed The speed of four axis interpolation bases on X axis speed pmc line5 int pmc line5 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S Function name n pulse4 INT32S pulse5 Description Five axis linear interpolation id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter pulsel pulse2 pulse3 pulse4 pulse5 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 0 execute successfully 1 send failed The speed of five axis interpolation bases on X axis speed pmc_line6 l int pmc_line6 INT32S id INT32S pulsel INT32S pulse2 INT32S pulse3 INT32S Function name B pulse4 INT3
94. me 7 1 6 Motion instruction Generally the motion feed of CNC machine tool can be classified into quick positioning feed and working feed 1 Quick positioning feed instruction Format MOVE G00X Y ZA B C MOVE and G00 the two instruction keywords have exactly the same function X Y Z target coordinate value of every motion axis determine whether absolute position value or increment position value according to the mode value of current coordinate system Function quick positioning instruction makes current motion mode become the quick positioning feed mode of independent motion of every axis and the feed speed is set by system motor configuration parameter register Dx15 Dx16 During quick positioning feed the motion positions of every axis in feeding do not have relationship They move at the quick shift speed and acceleration deceleration set by the parameter registers respectively and are controlled by current F value Generally the tool track is a straight line broken line or irregular arc When encounter continuous quick positioning feed instruction PMC has three operating modes which are determined by register D38 m When D38 is 0 if there is new quick shift instruction before previous instruction completes the system will report error m When D38 is 1 if there is new quick shift instruction before previous instruction completes the system will wait the previous instruction to complete and then execute the new instruction
95. motion As rotation coordinate axis the positive direction is the positive direction of axis X Y Z and 1s determined according to the forward direction of right hand thread Note The motion of axis X Y Z A B C in this Manual is always the motion of tool relative to the workpiece i e suppose that the workpiece coordinate system has been set 7 1 3 Coordinate systems of machine tool and workpiece 45 MALT EC H MAF PMC Programmable Motion Controller 1 Machine tool coordinate system The machine tool coordinate system is the fixed coordinate system of the machine tool The coordinate system is established through the operation of returning to reference point when NC is electrified every time The default mapping relationship between logic axes and physical axes of the machine tool coordinate system is 1 X 2 Y 3 Z 4 A 5 B 6 C COORD 0 instruction 1s used to select machine tool coordinate system View machine tool coordinate system position info instruction Format POSB No parameter This instruction makes console show current position info of the machine tool coordinate system as shown below POSE BERETTA 1 0 0000 mm loz T ate T 2 0 0000 mm loz T atc T 3 0 0000 mm loz T atc T 4 0 0000 mm loz O atc O 3 0 0000 mm loz O atc O 0 0 0000 mm loz T ate T BUKA A Machine tool coordinate system Set machine tool coordinate system logic position instruction Format SET LPOS x n T
96. mples below focus on project design The examples are divided into the following modules 90 MALT ECH MAF PMC Programmable Motion Controller motion control module further package the library function provided by the control card function realization module coordinating the code segment of specific process monitoring module and stop processing module Below is the introduction of ADT8860 card function library application in programming languages VB and VC For other programming languages please refer to the example of VB and VC 8 5 1 VB programming example 1 1 PREPARATION 1 Create a new item and save as test vbp 2 Add adt8860 bas module in the item according to above method 1 2 Motion control module 1 Add a new module in the item and save as ctrlcard bas 2 In motion control module first customize the initialization function of the control card and initialize the library function that needs to be packaged in initialization function 3 Continue customizing related motion control functions such as speed setting function single axis motion function interpolation motion function etc 4 The source code of ctrcard bas follows 1 3 Function realization module Interface design 999999 Monitoring module is used to get the driving info of all axes in real time display motion info and control to restricting sending new driving instruction during driving Monitoring module is completed wi
97. n Controller 119 MILT ECH MAF PMC Programmable Motion Controller 11 Precautions and troubleshooting Precautions Safety precautions 1 Do not open the enclosure without permission 2 Please cut off the power supply if the card won t be used 3 Do not let liquid dust or ferrous powder enter the card Precautions for proper operation Improper operation will cause abnormal working and even damage the card therefore please follow the precautions below to operate the offline card properly 1 Ifthe output relay is non solid state relay please connect a freewheeling diode to the relay coil in parallel Check whether the power supply complies with the requirement to avoid burning the card 2 Card life depends on the ambient temperature If the temperature on the processing site 1s too high please install a cooling fan 3 Avoid operating in the environment with high temperature moisture dust or corrosive gas 4 Adda rubber pad for buffering in the places with strong vibration 5 The power supply of offline card is 24VDC 6 The voltage of output circuit is 12VDC 24VDC and 24VDC is recommended Maintenance Maintenance precautions 1 Before maintaining the offline card please cut off the power supply of the main loop 2 The operator should make sure that the power supply has been cut off to avoid accidents Startup precautions Before connecting to the power supply check whether the wires is connected properly
98. n Result prende mmu sme NO os S rer are UM MEUSE Function feature get output point Parameter id slave station No svbit input port No number continuously read input port number status save the array of input status 0 low 1 high Return specify the current state of the port 1 parameter error SS int CCtrlCard Get OutNum int 1d int svbit int number unsigned char amp status t 106 MALT ECH MAF PMC Programmable Motion Controller Result pmc read Outbit id svbit number amp status return Result JEEE se se OR se ie a ope b oe oe obe AS eoe seo AE Ae Ae se seo es oe obese o bo eoe bebo ek Function feature continuous driving of every axis Parameter id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 dir running direction 0 positive non zero negative Output parameter None Return 0 send successfully 1 send failed BES PR IS ASP AG PAG SE Se sje spe ste o SKC AS PRS KR AS SS sje oe te o AS PE AS PAG A Se oe Se o OI SER PS A AS PASS int CCtrlCard Continue Move int id unsigned short int axis short int dir t Result pmc continue move id axis dir return Result JE Ek BA AA a ese AS a a a A aa a seo ob soe son eoo o ob eoe oboe op ee Function feature set current coordinate mode of current task Parameter id slave station No invalid for TCP UDP transmission connection add
99. n pause signal 0 normal 1 pause D34 dimension unit 0 mm 1 inch default 0 D35 time unit 0 sec 1 min default 1 D36 current coordinate mode of current task 0 increment coordinate mode 1 absolute coordinate mode please note that the coordinate mode of the coordinate system specified by every task is independent and only the coordinate mode of current coordinate system in the task is operated when any task reads writes this parameter D37 task motion status 0 the motion control isn t solely held by certain task and any task can execute relation motion instructions immediately when the system is idle non 0 the motion control of the PMC has been held by certain task solely its value task No 1 the sole holding state can be cleared by the task or user command only D38 Multitask axis motion conflict treatment 0 pause and report error 1 execute new motion when the system is in idle 2 if there is no axis conflict in non interpolation state allow executing multi axis linkage again D39 Motion command execution mode 0 execute next motion command only after execution of the current motion command in real time and each motion command has independent acceleration and deceleration segments 1 send continuous motion commands to hardware cache and then the hardware executes continuous interpolation motion each motion command is uniform motion and doesn t have acceleration and Em MALI TECH MAF PMC Pr
100. n use application development Use serial testing tool to show the actually received input parameters in the control card and the execution result Serial testing display 1s enabled or disabled through pmc uart recv parameter and the default state 1s off When serial testing 1s enabled it will take up more system resource of the control card and affect the execution speed but it will help developers check the reason of control card execution failure caused by illegal parameters 8 4 Motion control development points There will be some problems in the programming of the card In fact most of the problems are caused by misunderstanding the principal of the control card Below is the description of some familiar instances that are easily understood 8 4 1 Card initialization Call pmc modpara init function at the beginning of the program to initialize the device address and then check the network connection through pmc net conn function and check whether ADT8860 card is connected properly If yes the system will return a device No Then set the pulse output mode and limit switch mode according to the configuration of the device pmc modpara init t should be called only once when the application is initialized When the application is ended please call pmc close port function to release all network resource Note library functions pmc modpara init and pmc net conn are the door to ADT8860 card Calling other func
101. ndard R232 or Ethernet Modbus protocol it is possible to access with the0x1 0x2 0x03 0x04 0x5 0x06 Oxf 0x10 function code in Modbus protocol according to the system register address and offset described in Chapter 5 and thus control the PMC This Manual only describes the development method based on Windows PC online mode 8 1 Basic library functions list T 43 43 44 4 pmc get run status Get system driving status Get interpolation drive status 65 Cum a ome set imit mode Limitado 8 rum Lu Lam MALT ECH 7374 PMC Programmable Motion Controller Set the values of logic position counters of multiple pmc set command posExt 47 axes pmc set actual pos Set the value of actual position counter of every axis Set the values of actual position counters of multiple pmc set actual posExt 48 axes en Get or set axis logic position of the coordinate system check pmc get register pos l l l 50 specified in D4 register pmc pmoveExt Quantitative drive of multi axis pmc continue moveExt Continuous drive of multi axis Drive l category 7 2 l i pmc fifol Random one axis interpolation motion Random two axes constant speed cache interpolation pmc fifo2 57 motion Random three axes constant speed cache interpolation pmc fifo3 58 motion Stop category Switching Read single input point 56 57 l l quantity Set single output point S6 category pm read Outbit Readsingicompupon s Set drive
102. ned F 100 E100 2 3 5 SIN 30 Multiple nested mathematical expression expressions Expression calculation priority Priority Calculation symbol Lower level indicates priority e a CA ESTOS FC E The calculation expressions of same priority shall follow the principle of from left to right Calculation expressions have multiple levels of priority The calculation expression 1s long please force the priority with canbe nested in the calculation for up to five levels Calculation accuracy 61 MALT ECH MAF PMC Programmable Motion Controller The value of macro variable has seven significant digits and therefore the accuracy will be reduced if the value is too large or too small 9999999 000 0 0000001 and repeated calculation will accumulate the error Therefore the variable values should be in a reasonable range 7 1 10 Other system instructions Set IP address instruction Format SET IP n xxx xxx xxx xxx The first parameter n is the address type the range of which 1s 0 2 0 IP address of PMC 1 intranet mask 2 gateway address The second parameter 1s dotted string type m If n 0 the parameter of the second string will be IP address e g 192 168 0 123 m If n 1 the parameter of the second string will be intranet mask e g 255 255 255 0 m If n 2 the parameter of the second string will be gateway address e g 192 168 0 1 Function set IP address subnet mask and g
103. neseansessutesienssessensssensusssaes 20 2 12 STANDARD ETHERNET INTERFACE RJ45 ccccssccsscccssccscccccscccccccccccccccccccsccccccccscccscccceees 20 213 OTHER RESERVED INTERFACES ilaria 20 2 14 WIRING MODE OE INPUT SIC NAS ns siii dd 20 2 15 WIRING MODE OF OUTPUT SIGNALS wssassivcscacsssoasacsisaxeaceasexeawsivoxsacaasoasansisexcaceasessawaauenaacessouans 21 S MOTIONEEUENCEON na 22 Sl QUANTITATIVE DRIVE iii 22 CAB IO 23 Do DILO 1417 APN q EEE E E EEEE stri 23 4 CONSTANT SPEED DRIVE oo ces M T 23 3 5 LINEAR ACCELERATION DECELERATION DRIVE cccccccccccssssccccssccssscscccccccccccccccccccccccccccecccecs 23 3 6 LOOK AHEAD ALGORITHM AND S CURVE ACCELERATION DECELERATION DRIVE 24 SU POSITION MANAGEMENT 5 5550558 2588905989 6805 8 28 05 0UR0800 0 26 SN FUIT RU RES EN SIN SER UPURERUI cessati 24 SANTER POLCA TION sonerie ERXA EE LUE SLEEVE ERREUR COEM LEEREN EN EUAS ERES 25 3 8 1 2 6 AXES LINEAR INTERPOLATION sais 25 SALI TECH MAT PMC Programmable Motion Controller 3 9 2 HARDWARE INTERPOLATION CACHO Estados 25 9 9 PUESE OUTPUT MODE adidas 26 3 10 HARDWARE LIMIT SIGNAL esseecccscccccccccccccccccccccccccecccccccccccccccocececcccccccccceccscecccscececseeccsscccessceee 26 3 11 SERVO MOTOR CORRESPONDING SIGNAL ericcson rara rice 26 As ENEE SS TEM ARCHITECTURE cccecasaveccuecccasevsasveccaccacacuvsascesceescnssecsancecoaceestsnrssavssenees 27
104. ng and others are short axes According to the result of linear interpolation arithmetic sometimes output pulse and sometimes do not output pulse 3 8 2 Hardware interpolation cache For the control cards without hardware interpolation function to continue next interpolation after previous interpolation is ended the device has to continuously check whether previous interpolation completes and then output the data of next interpolation If the upper computer is very slow or running multi task operating system two interpolations will have pause which will affect the interpolation and also can t improve the interpolation speed The hardware interpolation cache provided by the control card can solve this problem It can save multiple interpolation commands in hardware cache It can write the interpolation command even while executing interpolation command motion When command is written in empty hardware cache the control card will execute thee first read in command immediately and follow the principle of first read in first execution When hardware cache is empty the controller stops automatically after executing current interpolation motion To save interpolation command in hardware cache it is necessary to check whether the cache 1s full If yes the interpolation commands can t be written in or else the commands will be lost ELE MALT ECH MAF PMC Programmable Motion Controller The hardware interpolation cache can effectively preven
105. ns condition execution cycle goto subroutine call return and other commonly used program execution structure in C language and also increases motion control related instructions and function according to the technical characteristics of motion control industry e g quick shift instruction linear interpolation instruction arc helix interpolation instruction read write IO instruction logic axis mapping coordinate system conversion look ahead and smoothing pause and resume software hardware limit motion status query motion conflict treatment mechanism delay waiting auto home system configuration instructions and other advanced functions so that the user get rid of hardware design and low level driver design when developing own control system and only needs to write related control programs according to process requirement It will help the customers to simplify system design shorten system development period reduce development cost and improve system maintenance performance The user programs written with C script language and instruction function provided by PMC can be classified into startup programs IO scanning programs PLC programs and motion control programs according to the function The programs may cross over and aren t classified strictly The crossover of multiple or different types of user programs can achieve complicated system function In addition the simultaneous running of multi task can help users to save required co
106. nt amp status5 short int amp status6 Result pmc get axis status id amp status1 amp status2 amp status3 amp status4 amp status5 amp status6 return Result RT e sie e ale e ale sie e ale che ale cie le O ale ate le ale e ale ate ro cere cre IC RA Function feature this function is used to get the driving state or interpolation driving state of the axis Parameter Id slave station No Value status indicator 0 driving ends non 0 driving Mode 0 get interpolation driving state 1 get home driving state 2 get system driving state Return 0 true 1 false Sie ak a sb sk seo sp se obese ok ak obse oe seo ook seo ebook eset ob se ses ebook eo ese ooo ese oboe oe int CCtrlCard Get Status int id unsigned int amp value int mode t if mode 0 get interpolation driving state t Result pmc get inp status id amp value j else if mode 1 get home driving state t Result pmc get back status id amp value j else if mode 2 get system driving state t Result pmc get run status id amp value j return Result j 7 2 AR a AS a AR a SR 2 AS a AS AR RAS AS ii iii iii ii AR SR RAR SR SR RS AR 8 Function feature get or set axis logic position of the coordinate system specified in D4 register Input parameter 102 MALT ECH MAF PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission regpo
107. nteger 32bit Modbus output point access function code is x01 read multiple output points state x05 write single output point state and xOf read multiple output points state and the address range is 0 32767 E register area is usually used to process signal input and participate in the calculation or control process S register area signed integer global 32bit signed integer data The addressing range of the register is SO S8191 and doesn t support bit addressing The word access function code of S register area in Modbus is x03 read holding register x10 write multiple holding registers the address range 1s 16384 32766 and two words 16b1t are combined into one unsigned integer 32bit S register area 1s usually used to process calculation or control process C register area system configuration global 32bit unsigned integer data The addressing range of the register is C0 C2047 and doesn t support bit addressing The word access function code of C register area in Modbus is x03 read holding register x10 write multiple holding registers the address range 1s 32768 36862 and two words 16bit are combined into one unsigned integer 32bit C register area is usually used to configure system parameters e g serial port configuration info network interface info 29 AAW TECH MAF PMC Programmable Motion Controller startup options system running info special read write area etc Other registers are reserved
108. nter I ee K center EE EN Arc Arcradius Arc Areradius 0 Here for plane X Y the arc direction is the direction of plane X Y from positive direction of Z axis to negative direction of Z axis similarly for plane X Z or plane Y Z the direction is from the positive direction of Y axis or X axis to the negative direction of Y axis or X axis right hand coordinate system 1s shown below The ending point of the arc is determined by addresses X Y and Z In G90 mode 1 e absolute value mode addresses X Y Z specify the coordinates of arc ending point in current coordinate system in G91 mode i e increment value mode addresses X Y Z specify the distance between the position of current tool and the ending point in every coordinate axis direction In X direction address I specifies the distance between the position of current tool and the circle center in Y and Z direction the distance between the position of current tool and the circle 55 MALI TECH MAF PMC Programmable Motion Controller center is specified by J and K and the symbols of I J K values are determined by their motion direction To program an arc in addition to specifying end position and circle center position we can also program an arc by specifying radius and circle center specify the radius with address R and replace the address of specified circle center position The value of R may be positive and negative A positive R value
109. ntity of currently opened programs read only C65 mask of currently opened program No read only C66 No of currently running program C67 C69 reserved C70 MODBUS IO read write mode 0 read write IO cache 1 read write real IO and refresh cache C71 load specified program after startup 0 No 1 Yes C72 run specified program after startup 0 No 1 Yes C73 C76 specify startup file name 8 3 file name format default file name 1s START BAT C77 write 1 load and run the startup file C79 write 1 load system parameters from power failure memory write 2 load system parameters from file system C80 write 1 save system parameters in power failure memory write 2 save system parameters in file system C96 alarm state word 1 No of task that has error C97 alarm state word 2 position of error code C98 alarm state word 3 error code C99 C 1023 reserved 30 MALT ECH MAF PMC Programmable Motion Controller C1024 C1535 Modbus special write function area used to realize special function instructions that require writing multiple registers of discrete address simultaneously and improve the instruction efficiency C1536 C2013 Modbus special read function area used to realize special function instructions that require reading multiple registers of discrete address simultaneously and improve the instruction efficiency D register area motion global 32bit unsigned integer data The addressing
110. ntroller quantity in large control system Most instructions provided in PMC can be entered and executed directly in serial port console Console is a command line based human computer interaction mode and any standard serial I O software can be used as running interface of the console regardless Windows Linux or any other operating systems Through the console the user can fully operate and monitor the system status in the process of program development improving the system testing efficiency significantly PMC system parameter area and open characteristics PMC also provides various register areas for system configuration function setting and calculation The console can access these register areas directly and these registers are open to third party software through Modbus communication protocol PMC supports serial R232 based and Ethernet based Modbus protocols at present both of which support RTU and ASCII transmission mode while the Ethernet based Modbus protocol also supports TCP IP or UTP protocol based mode By opening these register areas of special functions PMC can be controlled by other controllers or software The PMC development kit CD provided by Adtech contains Modbus communication protocol based VC and VB upper computer development kit combines the functions based on Modbus register operation and re package into API functions that can be called in VC and VB to facilitate the online control and secondary development for users us
111. of which is 0 65535 The second parameter n is the write value and the range is 0 or 1 Function write virtual input IO is to write input IO cache actually Its actual address corresponds to the bit address in I register area Except WVIN command I register area can t be rewritten in any mode Write output IO instruction Format OUT n n The first parameter n is specified output IO label the range of which is 0 65535 The second parameter n is the write value and the range is 0 or 1 Function rewrite the status of specified physical output IO or virtual output IO 59 MALT ECH MAF PMC Programmable Motion Controller m Ifn is 0 23 the status of real physical output IO is rewritten and the write state is saved in IO cache m If n is 24 65535 the status of virtual physical output IO i e output IO cache is rewritten Actually the IO address in OUT instruction corresponds to the bit address in E register area which is readable writable and can be rewritten by register evaluation or OUT evaluation In PMC the bit address in E register area 1s rewritten in virtual output IO mode The addressing range of the virtual output IO can be accessed with function code 0x05 Oxf in Modbus protocol Read output IO status instruction Format ROUT n Parameter n is specified output IO label Function read cache of output IO This command is similar to the function code 0x01 in Modbus protocol which can read multiple output IO statu
112. ogrammable Motion Controller deceleration segments 2 implement speed forward smoothing for continuous motion command according to its motion track default 0 D40 Feed starting speed dimension unit unit time D41 Feed operating speed dimension unit unit time D42 Maximum feed speed dimension unit unit time D43 D45 reserved D46 Linear acceleration dimension unit unit time 2 D47 S variable acceleration time ms D48 S variable acceleration read only this register 1s calculated according to D47 and D48 dimension unit unit time 2 Dx00 reserved Dx01 Axis pulses per rotation pulse rotation Dx02 Encoder lines line rotation Dx03 Axis pulse equivalent numerator pulse Dx04 Axis pulse equivalent denominator dimension unit Dx05 Axis home starting speed dimension unit unit time Dx06 Axis home maximum speed dimension unit unit time Dx07 Axis home scanning speed dimension unit unit time Dx08 Dx10 reserved Dx11 Axis home acceleration dimension unit unit time 2 Dx12 reserved Dx13 Axis home maximum stroke dimension unit Dx14 Axis home scanning stroke dimension unit Dx15 Axis starting operating speed dimension unit unit time Dx16 Axis maximum operating speed dimension unit unit time Dx17 Axis starting operating speed rotation unit time Dx18 Axis maximum operating speed rotation unit time Dx19 Linear acceleration dimension unit unit time 2 Dx20 DX24 reserved Dx25 Posi
113. ole command communication port No ak ak AR A AR ak ak A AR SR 28 sisi cicci AR akk RAS a FAS ak AC AR IR i AR ak i AS i i i AS FSR FAS A AC FS akk FAS 28 AR IE ak AR int CCtrlCard Get Consle Port void i Result pme get consleport return Result PEA AR AR FIG ae AS a AR FIG 2 AR SR 2 ARS AR ii AR RAS ARS ii iii AR IR iii AR IR ii AR ii iii ii iii AR RIS A AR 28 Function name ModbusClosePort Description close corresponding connection port of Modbus Input parameter Port communication port No including serial port and network port Output parameter None Return 0 normal 1 send failed KR Ek eo es se oo se ok seo OS int CCtrlCard Close Port unsigned char port i Result pme close port port return Result 06 MALT ECH MAF PMC Programmable Motion Controller PERA i FAS A AS ARS AR 2 siii ii ii AR A ii AR IR FAS AS AR IR ii AR SR iii ci iii ci FIC AS FS SR A AR Function feature get timeout and repeat times of corresponding port Input parameter timeouts timeout unit ms repeat times repeat times Output parameter None Return TRUE normal OK Eee soo se eoe sese seo Ros SAS ook se ok ok ose akk akk o spe o eb oo oe 3k 3 opo oe AS o int CCtrlCard Get TimeOut unsigned short time unsigned char renum t Result pmc get timeout time renum return Result FE 2 AR AR AR FIG a AS ak ak ak ae AS AR IR ak ak AR AR FIG ae iii ci iii ii AR SR AS AS ak RAS AS AR RIS AS AR IR
114. on deceleration driving isn t required if stop immediately after signal 1s searched instead the system runs low speed constant driving The following parameters should be set for constant speed driving Start speed SV Driving speed V xk BE IAS RM B JE Speed in 71448 E Start speed ARSE E Iaj Driving speed ZIMA Constant speed driving By A Time BY iR sE XE UK zJJ 3 5 Linear acceleration deceleration drive Linear acceleration deceleration is to accelerate from the start speed to specified driving speed linearly During quantitative driving the acceleration counter records the accumulated pulses When the remaining output pulses are less than acceleration pulse it starts decelerating automatic deceleration and decelerates to start speed linearly in specified deceleration The following parameters should be set for linear acceleration deceleration driving Acceleration A acceleration and deceleration e Deceleration D the deceleration when acceleration and deceleration are set separately if necessary Start speed SV e Driving speed V e Output pulses P used in quantitative driving if necessary EL AIDTECHMAT Pie Speed MI tos XE BE IEJ Driving speed AE RE MBE Acceleration JRE AF Deceleration VIA PE Start speed Ag ti kai AS SILICET LIE Output pulse is low and can t reach driving speed H Be JIB IKZ Linear acceleration deceleration driving E IRRIZ SITA Time IERE
115. ool coordinate system KH E DEA 1 BE SE BE UJ 0 Set the logic position of specified physical axis 1 to 0 FR E VERA 1 HAL tie A 0 Set the motor feedback position of specified physical axis 1 to 0 RED T 2 5 EE dr ENI HUBS UE ABRA 0 Clear the logic position and motor feedback position of specified physical axis 1 2 5 HAHEI EM SOR FRU LS oi ATA BRAY 0 Clear the logic position and motor feedback position of all physical axes FT FF XC E SHE Open file File name FH EI Serial port No 14M L1 Close serial port 7i Bj Help AX VA Send file RF O Save window V wa fi O Clear window HEX 47s HEX display HR Extend WRX Baud rate Zt jf Data bit 147 Stop bit 14h Parity MF Flow control WEIN AX Schedule send HEX KIX HEX send FF FE MA HE String entry box BIE Send new line RX Send All console commands and detailed function of program keywords are described in Instruction Programming 41 MAL TECH MAF PMC Programmable Motion Controller 7 Instruction Programming 7 1 Programming basics In the programming instruction system of this PMC all instructions and keywords are in capitalized letters the keywords are separated with space or tab the instructions are ended with or newline symbol character strings are contained with and program files are named in 8 3 short file name Use as the block boundary and support using to nest expres
116. op line and is used for GOTO addressing The value of block No and block position do not have relation It can be any value but can t be repeated In this Manual the instruction and function sentences are ended with or newline symbol Instruction or function sentences are basic elements of blocks One block can t be constituted with several instruction sentences and several blocks constitute a processing program 49 MALI TECH MAF PMC Programmable Motion Controller The access of all internal registers of PMC must be identified with prefix e g E100 123 IF ELSE ELSE IF WHILE DO WHILE can use to bracket several instruction sentences as a large conditional execution block and allow multi level condition nesting All register values numerical value logic calculation and IO status can be used as the expressions of condition judgment 1 Main program The processing programs comprise main program and subroutine Every processing file is an independent main program Generally the main programs are classified into startup programs or batch programs PLC programs and motion control programs according to functions Program types do not have strict boundary and aren t distinguished according to file names Program loading instruction Format LOAD n XXXXXXXX XXX The first parameter n is the task No The second parameter 1s the character string in program written by the user Function load the program files
117. port No should be set for UDP transmission axis axis number 1 6 pulsel output pulses 70 motion in positive direction 0 motion in negative direction Input parameter Range 268435455 268435455 axis2 axis number 1 6 pulse2 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 0 execute successfully 1 send failed Na pmc fifo3 Fund int pme fifo3 INT32S id INT16U axisl INT32S pulsel INT16U axis2 INT32S pulse2 nction name y INT16U axis3 INT32S pulse3 INT32U speed Cache random three axis interpolation motion 19 Input parameter PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 pulsel output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 axis2 axis number 1 6 pulse2 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 axis3 axis number 1 6 pulse3 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 e e None parameter 0 execute successfully 1 send failed pmc fifo4 Function name
118. pos INT32S id INT32U regpos Get or set the axis logical position of the coordinate system specified in D4 register id slave station No invalid for TCP UDP transmission connection address and port Input parameter ue No should be set for UDP transmission Output parameter regpos the axis logical position of the coordinate system specified in the register 0 execute successfully 1 send failed 8 2 5 Driver category pmc_pmove int pmc_pmove INT32S id INT16U axis INT32S pulse Quantitative drive 15 MALT C H nv 74 PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter axis axis number 1 6 pulse output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 None 0 execute successfully 1 send failed The parameters of speed curve must be set properly before writing drive command pmc pmoveExt int pme_pmoveExt INT32S id INT16U axis INT32S pulse INT16U num Multi axis quantitative drive id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis save the array of axis number 1 6 Input parameter mE oa n bb pulse output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455
119. processing Input id slave station No invalid for TCP UDP transmission connection address and port parameter No should be set for UDP transmission an LONE None parameter Rem Retum O execute execute successfully 1 send failed 000 execute successfully 1 send failed failed pmc axis stop int pmc axis stop INT32S id INT16U axis1 0 Function name INT16U axis2 INT16U axis3 INT16U axis4 INT16U axis5 INT16U axis6 Select an axis to stop id slave station No invalid for TCP UDP transmission connection address and port Input si No should be set for UDP transmission parameter axis axis number 1 6 seme o oo None parameter Rtun 0 execute O execute successfully 1 send failed O execute successfully 1 send failed failed 8 2 7 Switch quantity I O category pmc read Inbit Function int pmc read Inbit INT32S id INTI6U bit start INT16U bit num INTSU status name Read the status of single input point PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port Input No should be set for UDP transmission parameter bit start input port No bit num continuously read input port number Output status number of saving input status parameter 0 execute successfully 1 send failed Not Refer to the hardware manual of respective controller for the range of input point and ote
120. range of the register is DO D2047 and doesn t support bit addressing The word access function code of D register area in Modbus is x03 read holding register x10 write multiple holding registers the address range is 36864 40958 and two words 16b1t are combined into one unsigned integer 32bit D register area is usually used to configure motion parameters of which DO D99 are used to set global motion parameters and Dx00 Dx99 are used to set motion parameters of every axis 1 x lt 6 Other registers are reserved The registers in D register area are described below D0 home status D1 system interpolation status 0 idle 1 interpolating D2 system motion status 0 idle 1 in motion D3 feed mode 0 dimension unit unit time 1 dimension unit principal axis rotation D4 in MODBUS communication protocol or console mode the user specifies desired coordinate system if the user operates this register in program task the current coordinate system of the task is set D5 specify the task for info view or operation D6 view the No of current coordinate system in specified task in D5 register read only D7 pretreatment motion segment in look ahead the motion starts when reaching this quantity or completing all D32 global motion stop signal 0 normal 1 immediate stop 2 decelerating stop and then stop running task and current failed task and specify the programs to be stopped in advance D33 global motio
121. register parameters OL category pmc_set_dpara Set drive register parameters ZI EC H a 7374 PMC Programmable Motion Controller File operation category pmc del dir Delete directory 660 Tome creme fle Omm 6 pmc delete file Delete file 66 9 2 Details of basic library functions 8 2 1 Communication interface category pmc modpara init pmc serial init ae int pmc serial init INTSU UartPort INT32U UartBaud INT8U DataBit INT8U StopBit INTSU Parity BOOL Flag TRUE UartPort serial port 0 1 2 3 UartBaud set the baud rate corresponding to serial port DataBit serial port data bit 5 6 7 8 bits StopBit serial port stop bit 1 2 bit Parity serial port parity bit no odd even Flag whether this serial port is dedicated for Modbus communication TRUE Modbus communication default FALSE for common serial port 1 e for console communication Input parameter Network connection should be called before using motion function pmc set signle para int pmc set signle para INT8U port INT32U mode port corresponding communication port No Input parameter mode communication mode of writing data and data type configuration parameter default data access mode readable writable MILT ECH 7374 PMC Programmable Motion Controller Return 0 normal 1 error pmc_net_comn int pmc net conn INT8U NetPort INT32S iDevNum INT32U uiConIp INT16U nConPort Descr
122. rence point after the system 1s electrified every time The reference point is a fixed point on the machine tool and its position 1s determined by the position sensor of every axis and the home position of every servo motor When the machine tool returns to reference point the coordinates of the reference point are 0 in the machine tool coordinate system This instruction makes every axis return to reference point of the machine tool from current position at the speed specified by the system Generally before using this instruction please move the workpiece out of the processing area with other motion instructions first and then execute the instruction to return to reference point to prevent the tool knocking into the workpiece The speed that every axis returns to the reference point is determined by system register Dx05 Dx06 Dx07 and Dx11 which are starting speed maximum speed scanning speed and acceleration Dx13 and Dx14 are the maximum travel and maximum scanning travel of _57 MALT ECH 7374 PMC Programmable Motion Controller returning to reference point If current position is near reference point specified in Dx35 register to avoid inconsistent with daily home position due to unexpected shift of current position and entering scope of the reference point the system will move certain distance to positive direction automatically at half speed This distance is specified in Dx34 and then executes home operation The direction of
123. ress and port No should be set for UDP transmission executmode 0 execute next motion command only after execution of the current motion command in real time and each motion command has independent acceleration and deceleration segments 1 send continuous motion commands to hardware cache and then the hardware executes continuous interpolation motion each motion command is uniform motion and doesn t have acceleration and deceleration segments 2 implement speed forward smoothing for continuous motion command according to its motion track default 0 Return 0 send successfully 1 send failed PBS AE FES AR A AR AR AR AR RR A A AR SR cicci ii ici ici ici ici ii ici ii ii ii ici ici iii int CCtrlCard Command ExeMode int id unsigned int executmode t Result pmc command executmode id executmode return Result j 1 3 Function realization module 1 3 1 Interface design e ADT 88600 FEF Eas SOs MobustB DACE Modbusif HIRI 05 M RIV ASCII ERE v COM e TCP SUE fi WP fifi y EX EC y EAR iktr Modbus Paley Ziff E n MA UA zEHhMACHhR E 6C 62 BD 6D 48 E3 ACHATPHIE 192 168 2 229 EPI 192 168 0 123 tis up dst KE DIESE EIST TOM fil Fa M xIEPRfiz M Apeh TIRA M ZERRI M zAPR T BRA SERRE BfRBR r YES M VERR M Apei ABS ERRE APRA RA M CERRI H qua 000000 000000 000000 000000 D I CARRE GER EAST LANZAN ADT 8860 Jill iX
124. ress and port No should be set for UDP transmission mode 0 increment coordinate mode 1 absolute coordinate mode Return 0 send successfully 1 send failed dot sese seo sese ole e ook spe oe pop ese seo ok e se oboe ok ese epo de son bob eoo se poo oe akk AS ES bebo se oe tote int CCtrlCard Coord Mode int id unsigned int mode i Result pmc coord mode id mode return Result PERRA AR A E FAS A E AR FE AR AS A RS FAS E AS ii AR SS A AR FE FAS AR AS AS ii iii ici ARS FE AR A iii iii IE FS AS FS 2 Function feature set multitask axis motion conflict treatment mode Input parameter id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission conftmode 0 pause and report error 1 execute new motion when the system is in idle 2 if there is no axis conflict in non interpolation state allow executing multi axis linkage again 107 AIDTECH MAT Return 0 send successfully 1 send failed AR AR AR AR A AR AR A A AR AR RR RR AR A RR SR RR RR SR AR RR A RR int CCtrlCard MultAxis ConfMode int id unsigned int conftmode i PMC Programmable Motion Controller Result pmc_multaxis_conftmode id conftmode return Result Viciololoicicicicicicicicicici FAS AR AR AR A ici ii ii sii ii ii ii ii ii ii iii ii ii sii ici ciccio Function feature motion instruction execution mode Parameter id slave station No invalid for TCP UDP transmission connection add
125. s axis logic position of the coordinate system specified in the register Return 0 send successfully 1 send failed PBS A AS AR A RA AR AR FAS A cicci cioe AR AR A SR FAS A i ii A IR i AR SR SR AR SR RR FS IR HIS AR AR int CCtrlCard Get RegisterPos int id unsigned int amp regpos Result pmc get register pos id amp regpos return Result PERA AR AR FAS 28 AS 2 AR FAS 2 AS AR AR FAS 2 AR SR IS AR AR RAS AS AR FAS A SR RAS AS AR IR FIC AS AR IR FAS 28 AR SR S ARS E SR Function feature used to feed back current logic position actual position and running speed of the axis Parameter Axis axis number LogPos logic position ActPos actual position Speed operating speed Return 0 true 1 false LL LICLLLLLLCL LLLLLLLLLLLLL LC to ofS ak AS ak 3k 3e Pe IS ate AS LLL LLL LLL LLL int CCtrlCard Get CurrentInf int id int LogPos int ActPos unsigned int Speed i Result pmc get command pos id LogPos ActPos Speed return Result PERRA A A E AR R AE A AS A AR SR AR RE ii iii A A E E A AE i ii iii ci AE E iii iii siii IE IS AS E 2 Function feature read single input point Parameter id slave station No svbit input port No number continuously read input port number status number of saving input status 0 low voltage level 1 high voltage level Return 0 true 1 false SiS OFS Pe he ote Se PAS a Ae ote AS ORs 2 Shs ote AS C AS She AS obs LL C CL LLL CL CL LL LLL int CCtrlCard
126. s axis number 1 6 pulse set pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 0 execute successfully 1 send failed The actual position counter can be written and read at any time pmc set actual posExt int pmc set actual posExt INT32S id INT16U axis INT32S pulse INT16U Function name num Set the value of actual position counter Ja PMC Programmable Motion Controller id slave station gen invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 Input parameter mE o e pulse set pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 Num corresponding axis number 0 execute successfully 1 send failed Note The actual position counter can be written and read at any time pmc coord mode int pmc coord mode INT32S id INT32U mode Set current coordinate mode of current task id slave station No invalid for TCP UDP transmission connection address and port Input parameter No should be set for UDP transmission mode 0 increment coordinate mode 1 absolute coordinate mode 0 execute successfully 1 send failed pmc multaxis conftmode int pmc multaxis conftmode INT32S id INT32U conftmode id slave station No invalid for TCP UDP transmission connection address and por
127. s are the modular function codes written in main programs Subroutine name starts with character O followed by four digit value e g O1234 Subroutine No must start from the top line The program No 1s the subroutine entry address used to call subroutine The program No can be in any value but can t repeat When PMC is executing main program and encounters subroutine calling instruction CALL PMC will call and execute the subroutine directly and return to previous program when the subroutine executes the return instruction RETURN To send parameters to subroutine or return please use the local variables in L register area to prevent the variable values modified by other tasks When a main program calls a subroutine this subroutine can nest and call itself or another subroutine and allow up to 100 levels of subroutine nesting A typical subroutine calling demonstration code follows E100 0 initialization parameter CALL O123 call subroutine O123 EXIT exit main program O123 subroutine name 52 MALT ECH MAF PMC Programmable Motion Controller E100 E100 1 accumulated calling times IF E100 lt 10 CALL 0123 nest calling self RETURN return to previous program When the processing program needs to run same track for several times please edit this track into subroutine and save in the program storage of the machine tool and this subroutine can be called if this track should be executed in the program every ti
128. s values continuously 7 2 Mathematical operation instruction PMC supports calculation expressions constituted by variables and constants Instruction format Expressions may be any combination of constants variables functions or subexpressions Calculation Example expression Description method E100 321 123 Addition E 100 E100 123 E100 E101 E102 E100 123 321 Subtraction E100 E100 123 E100 E101 E102 i E100 E101 E102 Multiplication E100 E101 E102 Division td E100 E101 E102 Remainder calculation sto E101 i Logical OR eoo Tloginor AIDTECH MATS PMC Programmable Motion Controller E 100 E100 lt lt 8 Left shift operation E100 E100 gt gt 8 Right shift operation Function F 100 SIN E100 calculation F 100 COS E100 F 100 TAN E100 F 100 ASIN E100 F 100 ACOS E100 F 100 ATAN E100 F 100 SQRT E100 E100 ABS S 100 F 100 LN E100 F 100 EXP E100 F 100 LOG E100 IF E100 lt 100 IF E100 100 IF E100 lt 100 IF E100 gt 100 IF E100 100 IF E100 100 Sine calculation Cosine calculation Tangent Arcsine Arc tangent Arc cosine Square root Absolute value Natural logarithm Exponent with e 2 718 as the base Logarithm with 10 as the base Operator of less than Operator of larger than Operator of less than or equal to Operator of larger than or equal to Operator of equal to Operator of not equal to Combi
129. sions If the program has non defined instructions the program will report error automatically when executing 7 1 1 Keyword and instructions table id a Mode Console erar ane Function Instruction expression example HELP Ye HELP Gethelpinfoonkeywords RESET Yes RESET _ Systemsoftwareresetsandrestats LOAD Yes LOADS3I START BAT Load specified program into task 31 TASK Ye TASK Viewthestatusofalltasksofthesystem RUN Yes RUN3I jRunspecifiediask31 o EXIT Yes EXIT3 Endrunningspecifiedtask31 CLOSE Yes CLOSE3 Close the program cache of specified task 31 AUTO FILE Specify program START BAT as startup SET AUTO EM SET AUTO 1 1 Set the start mode of startup programs auto load H or auto run UDISK Ye UDISK JjConnecanalopUSBdisk UCLOSE Yes UCLOSE DisconnectanalogUSBdik STOP 9 Yes STOP Stop motion and the motion program PAUSE Yes PAUSE Pause RESUME Yes RESUME JReum o O LOAD SYS ves LOAD SYS 1 2 5 6 Load system parameters from ferroelectric RAM E or ROM SAVE SYS EMEN SAVE SYS 1 2 3 5 6 7 m parameters into ferroelectric RAM DEFAULT Yes DEFAULT JRestoredefaultsystem parameters TIME UNIT Yes TIME UNIT 0 Set the time unit of system speed to sec or min NEW COOD Yes NEW COORDI Create new coordinate system DEL COORD Yes DEL CO
130. sition control mode 4 Check whether the motor load of XYZA is too high Motion axis XYZA screaming 1 Check whether the speed of XYZA 1s too high generally the step motor should run at 5 6 rotations per second when there is no load and servo should be higher 2 Check whether the current provided by the drive is sufficient or too high The processed graphs do not have accurate size and the position has error 1 Check whether motion axis XY ZU has gap or belt toughness error 2 Check whether the pulses and millimeter per rotation of motion axis XY ZU are accurate 121
131. system info which is helpful to program testing The framework diagram of PMC system follows SES A Pig ERMITA ES ARA seek L U y Ezieg 11 Modbus E Edi O V X8 MR232 4 it e v MES ee E AIR ZALES J f F Multi task user program LEZEN KLE Online testing software tool PHR Tras Third party software controller HF Program cache EE nr tss Programming language analysis module DI Iv a R232 SP Ethernet or RS232 media SH PEI Parameter variable area Ble v Scientific calculation 12311484 Motion instruction Ferre til Program control Miri Coordinates conversion JE Speed smoothing IO 85 IO control 123144 Motion control Modbus 3 tp i422 MN Modbus communication protocol interface JB MAH Communication module PMC features and introduction PMC controller provides 32 independently running task spaces for the user The task No and priority are 0 31 and the lower number has higher priority Every task program can run independently or through IO signal while the internal variables or upper computer controller run multi task The user only needs to use the instruction function provided by the PMC system to write Em DT EC H MAF PMC Programmable Motion Controller different applications according to the specific requirement of product process and then download to PMC with development software tool to test and run The instruction function provided by the PMC system includes most of the operation expressio
132. t No should be set for UDP transmission conftmode 0 pause and report error Input parameter m 1 execute new motion when the system is in idle 2 if there is no axis conflict in non interpolation state allow executing multi axis linkage again 0 execute successfully 1 send failed pmc command executmode int pmc command executmode INT32S id INT32U executmode Description Motion instruction execution mode 72 PMC Programmable Motion Controller id slave station ce invalid for TCP UDP transmission connection address and port No should be set for UDP transmission executmode 0 execute current motion instruction in real time and then execute next motion instruction every motion instruction has independent acceleration deceleration segment Input parameter 1 send continuous motion instruction to hardware cache and then hardware executes continuous interpolation motion every motion instruction is at constant speed and there is no acceleration deceleration segment 2 Smooth the continuous motion instruction according to its motion track Default 0 0 execute successfully 1 send failed pmc set stop mode int pmc set _stop0 mode INT32S id INT16U axis INT16U value INT16U logic Set valid invalid and logical voltage level of stopO signal id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Inp
133. t the pause between two interpolations and have better effect even if the computer is very slow 3 9 Pulse output mode Driving output pulse has the following two pulse output modes below When independent two pulses mode is used PU CW outputs driving pulse in positive driving and DR CCW outputs driving pulse in negative driving When one pulse mode is used PU CW outputs driving pulse and DR CCW outputs direction signal Both pulse and direction are positive logic setting Output signal wave Pulse output mode Driving direction PU CW signal o DRICCW signal Independent two direction driving output pulses mode direction driving output Low level direction driving output Low level One pulse mode direction driving output 5 High level 3 10 Hardware limit signal Hardware limit signal LMT LMT is the input signal that limits positive and negative driving pulse When the logical voltage level and limit signal are valid the motion of the axis will be stopped immediately 3 11 Servo motor corresponding signal The input signals connected to servo motor drive are in position signal INPOS and alarm signal ALARM The valid invalid and logical level of every signal can be set INPOS input signal corresponds to the servo motor positioning complete signal If the mode is set to valid wait INPOS input signal valid after one driving ends the input signal is valid the driving state returns and ends ALARM input sign
134. tally These signals are mainly used for home operation Home mode can use one or several signals accordingly However please note that this signal 1s decelerating stop For high speed home operation please add a deceleration switch before the home switch that is to say use two STOP signals one home switch and one deceleration switch It is also possible to use one signal which decelerates stop after meeting STOP signal moves reversely at constant speed and stops after meeting again 8 5 Motion control development programming example All motion control functions are immediate return After sending driving command the motion is controlled by the motion card At this moment the user s upper computer software can monitor the entire motion process in real time and force the motion to stop Note During axis motion it isn t allowed to send new driving instruction to the motion axis or else it will cancel previous driving and execute next driving instruction Although the programming languages are multifarious they have same nature In summary it is three structures and one idea The three structures are order structure loop structure and branch structure which are emphasized in all programming languages and one idea 1s the algorithm and module division used to complete design task which is the important and difficult point of the entire program design To ensure the generality standardized scalability and easy maintenance the exa
135. tation No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission pulsel pulse2 pulse3 pulse4 pulse5 pulse6 output pulses gt 0 motion in positive direction 0 motion in negative direction Range 268435455 268435455 speed operating speed value 1 2000000 eme NA None parameter 0 execute successfully 1 send failed pmc go home int pmc go home INT32S id INT16U axis Description Home function of every axis Axis axis number 1 6 mee NR None parameter 0 execute successfully 1 send failed 8 2 6 Stop category Input parameter pmc_stop Function name int pmc stop INT32S 1d Description Stop processing and give up current processing task Input id slave station No invalid for TCP UDP transmission connection address and port parameter No should be set for UDP transmission None parameter Return 0 execute successfully 1 send failed Not 81 MALT ECH MAF PMC Programmable Motion Controller pmc_pause Function name int pme pause INT32S id Description Pause processing Input id slave station No invalid for TCP UDP transmission connection address and port parameter No should be set for UDP transmission None parameter 0 execute successfully 1 send failed pmc resume int pmc resume INT32S id Exit pause and resume processing pause Exit pause and resume processing resume
136. ter values are valid load and execute the startup program 5 MALT ECH MAF PMC Programmable Motion Controller files specified in C73 C76 The function of this program is to load or run other applications written by the user and make the system establish working state C71 and C72 parameters of PMC are 1 by default The system loads and runs default startup program START BAT automatically the program No is 31 and the priority is the lowest The user can modify startup mode through command console and use SAVE SYS 1 2 5 6 7 to save system parameters A typical demonstration code of the startup program follows START BAT startup program file used to load and run user programs in batch IF C65 amp 1 lt lt 30 check whether program 30 has been loaded i LOAD 30 TEST PLC load program TEST PLC into the cache of program 30 RUN 30 run program 30 j IF I C65 amp 1 1 check whether program 1 has been loaded t LOAD 1 TEST NC load program TEST NC into the cache of program 1 RUN 1 run program 1 j EXIT exit startup program Generally the startup program runs only once and exits automatically but the program cache will be always valid If the user wants to destruct useless program cache it can be realized in console or other programs with CLOSE 31 before destructing a program cache this program should be stopped first PLC program usually achieves IO motion control through scanning the state o
137. th timer event and the code follows 1 5 Stop module Stop module is used to control the emergencies in the driving process and the driving of all axes must be stopped immediately The code of stop module 1s in the click event of CmdStop button and the code follows 8 5 2 VC programming example 1 1 Preparation 1 Create a new item and save as VCExample dsw 2 Load static library ADT8860 lib into the item according to above method 1 2 Motion control module 1 Add a new category in the item save the header file as CtrlCard h and save the source file as CtrlCard cpp 01 AIDTECH MATS PMC Programmable Motion Controller 2 In motion control module first customize the initialization function of the control card and initialize the library function that needs to be packaged in initialization function 3 Continue customizing related motion control functions such as speed setting function single axis motion function interpolation motion function etc 4 The code of header file CtrlCard h follows define MAXAXIS 6 maximum axis number class CCtrlCard t public int Init Board int id int Set Basic Para unsigned char port int mode int Setup Speed int id int axis int startv unsigned int speed unsigned int add unsigned int pmm int Setup SpeedExt int id unsigned short axis unsigned int startv unsigned int speed unsigned int add unsigned int pmm int Set Ser
138. the position of machine tool coordinate system SET LPOS Yes SET LPOS 1 1000 Set the pulse logic position of physical axis 1 SET APOS Yes SET APOS 1 1000 Set the encoder position of physical axis 1 CLRA o Ye jana ooo aie the logic and actual positions of all physical SOFT LIMIT EM veo baite Set the software limit mode of physical axis 2 SET STOPA Ves SET STOPA 2 1 0 Set hardware STOPO signal of physical axis 2 effective trigger voltage level to low SET STOPB Yes SET STOPB 2 1 0 Set hardware STOPI signal of physical axis 2 effective trigger voltage level to low HOME Yes HOME 1 0 1 Physical axis 1 and 3 home SI SIN 30 Evaluate sine function input unit is circumferential angle COS Vex COS 30 Evaluate cosine function input unit is circumferential angle lt lt F AAS PMC Programmable Motion Controller TAN 30 Evaluate tangent function input unit circumferential angle Evaluate arcsine function return unit id i n circumferential angle Evaluate arc cosine function return unit is circumferential angle ATAN Yes ATAN 0 5 Evaluate arc tangent function input unit is circumferential angle SORT SORT 2 Evaluate square root function EXP 2 Evaluate the exponential function with natural number e as the base LN 2 Evaluate the logarithmic function with natural number e as the base Evaluate the logarithmic function with 10 as the a w T ABS Yes J ABS
139. tion error limit alarm pulse Dx26 Dx28 reserved Dx29 Deceleration time of abnormal stop ms Dx30 Hardware positive negative limit signal setting m 2bit limit signal level 0 low 1 high m lbit 0 negative limit valid 1 negative limit invalid m Obit 0 positive limit valid 1 positive limit invalid Dx31 Hardware home signal stop immediately if effective or else the software executes m lbit set effective signal lvel 0 low 1 high m Obit 0 Hardware home signal invalid 1 Hardware home signal valid Dx32 Hardware Z phase signal valid if valid stop when encounters Z phase signal in home scanning process m lbit set effective level of hardware Z phase signal 0 low 1 high m Obit 0 Hardware Z phase signal invalid 1 Hardware Z phase signal valid Dx33 Home step eyo MALT E C H MAF PMC Programmable Motion Controller Dx34 If the logical position of the axis is near zero point or home and is executing home motion the axis first moves the millimeters forward at half speed Dx35 When the axis is several unit distance from the home of logical position and is executing home motion the axis first moves the distance set by Dx34 forward at half speed and then executes the home motion Dx36 Pulse mode setting m 2bit pulse mode setting 0 pulse pulse 1 pulse direction m lbit pulse logic setting 0 positive logic pulse 1 negative logic pulse m Obit pulse direction logic setting 0 direction outpu
140. tions has meaning only after calling this function and initializing the motion control card successfully 89 MALT ECH MAF PMC Programmable Motion Controller 8 4 2 Axis speed setting 1 Constant speed motion The parameter setting is simple It is only required to set the driving speed to be lower than or equal to the start speed and other parameters do not need setting Related function pmc set speed 2 Symmetric linear acceleration deceleration This is a most commonly used mode It requires setting start speed driving speed and acceleration and uses automatic deceleration Related function pmc set speed 3 Interpolation speed ADT8860 card can select random 1 3 axes for linear interpolation and fixed 4 6 axes linear interpolation For the interpolation speed the speed parameter of the frontmost axis is used as the speed of long axis e g pmc line2 0 1 100 2 200 Uses the speed parameter of the first axis 1 e X axis and doesn t relate to the sequence in the parameters pmc line3 0 1 100 2 200 3 500 Uses the speed parameter of the second axis 1 e Y axis and doesn t relate to the sequence in the parameters Note The speed ratio of interpolation is half of the ratio of single axis motion that is to say the interpolating speed is only half of single axis motion under same parameters 8 4 3 STOPO STOPI signal STOPO and STOP are the signals that every axis has and thus there are eight STOP signals to
141. to view system operating status 30 IAI TECH MAT PMC Programmable Motion Controller sscoms 2 GES RE zr TT http feww ecusl com Email men LOAD 31 START BAT Load program START BAT is OE DENG PLC is UE Load program ADT PLC is OF Load program TEST PLC is DE Load program SPEED FLE is OF Load program TE FLE is OK Load program SP PLC is OF Load program TEST HC is OF Load program SPEED NC is DE We PCR OL BLE ti ARAS AAA he EEAS om ESO 110 10m E 221007 OCA A a ES www daxia com mpcbh AAA Arda ED COREREBSA HE Lis www meu com 5 28 R 1283 Icom EHF 11i5200bps 5 CTSs 0 ISE RLSD Li FI FIFA Open file File name FH EI Serial port No 14M H Close serial port 7i Bj Help RIEMAF Send file fr fd Save window V BR fd O Clear window HEX lxs HEX display HR Extend BARR Baud rate XEM Data bit 42147 Stop bit KIAL Parity Tii Flow control WEIN AX Schedule send HEX Rf HEX send E TRA AME String entry box RIAT Send new line RX Send 38 IAM TECH MAT PMC Programmable Motion Controller sscom3 2 GES RDE OT EW bttp ffeew mcu5 com Email e ioj xi TASK EANA PR T HEL 1S929r16 te PRS MWE 154 te AP t TES STOP SPEED HC 1 TES RUN TEST HC HU STOP 3 HU STOP 4 HU STOP 2 HU STOP B HU STOP T HU STOP B HU STOP a HU STOP 10 HU STOP 11 HU STOP 12 HU STOP 13 HU STOP
142. ts positive logic 1 direction outputs negative logic Dx37 reserved Dx38 Get axis driven state read only 0 no drive 1 driving Dx39 Dx46 reserved Dx47 Get axis feed speed Dx48 Get axis logical position of machine tool coordinate system pulse Dx49 Get axis actual position of machine tool coordinate system line Dx50 Get or set the axis logical position of the coordinate system specified in D4 register and the value of Dx51 register will be changed synchronously when setting this register Multiple coordinate systems share this register address in virtual mode Dx51 Get or set the axis offset position of the coordinate system specified in D4 register and the value of Dx50 register will be changed synchronously when setting this register Multiple coordinate systems share this register address in virtual mode F register area double precision floating point global 64bit double precision floating point data The addressing range of the register is F0 F4095 and doesn t support bit addressing The word access function code of F register area in Modbus is x03 read holding register x10 write multiple holding registers the address range is 40960 49148 and four words 16bit are combined into one double precision floating point 64bit F register area 1s usually used to process calculation or control process L register area internal variables global 32bit signed integer data and doesn t support bit addressing The ad
143. tus6 int Get CurrentInf int id int LogPos int ActPos unsigned int Speed int Read Input int id int svbit int number unsigned char status int Write Output int id int svbit int number unsigned char status int Setup Pos int id unsigned short amp axis int amp pos int mode int Setup PulseModec int id int axis int value int logic int dir logic int Setup LimitMode int id int axis int valuel int value2 int logic int Setup StopOMode int id int axis int value int logic int Setup StopI Mode int id int axis int value int logic int Get OutNum int id int svbit int number unsigned char amp status int Continue Move int id unsigned short int axis short int dir int Coord Mode int id unsigned int mode int MultAxis ConfMode int id unsigned int conftmode int Command ExeMode int id unsigned int executmode CCtrlCard int Result Return 5 The code of source file CtrlCard cpp follows CCtrlCard CCtrlCard t y PERA kkk esee e ER EEK EEK Imitialization function FF 7 3 e e Re RH e t en This function includes the library functions commonly used by control card initialization which is the base of calling other functions and therefore must be first called in the example program Return lt 0 initialization failed return gt 0 initialization successful PB FAS AR AR A AR A AR A AS AR A AS AS OE ici i ii ii iii ii e ii iii ii iii iii int CCtrlCard Init Board int id t
144. usic Y MERE H3f 0 Microsoft Office Excel 2003 il ac ce alm EREMO E Calculator Open x Mi i Control Panel Explore RER i Bir FIERSEZISE NI Adobe Reader 9 Set Program Access and RIE TA H ena EFE EEEE E e Defaults Map Network Drive ye T TEL v ESETLEG e IDA EM e Connect To Disconnect Network Drive g HDA mU 5 A RR E S ES Printers and Faxes pene Desktop a PRE Y Help and Support Properties A ETA yo Search PREP i All Programs gt I Run n Je s s ARIEL Es Log Off o Turn Off Computer ma GaS 3 oeu rer et Fig 8 114 My Network AIDTECH MATS AaB TRE MEE FEM duo TAM Behe HBO Qa O S Os pap 2 X Hiro O past zl E EE LAN AE Internet EHE th U SP fiz 6 HEA HERD zd M aere 4 EEE Ana MEE box SRE eS Fig 9 LEHRER EE 3 Ba lait ae A 9 VIA PCI 10 100Mb Fast Ethernet HEEE TAN B 0 SE NWLink HetBIOS SA NWLink IPX SPX HetBIDOS Compatible Transpor Internet Ehe TCP IP i FERRARI EPI Citta n NEP A Ha he ETES EA ENEE h ea EET C TERA CERA EHI M TE Erik xl Bl x File Edit View k gt Back Address Network Connections lt Local Area Connection Properties PMC Programmable Motion Controller EN Network Connections Favorites Tools Advanced Help d po Search gt Folders Gi LAN or High
145. ut parameter axis axis number 1 6 value 0 invalid 1 valid logic 0 low voltage level effective 1 high voltage level effective Output parameter None 0 send successfully 1 send failed pmc set stopl mode Function name int pmc set stopl mode INT32S id INT16U axis INT16U value INT16U logic Set valid invalid and logical voltage level of stopl signal id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission Input parameter axis axis number 1 6 value 0 invalid 1 valid logic 0 low voltage level effective 1 high voltage level effective 0 execute successfully 1 send failed NT When initializing the state 1s signal invalid stop at low voltage level ote The stop mode is immediate STOPI signal is also the same pmc set limit mode int pmc set limit mode INT32S id INT16U axis INT16U v1 INT16U v2 INT16U Function name los nm ogic Set the mode of positive negative limit input nLMT signal EE MALT ECH 7374 PMC Programmable Motion Controller id slave station No invalid for TCP UDP transmission connection address and port No should be set for UDP transmission axis axis number 1 6 v1 0 invalid 1 valid v2 0 negative limit valid 1 negative limit invalid Input parameter logic 0 low voltage level effective 1 high voltage level effective 0 execute successfully 1 send failed 4 inval
146. uter Help and Support a Wireless Network Setup Wizard Mr HEBER PEE TE AE 50 CY de AMO New Connection HyperTerminal Dg eo DA Connection Description TUO a5 New Connection ARAN ee SFE Enter a name and choose an icon for the connection Sin HI aar t ER 1 Name 34 ZIDIECHRA A HO REE Be BO iE AERCH ple 813 ala si HATIR E AAN ENA Rd BE HAE C XS E RES P RA SFR 0D FEN EE 86 pres CMM VR RE BRE uart Hyper Terminal File Edit View Call Transfer Help Enter details for the phone number that you want to dial Counkiy region Phone number A Connect using Area code uart Ii MA fe BO Fc fux HRA PMC Programmable Motion Controller pu Saia E ERE DEB fee FEO com RE lx iE seta DI E i EE P x PPLE 5 fi re E ali RARER TARE HB Fart Settings Bits per second 115200 y Data bits 8 Parity None Stop bits ho H Flow control Money l0 x uart Hyper Terminal Connected 0 00 41 Auto detect Auto detect SCROLL ng software follows CAPS NUM capture Print echo iS 0 01 11 Baht Babi SCROLL CAPS fm i TIED 35 OD ECH MAT PMC Programmable Motion Controller IL sscom3 2 ES RE E RC TI P HUhttp ffvrrr ncu5i con Email acu528163 co 1120 ml xj
147. ve station No invalid for TCP UDP transmission connection address and port No Input parameter should be set for UDP transmission axis axis number 1 6 compos read logical position of the axis range 268435455 268435455 Output parameter actpos read actual position of the axis range 268435455 268435455 speed read drive speed of the axis range 268435455 268435455 Return 0 execute successfully 1 send failed This function can get the logical position actual position and driving speed of the axis at Note Ni e any time and can indicate the current position of the axis when the motor isn t out of step pmc get command pos int pmc get command pos INT32S id INT32S compos INT32S actpos Function name INT32U speed Get all logical position id slave station No invalid for TCP UDP transmission connection address and port Input parameter pene No should be set for UDP transmission compos read logical position of the axis range 268435455 268435455 Output parameter actpos read actual position of the axis range 268435455 268435455 speed read drive speed of the axis range 268435455 268435455 0 execute successfully 1 send failed This function can get the logical position actual position and driving speed of the axis Note at any time and can indicate the current position of the axis when the motor isn t out of step pmc_get_register_pos int pmc get register
148. y or else set the default gateway to the first host number in the subnet e g xxx xxx xxx 1 NIC address MAC 6 section hexadecimal value each section is separated with the value in every section shouldn t be larger than FF and the first section shouldn t be equal to 01 113 IAW TECH MAT PMC Programmable Motion Controller 9 4 Host upper PC network configuration The network configuration of control host should be modified in TCP IP Protocol Properties dialog box The method to open the TCP IP Protocol Properties dialog box in Windows XP follows In the Start menu or on the desktop find My Network Places gt right click My Network Places and click Properties gt open the Network Connections window gt right click Local Area Connection and click Properties gt open Local Area Connection Properties window gt activate General tab gt select Internet Protocol TCP IP gt click Properties to open the Internet Protocol TCP IP Properties window as shown below e r v AR Places dans eh FFF 0 Open EB ae Ex E plore TAI C PE PESA Search for Computers SS PDA sadica FRIO Map Network Drive fremente Disconnect Network Drive Bg D Delete Rename Properties Fig 7 A Kore Internet e My Documents PERSI EE TO Google Chrome Per ba i A E mail Fe My Recent Documents gt aren e Microsoft Office Outlook gt PEONES i mms Microsoft Office Word 2003 2 My M

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