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PMAC-NC Pro2 Software Reference Manual

1. xHM command issued from Control Panel PLC x Motor Number Setting Explanation for Std PLC The ADV900 type control panel is selected Control Panel Override Handle and spindle close loop PLC are selected PMAC Type is UMAC Home command is issued from Control panel PLC Override controls are type Analog Initialize PLC is not selected so all the initialize part is done in Control panel plc User can generate the initialize PLC and add machine specific initialization This PLC runs one time and disables itself 30 Autopilot Utility PMAC NC Pro2 Software Reference Manual CNC Autopilot Program For MILL Application Axis Motor Std PLC NCUI Registry Parameter Mtr 1 Mtr 2 Mir 3 Mir 4 Mtr 5 Mtr 6 Mir Mir 8 Axis Name S K z 2 Jog Speed HIGH 100 000 100 000 100 000 250 250 250 250 250 Rapid Speed 300 000 300 000 300 000 300 300 300 300 Positive soft Limit 0 0 0 0 0 0 Negative soft Limit H 0 0 0 0 0 Home Offset 0 000 0 000 0 0 0 0 Home Speed 50 000 50 000 200 200 200 200 Positive Limit Switch Negative Limit Switch Home Switch e Home on C Channel e CS SetUp Feed Rate 350 000 wv Lookahead ON Following Error 0 0250 In Position Band 0 0250 Machine Unit Inch Min Update Build Build amp Download Set Negative Software Limit in SelectedUnits Setting Explanation for Machine Setup The maximum Feed Rate Following Er
2. Machine Name ADV900_SW PLC Path CAProgram Files Delta TauADW900_Sw Browse Cntl Panel Override Home Handle Spindle Enable M Enable M Enable J Enable M Enable M Tvpe Spindle Override Method Increment Type Ady 600 P e A e de nann A C Digital Analog omman Max 10 01000 Close Loop Software Speed Min 50 Es PLO C Min 10 00010 Open Loop Adv 81 Speed Max 110 OO Feedrate Override Max RPM 6000 Adv Settings C Digital Analog Initialize Feed Min 0 Enable 1 Feed Max 150 Update Build Build amp Download ADV 900 Type Control Panel Hardware Panel Machine Name Enter a machine name up to 15 characters in the Machine Name field This name is used for generating the CFG file as well as for creating the directory The default machine name is Adv 600 which is one of Delta Tau s available control panels For example if the machine is MyMachine then CNCAutoPilot will create the directory MyMachine under c Program Files Delta Tau All of the PLCs headers etc files are stored in this folder Autopilot Utility 21 PMAC NC Pro2 Software Reference Manual PLC Path The PLC Path field indicates where the PLC files are stored The standard base path C Program Files Delta Tau The lt Machine Name gt will be appended to base path to create folder for storing PLCs The Browse button is used to set PLC base path As soon as a machine name is entered the PLC pa
3. Cmd Speed The value of the current programmed S code in RPM when CSS Mode is OFF if CSS Mode is ON the value is in FPM Actual Speed The actual spindle RPM Override The current percent override for spindle speed CSS Mode Indicates if the system is in constant surface speed mode NC Operation and Programming 67 PMAC NC Pro2 Software Reference Manual Feedrate Feedrate Max Feed Cmd Feed Act Feed Override Mode Rapid Max Feed The maximum allowed feedrate Any federate programmed to value greater than this value will be disregarded and the max federate will be used instead This value is determined by the machine builder Cmd Feed The current federate being read by the controller Actual Speed The actual federate in feed per minute always Override The current percent override for non rapid moves except threading Rapid The current percent override for GO rapid movement Mode Indicates if the current motion mode FPR feed per revolution FPM feed per minute THREAD threading RAPID rapid Active Tool Active Tool Tool No TO Offset HOO DUU This area displays the current Tool CT Code the current Tool Length Offset Code H Code and the current Cutter Comp offset Code D Code The T Code value must be set by the machine tool builder through a tool change program or PLC for it to display properly The actual t
4. At this point the AutoPilot program will check the application type with Mill or LATHE A B or C and will ask for confirmation input to set the NC user interface registry This pop up message will not be displayed on brand new installation If you have used the Auto Pilot software before and want to run it again then this pop up message will be displayed A Do you want to Reload Default NC Settings Previous AUTOPILOT settings will be lost By clicking the YES button all your previous NC settings will be lost Clicking the No button presents the first AutoPilot main setup screen There are four tabs Axis Motor Assigns axis to motor Std PLC Select and configure standard NC PLC Machine Setup Set up machine parameters like Jog speed Rapid G0 speed etc NCUI Registry Set up default The first step will be assigning Motors to the axis Select the Axis Motor tab Axis Motor Definitions There are three columns under Axis Motor Definitions Axis Name Mtr No and Pulses Per Unit Axis Name is fixed like X Y Z etc Mtr No and Pulses Per Unit entries are assigned e Mtr No Any motor can be assigned to any axis For example motor 2 can be assigned to axis X or 3 to axis Y etc The motor number cannot be duplicated i e assignment of motor 1 to axis x and y will result in an Invalid Motor Number error The range for Motor Number is 1 to 8 e Pulses Per Unit is the encoder counts per unit If the mach
5. N4 GO G90 S500 M3 N5 G74 X0 Y1 0156 Z 1 94 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G29 Return from Reference Point The tool is moved to the point specified in the block via the ip stored by G28 G27 Syntax G29X_Y Z G30 Return to Reference Point 2nd 3 Implementation may be machine dependent The system integrator provides this functionality In general the tool is moved to the second reference point the P address via the ip specified in the block The ip is saved for subsequent use by G29 Syntax G30P_ X__Y__Z_ G31 Move Until Trigger Does a move until trigger skip When the skip signal occurs the move will decelerate to a stop and the location at which the skip signal occurred will be stored for later use Syntax G65 P9810 X__Y__F __ G40 G41 G42 Cutter Compensation While cutting the programmed contours of lines and curves being dependent on the direction of cutting and spindle rotation the operator must keep the tool consistently oriented to the cutting surface at the offset needed to maintain the depth of cut and surface finish called for in the print Usually calculations involving moving surface normals and curve tangencies are required Cutter radius compensation will provide cutter orientation and tool offset automatically The control will offset the tool normal to the instantaneous surface tangent of the work piece with respect to the direction of tool motion in the c
6. G59 Work Coordinate System 6 G61 Exact Stop Mode Programmers Guide Turning G Codes 125 PMAC NC Pro2 Software Reference Manual 126 G62 Diameter Mode G63 Radius Mode G64 Cutting Mode G74 End Face Peck Drilling G75 Groove Cutting G76 Multi Repetitive Threading G90 Outer Diameter Internal Diameter Cutting Cycle G90 1 Absolute Progamming G91 1 Incremental Programming G92 Thread Cutting Cycle G93 Inverse Time Feed G94 End Face Turning Cycle G96 Constant Surface Speed Control On G97 Constant Surface Speed Control Off G98 Feed Per Minute G99 Feed Per Revolution M Code Function M00 Program Stop M01 Optional Stop M02 Program End amp Rewind M03 Spindle CW M04 Spindle CCW MOS Spindle Stop M08 Coolant On M09 Coolant Off M19 Spindle Orientation Generic PLC program M30 Program End amp Rewind M98 Subprogram Call M99 Subprogram Return Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual G Code Descriptions G00 Rapid Traverse Positioning Used to position the tool from the current programmed point to the next programmed point at maximum traverse rate for all axes G00 is group 01 modal It is canceled by other group 01 functions The rapid move is not axis coodinated Each axis will have different endpoint velocity ramps Each axis may also have different maximum traverse rates The axis with the longest move time mo
7. SOFTWARE REFERENCE PMAC NC Pro2 DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information O 2010 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components
8. Discrete Inputs 1100 1131 Discrete Outputs 2000 2999 Tool Compensation 3000 User Alarm with message 3001 3002 System Timers 3003 3004 Single block and override suppression 3006 Programmable Stop with message 3007 400 1 4120 Mirroring Look ahead time modal information 420 1 4320 5001 500n Run time modal information Target work coordinate position of last executed block Tool offset included 5021 502n 504 1 504n Commanded machine coordinate position Tool offset not included Commanded work coordinate position Tool offset not included 5061 506n Current work coordinate skip position Tool offset not included 508 1 508n Current tool offset applied 5101 511n Current following error 5201 520n Common work coordinates 522 1 522n G54 524 1 524n G55 5261 526n G56 5281 528n G57 5301 530n G58 5321 532n G59 7001 795n G54 1 P1 P48 extra offsets Parametric Programming PMAC NC Pro2 Software Reference Manual System Variables 1000 1031 Discrete Inputs Parametric programming allows the use of discrete inputs from within NC programs The useable parametric input variable range is from 1000 to 1031 32 total Each parametric variable represents a single bit of a 32 bit address in PMAC s Dual Ported Ram The 32 bit address is defined
9. G64 is the startup default Syntax G61 Exact Stop Mode Example G64 Cutting Mode When G64 is commanded deceleration at the end point of each block is not performed thereafter and cutting is blended to the next block This command is valid until G61 exact stop mode or G63 tapping mode is commanded However in G64 mode feed rate is decelerated to zero and in position check is performed in the following cases e Positioning mode G00 e Block with exact stop check G09 Programmers Guide Milling G Codes 99 PMAC NC Pro2 Software Reference Manual e Next block is a block without movement command Syntax G64 G65 MACRO Instruction G68 G69 Coordinate System Rotation A programmed shape can be rotated about a point By using this function 1t becomes possible for example to modify a program using a rotation command when a work piece has been placed with some angle rotated from the programmed position on the machine Further when there is a pattern comprising some identical shapes in the positions rotated from a shape the time required for programming and the length of the program can be reduced by preparing a subprogram of the shape and calling it after rotation The angle of rotation is the CCW direction is commanded with a signed angle value in decimal degrees using the R address in the G68 block The center of rotation is specified in the block with axis address data X Y and Z After this command is specifie
10. This is specified with axis move or position words the axis address letter followed by a numeric literal N100 X5 2Y0Z 001 length units in or mm 84 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual Feed Specification Movement of the table at a specified speed for cutting a work piece is called the feedrate Feedrates can be specified similarly with the feed word N100 F150 0 length time units in min or mm min Length units are within program control see the G code definitions in the next section The machine builder sets time units Feedrate infmin mm min F150 Tool Feedrate Example Cutting Speed Specification The relative rotational speed of the tool with respect to the work piece during a cut is called the spindle speed As for the CNC the spindle speed can be specified in rpm units using the S address letter followed by the value N100 S250 rpm units Tool Movement Considerations At multiple move or block boundaries the CNC applies a coordinated ramp of the vector velocity into and out of the point without stopping The result of this is called move blending Because of blending corners are not cut sharply If sharp corners are required to be cut Exact Stop or Dwell must be commanded in the block or set modally see G04 G09 G61 This forces an in position stop before starting the next move In position means that the feed motor is within a specified range abo
11. To clear just this message type SET_OFF ES_ERR_STOP2_M ERROR_AIR To clear all messages at once type ES _ERR_STOP2 M 0 Use this as an example and display other messages Message Box With the Delta Tau NC POP UP Windows can be added using message box type messages through a PLC The PLC can then take action based on the response There are two types of message boxes available e Message Box with OK button Messages ranging from 1 64 are reserved for this type e Message Box with YES and NO buttons Messages ranging from 65 128 are reserved for this type A message box is displayed from a PLC by setting variable ES_PLCMSGBOX_M The messages are stored in ERRORS DAT this file under the MessageBox section e The message box with an OK button will return 0 e The message box with a YES button will return 1 Check 65536 MSB word Bit 1 in PLC e The message box with a NO button will return 1 Check 65536 Bit 1 MSB word Bit 1 in PLC Displaying Messages To display messages 1 Set ES_PLCMSGBOX_M 1 in PLC for MsgBox 0 2 Set ES_PLCMSGBOX_M 65 in PLC for MsgBox 64 To display the message box 1 Type either Yes or No when prompted at the Do you want to switch OFF the POWER prompt 2 Edit the ERRORS DAT and add a message under the MessageBox section PLCMessageBoxErr0 Do you want to switch OFF the POWER 3 Define the bit number as macro in the header file define Msg_box1 65 The PLC will look lik
12. h OEM H E MILL G E NC_I_VAR IVR E MILL ve MyMachine 8 40v_200 E CNTLPANEL E GPTIMER E HanoLE E ovERRIDED E RESET lo C C Header C C Header C C Header C C Header C C Header C C Header C C Header G File IVR File M File Pmac Config PMAC PLC Flle PMAC PLC Flle PMAC PLC Flle PMAC PLC Flle PMAC PLC Flle PMAC PLC Flle PMAC PLC Flle 2 4 2005 12 42 PM 7 1 2003 10 31 AM 11 13 1998 8 45 AM 8 14 2001 3 53 PM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 3 8 2005 3 08 PM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM 5 2 2005 9 13 AM E MILL T T File 6 22 2001 12 33 PM E O HTML Help Workshop InstallShield Installation Information 5 Internet Explorer f E The Auto Pilot program creates the MyMachine folder and stores all of the PLCs in this folder e PLC PMAC PLC files to be used with Adv 900 control panel e H Header files to be used in download e Mill Machine GMT code files Mill G Mill M and Mill T e IVR PMAC I variable file e CFG Configuration file to be used in downloading the PLC manually by using Pewin 32 software e Updates and modifies a project workspace file This will create MyMachine as a project in PEWIN32 PRO To download use MyMachine CFG file from PEWIN32 Executive softwar
13. 0000 ai 12 0 5780 2 0000 0 0000 0 0000 X16 13 0 0000 4 0000 0 0000 0 0000 Y 32 14 0 5780 0 0000 0 0000 0 0000 X15 15 0 0000 5 0000 0 0000 0 0000 Y 08 16 0 5780 6 0000 0 0000 0 0000 17 0 5780 4 0000 0 0000 3 5000 18 0 5780 1 0000 0 0000 0 0000 19 0 5780 7 0000 0 0000 0 0000 20 8 0000 0 0000 0 0000 0 0000 Gauge 0 0000 E SEN SETZ 76 NC Operation and Programming PMAC NC Pro2 Software Reference Manual EDIT OPERATIONS F5 Editor This function is used in loading or modifying a current or new part program Advance features such as Search and Replace are available Program editing is possible in Manual mode only On this key submenu keys are displayed The Sub key functions are as follows Delta Tau Data Systems CA NC 5 0 x DASoftware Visual c files folderiPHMNSambleNC ne Reneat 1 of 1 Line D of 19 Work Offset ool No X 1 0000 Hake 1 0000 I heen Max Feed 200 Max Speed Cmd Feed 200 0 lOfset Cmd Speed Act Feed 0 0 Active G coa Na M Code Y T y A 1 spees oo Override 65 HH 620 Mos Program Position Inch Machine Pos Inch Spindle Feedrate a ave FA Override Mode FPM Z 0 0000 WG 0 0000 i AVAA Rapid 50 F200 GO X1Y1 GI X2Y2 G4 X0 1 G1 Xly1 G4 X0 1 G45 x1 G1 Xly1 G4 X0 1 G1 X1y1 G4 X0 1 G45 x1 G1 X1y1 G4 X0 1 G45 x1 M99 Edit Curr Load Curr Program Program SAVE FIND REPLACE CUT CORY TARASIE UNDO REDO MORE g
14. 12 250 4 16 200 5 Notes 1 Tests performed on 80 MHz Turbo PMAC 2 Tests performed at default 2 25 kHz servo update rate 3 Tests performed with no PMAC motor commutation or current loop closure 4 Higher block rates can be done but segmentation will smooth out features Note Subject to these constraints the length of the lookahead is subject only to memory limitations in the Turbo PMAC In general the Isx13 segmentation time is set to the largest value that meets user requirements in each of the above three concerns However it is seldom set larger than 10 msec Calculating the Required Lookahead Length 42 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual In order for the coordinate system to reach maximum performance it must be looking ahead for the time and distance required for each motor to come to a full stop from maximum speed Because the lookahead buffer stores motion segments this lookahead length must be expressed in segments To calculate this value first compute the worst case time required to stop for each motor in the coordinate system This value can be obtained by dividing the maximum motor velocity by the maximum motor acceleration In terms of Turbo PMAC parameters Lxx16 StopTime m sec Ixx17 Now take the motor with the longest stop time and divide this time by 2 because the segments will come in at maximum speed which ta
15. Conventional milling will use G42 to instate tool nose compensation Of greatest concern is how to position the tool just prior to the start up of cutter rad comp PMAC NC will not engage compensation unless a move having a vector component in the compensation plane is commanded Programmers Guide Turning G Codes 135 PMAC NC Pro2 Software Reference Manual Z Workpiece Workpiece G41 G40 Cancel Compensatlon G41 Tool nose compensation Left G42 Tool nose compensation Right When activating tool nose compensation G41 G42 care must be taken in selecting a clearance move in the compensation plane On start up the tool will move a vector distance equal to the offset value the initial compensation in plane move The tool must be position so that as the compensation engages the tool begins cutting normal to the surface Also the center of the cutter must be at least the cutter radius away from the first surface to be machined Tool nose compensation is modal Once tool nose compensation is correctly engaged it will remain in effect until it is canceled 1 Make any zero component compensation plane axis moves before tool nose compensation 2 Make an axis es startup move having a non zero component in the compensation plane G17 18 19 on or imiediatly after the G41 or G42 block The compensation adjustment will be vectored with this move Any move containing a zero component in the compensation plane will carry
16. Coordinate System Lookahead Length Isx20 is configured via the Lookahead Buffer parameter The AutoPilot utility places this value in the NC_I_VAR IVR file 15120 Lookahead Buffer Value PMAC s Lookahead and Rotary buffers are defined by the PMAC NC Pro2 GUI on startup of the application Each time the PMAC NC Pro2 application is started it issues the following two commands for coordinate system 1 DEFINE LOOKAHEAD Lookahead Buffer Value Synchronous M Buffer Value DEFINE ROTARY Rotary Buffer Value For details regarding these settings see the following sections in the Turbo PMAC Software Reference Manual e Coordinate System x Lookahead Length e DEFINE LOOKAHEAD e DEFINE ROTARY The next section will walk you through an AutoPilot example program to generate standard PLCs for a MILL machine Autopilot Utility 27 PMAC NC Pro2 Software Reference Manual Miscellaneous User Position Reporting If this check box is selected then Autopilot will generate the default Position Reporting PLC Users can alter this PLC and write their own calculation for position display This is useful for displaying position when inverse kinematics is used with NC or position display for non conventional feedback devices The feature will only work for Turbo PMAC Firmware V1 942 and above WirelessPendentOn If this check box is selected then Autopilot will update the NCUI registry which will allow to use WIRELESS PENDENT with ADV900 Contr
17. Example Code N4 G53 X0 YO ZO G54 59 Work Coordinate System 1 6 Selection Six coordinate systems proper to the machine tool are set in advance permitting the selection of any of them by G54 to G59 Work coordinate system 1 G54 Work coordinate system 2 G55 Work coordinate system 3 G56 Work coordinate system 4 G57 Work coordinate system 5 G58 e Work coordinate system6 G59 The six coordinate systems are determined by setting distances work zero offset values in each axis from the machine zero point to their respective zero points The offsets are saved in the OFS page of the PMAC NC program Example Code G55G00X20 02100 0 X40 0220 0 In the above example positioning is made to positions X 20 0 Z 100 0 and X 40 0 Z 20 0 in work coordinate system 2 Where the tool is positioned on the machine depends on work zero point offset values Work coordinate systems 1 to 6 are established after reference point return or homing after the power is turned on When the power is turned on G54 coordinate system is selected by default Syntax G54 59 G61 Exact Stop Mode G61 causes a stop between block moves so that no corner rounding or blending between the moves is done i e sharp corners are cut When G61 is commanded deceleration is applied to the end point of the cutting block and the in position check is performed every block thereafter The G61 is valid until G64 cutting mode or G73 tapping mode is commanded Cutting mode
18. G99 for the first drilling and use G98 for the last drilling When the canned cycle is to be repeated by L in G98 mode tool is returned to the initial level from the first time drilling In the G99 mode the initial level does not change even when drilling is performed 142 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual Canned Cycle rapid operation 1 initial point rapid id operation 2 apa operation 6 reference pointio feedrate feedrate operation 5 operation 3 operation 4 y G74 Canned Cycle The return amount is specified in the G74 setup block using R This designation is modal The X axis component of point B is specified in the X parameter U contains the incremental amount from A to B The Z parameter would specify the Z axis component of point C or W for the increment amount from A to C Movement amount in X direction and radius amount without sign uses the P address parameter Q specifies the depth of cut in Z direction without sign R specifies the relief amount of the tool at the cutting bottom The sign of this cutting relief is always plus However if address X U and P are omitted the relief direction can be specified by the desired sign Feed rate uses F E Programmers Guide Turning G Codes 143 PMAC NC Pro2 Software Reference Manual rapid rapid rapid rapid feed feed feed SYNTAX G74R_ G74X_ U_ Z_ W_ P_Q R F G75 Gro
19. GOTO cutter compensation is off 4101 4126 Look Ahead Time Modal Address Code Information Use these variables to determine what the look ahead time value is for any address code A through Z These variables contain the value of the most recently parsed address codes 4101 through 4126 correspond to A through Z and are mapped in the same manner as the address codes are see the Local Variables section For example to know what the last commanded S code was inspect 4119 IF 4119 GT 1500 GOTO excess spindle RPM 5001 500n Target Work Coordinate Position 5021 502n Current Machine Coordinate Position These variables return the current position in machine coordinates of the specified axis 5021 returns the machine coordinate of PMAC s 1 axis 5022 returns the machine coordinate of PMAC s 2 axis etc Tool offsets are not included 5041 504n Current Work Coordinate Position These variables return the current position in work coordinates of the specified axis 5021 returns the work coordinate of PMAC s 1 axis 5022 returns the work coordinate of PMAC s 2 axis etc The work coordinate is determined by the currently set group 14 code G54 G59 any active G52 local work coordinate any active G92 and any scaling or mirroring active Tool offsets are not included 5061 506n Current Work Coordinate Skip Position These variables return the most recent position sensed as a skip or trigger during a G31 mo
20. M99 line the subroutine resumes execution at the first block of the subroutine and loops L times This L overrides any L in the calling M98 block In a subroutine control is always transferred to the first block even if there is a P on the M99 line e Ifa P address code is on the M99 line in a subroutine execution is resumed in the calling program not at the line after the M98 call but at the first N address code found after the M98 call matching the P address code The control searches from the first block after the block with the M98 address code to the end of the program and then continues from the top of the program to the block containing the M98 If no match is found an alarm is issued the program execution stops Main program action of M99 e If M99 is encountered in the main program and no L or P code is in the block processing is transferred to the first block of the program In this manner a program can be commanded to loop indefinitely e Ifan Lis on the M99 line the program loops L times and then executes an M30 e Ifa P address code is on the M99 line processing is transferred to a block that contains a matching N address code The control searches from the first block after the block with the M99 address code to the end of the program and then continues from the top of the program to the block containing the M99 Control is transferred to the first block found with a matching N address code in it If no match is found an ala
21. Q G70 I3 J45 L G80 K L 8 The number of points on the circle 100 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual The code excerpt above would first drill the center hole then drill a hole at the points in the picture with a peck drill cycle then would tap holes with the tap drill cycle at the same points G70 1 Bolt Hole Center Hole Ignore Pattern When commanded the tool will first locate but not drill a center hole then drill holes located at points equally distributed on the circle This G code must be preceded by a valid canned drilling cycle 1 e G81 G88 The canned cycle G code must precede G70 1 to establish the method of drilling for the pattern cycle The X_ and Y_ parameters specified on the line containing the G81 G88 determine where the center of the pattern will reside The drilling canned cycle cannot reside on the same line as the drilling pattern cycle G70 1 Syntax G70 1 L J L_ I Radius of circle must be greater than 0 J Angle formed by X axis and vector from center of circle to start point LC Number of points in the circle Programming Example G83 X Y Z R L G70 1 I3 J45 L8 G80 G84 X Y Z R L FP Q G70 1 I3 J45 L8 G80 LA L 8 The number of points on the circle The code excerpt above would first reference but not drill the center hole then drill a hole at the points in the picture with a peck drill cycle then would tap holes
22. The motion program defines the path to be followed The lookahead algorithm may reduce the speed along the path but it will not change the path 15 Run the motion program and let the lookahead algorithm do its work Detailed Instructions Setting up Lookahead A few steps are required to calculate and set up the lookahead function Typically the calculations only have to be done once in the initial configuration of the machine Once configured the lookahead function operates automatically and invisibly Defining the Coordinate System The lookahead function checks the programmed moves against all motors in the coordinate system The first step is therefore to define the coordinate system by assigning motors to axes in the coordinate system with axis definition statements This action is covered in the Setting up the Coordinate System section of the User Guide Lookahead Constraints Turbo PMAC s lookahead algorithm forces the coordinate system to observe four constraints for each motor These constraints are defined in I variables for each motor representing maximum position PMAC NC Pro2 Customizable Features 39 PMAC NC Pro2 Software Reference Manual extents velocities and accelerations These I variables must be set up properly in order for the lookahead algorithm to work properly Position Limits Variables Ixx13 and Ixx14 for each Motor xx define the maximum positive and negative position values respectively that are pe
23. Tool Number Rotation G68 12 See Table 4 A Axis Tool Geometry Offset 40 Tool Number B Axis Tool Geometry Offset 41 Tool Number C Axis Tool Geometry Offset 42 Tool Number X Axis Tool Geometry Offset 43 Tool Number Y Axis Tool Geometry Offset 44 Tool Number Z Axis Tool Geometry Offset 45 Tool Number U Axis Tool Geometry Offset 46 Tool Number V Axis Tool Geometry Offset 47 Tool Number W Axis Tool Geometry Offset 48 Tool Number A Axis Tool Wear Offset 50 Tool Number B Axis Tool Wear Offset 51 Tool Number C Axis Tool Wear Offset 52 Tool Number 62 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual X Axis Tool Wear Offset 53 Tool Number Y Axis Tool Wear Offset 54 Tool Number Z Axis Tool Wear Offset 55 Tool Number U Axis Tool Wear Offset 56 Tool Number V Axis Tool Wear Offset 57 Tool Number W Axis Tool Wear Offset 58 Tool Number For example To modify the G54 X offset the low 16 bits should be 21 To modify G54 Y the low 16 bits should be 22 To modify the G54 Z value the low 16 bits should be 23 For G55 the base is 40 G56 the base is 60 G57 the base is 80 G58 the base is 100 and for G59 then base is 120 For the extended work offsets G54 1 Pn where n can range from 1 48 the base value is n 1 20 See the table below Offset Base Value for Value for Value for Value for Value for V
24. a working machine the table is moved The actual table displacement will be the reverse of commanded tool motion This manual assumes that the tool moves with respect to the workpiece or table Tool Movement Specification The function of moving the tool along straight lines and arcs is called interpolation Program commands for interpolated motion are called the preparatory functions and specify the type of interpolation used The three basic interpolation preparatory functions are Tool movement along straight line G01 Tool movement along circular arc G02 G03 Reference of the axis position word will execute motion The control will coordinate the movement of the axis motors to execute the command In this document the generalised form of the axis position word A NZ will be used Axis Move Specification Programmers Guide Turning G Codes 121 PMAC NC Pro2 Software Reference Manual Last commanded position is the start and the final position is in the command This final position may be either an absolute position a point referenced to program zero or a relative move signed increment of extension from present point This is specified with axis move or position words the axis address letter followed by a numeric literal X5 2Y0Z 001 length units in mm gt FEEDRATE PER TIME UNITS FEEDRATE PER REVOLUTION UNITS Feed specification Movement of the tool at a specified speed for cutting a workpiece
25. are three ways of specifying a called program in an M98 block 1 P Code specification 2 Comment specification 3 Code specification P Code Specification The most used and standard method is by referencing a program number with a P address code This is the method that is suggested if running the programs on other controls When the control sees a Pnnnn code on the M98 line it constructs a filename from the number following the P address code The filename is of the following form Onnnn nc The nc part of the filename is called the file extension By default the file extension is nc The control then searches the directory that the calling program was executed from for the program that has that filename If the program is not found an alarm 1s issued and program execution stops Otherwise that program is loaded and program execution continues from the first block in the called program the subroutine Comment Specification Another way to specify a program is by specifying a full path and filename in a comment that is on the M98 line This is a way to transfer control to routines that are not in the same directory as the calling routine All that is necessary is to place a valid file path name in the comment If the path or filename is invalid then an alarm is issued Note When specifying a filename explicitly C SUBPROG NC the full path is not necessary If the full path is not specified NCUI will look for the file in the directory sp
26. can use the parameter display to view local and global parametric variables The operator of the machine tool can view the value of these variables at any time regardless of the level of parametric subroutine nesting that the program is at The user is allowed to change the values of these parameters thus giving the program a rudimentary form of operator input Below is a picture of the first page of local variables on the Parameter display Access the parameter display by pressing F7 the DIAG soft key It is arranged as two columns of 17 fields enough room for the 33 local variables The first field of the first column is the real time value of the G65 nesting level To see the variables for the current nesting level make sure that the page being viewed matches this number As PMAC NC is shipped there are five pages of local variables corresponding to nesting levels 0 to 4 and 8 pages of global variables The parameter display is a powerful tool for viewing system parameters Note The display can be modified to show any address in dual ported RAM or within the PMAC To see how this can be done review the commentary at the beginning of the pages dat file located in the starting directory of the PMAC NC Pro2 application It is strongly recommended that the end user not change the pages dat file The machine tool OEM or integrator should process the setup 174 Parametric Programming
27. configuration of PMAC I variables from NC program The I Q and P are addresses for the PMAC like variables The K address holds the value Syntax G10 1 I K_ G10 1Q_ K_ 92 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G10 1P_K_ Example Code G10 1 1125 K1228804 1125 1228804 G10 1 Q10 K8 Q10 8 G10 1 P11 K7 P11 7 CORNER PMAC Data Input By Program G17 G18 G19 XY ZX YZ Plane Selection When cutting motion is for X and Y using circular interpolation the G17 plane must be in effect The G17 plane is a power on default so normally is not programmed When cutting motion is for Z and X using circular interpolation the G18 plane must be in effect When cutting motion is for Y and Z using circular interpolation the G19 plane must be in effect Syntax G17 G18 G19 Example Code N4 GO G90 G17 S500 M3 N5 X0 Y1 0156 N6 Z 1 H1 M8 N7 G03 11 J1 YO X2 F150 G20 G21 Inch Mode Metric Mode Either inch or metric dimensional data may be selected by programming a G20 inch or G21 metric code The G20 or G21 code must be programmed before setting the coordinate system at the beginning of the program The inch metric status is the same as that in effect before the power was turned off or the control was reset Stored information such as tool offset values is automatically converted to the active measurement state when the G20 or G21 command is issued All manual input data is assumed to b
28. coordinate system specified by the NC program that coincides with the part drawing The control is aware of only the first one Therefore in order to correctly cut the workpiece as specified on the drawing the two coordinate systems must be set at the same position Insert a deceleration command _ Program path NH Actual path e A Program path Move Blending A When a workpiece is set on the table these two coordinate systems lay as follows Coordinate system specified by the CNC Machine Coordinates Coordinate system specified by the part Program Coordinates Machine Coordinates The machine zero point is a standard point on the machine It is normally decided in accordance with the machine by the machine tool builder A coordinate system having the zero point at the machine zero point 1s called the machine coordinate system The machine coordinate system is established when the reference point return is first executed after the power is on or the homing cycle is executed Once the machine coordinate system is established it is not changed Programmers Guide Turning G Codes 123 PMAC NC Pro2 Software Reference Manual Program Coordinates The Program coordinates are normally within one of the Work coordinate systems G54 through G59 and are either absolute positions or incremental values A Work coordinate offset W yff defines the position within the Machine coordinate space Within the Work
29. ee ath ___ y Line gt Line B e Tool Center S ti i j my Line to Line Line to Arc Programmed Path l Tool Center Path y i atl Y Arc to Line Arc to Arc Treatment of Outside Corners 1 1 1 1 H H 1 For outside corners Turbo PMAC will either blend the incoming and outgoing moves directly together or 1t will add an arc move to cover the additional distance around the corner Which option it chooses is dependent on the relative angle of the two moves and the value of I variable Isx99 The relative angle between the two moves is expressed as the change in directed angle of the motion vector in the plane of compensation If the two moves are in exactly the same direction the change in directed angle is 0 if there is a right angle corner the change is 90 if there is a complete reversal the change in directed angle is 180 Isx99 specifies the boundary angle between directly blended outside corners and added arc outside corners It is expressed as the cosine of the change in the directed angle of motion cos0 1 0 cos90 0 0 cos180 1 0 at the boundary of the programmed moves The change in directed angle is equal to 180 minus the included angle at the corner Sharp Outside Corner If the cosine of the change in directed angle is less than Isx99 which means the corner is sharper than the specified angle then an arc move will be added around the outside of the corner 48 PMAC NC Pro2 Cust
30. for a standard clamp that may be used in holding parts on a fixture The subroutine can be saved and used later for drilling the bolt holes on other fixtures The bolt hole pattern is a simple rectangular pattern The absolute position of the center of the bolt hole pattern is passed in arguments X and Y The height and width of the bolt spacing is passed as arguments H and W The rotation of the pattern is passed in A The initial position plane is passed in R and the incremental hole depth from R is passed in Z Assume 14 20 tap is being used To use this routine there must be a drill and tap set up in tool holders 1 and 2 and the appropriate arguments must be passed This routine could be improved by adding a center drilling operation or by passing a feed rate parameter to accommodate various materials 156 Parametric Programming PMAC NC Pro2 Software Reference Manual Routines o 5 09600 Drill and tap a rectangul X Absolute X Y Absolute Y H Y distanc locat posit betw ion of center ion of center n holes with W X distanc betw n holes with R Return plane o Z Incremental Z depth to tap holes A fi a rota f reference Assume 4 20 tap is to be made Generate four tapped holes given the location of the center of the ar bolt hole pattern of bolt hole pattern of bolt hole pattern 0 rotat
31. initial installation in AUTO mode the first field may contain the string NO BUFFER this occurs because a file has never been loaded for AUTO mode execution This second field displays the number of times a program has been repeated due to either a M99 code at the end of a main part program or the number of times a sub program has been repeated due to a M98 L_ call In addition the current line of execution in the part program and the total number of lines in the part program is displayed The third field displays the last executed N label of a part program Delta Tau Data Systems CA NC5 0 C Software Enaineerina Machines Haas Turbo NC ProaramsWetteFinishHSS nc Reneat 1 of 1 Line 0 of 196357 N000000 Machining Context Display This top area of the screen displays the machine context display This display is always present and never changes Displayed here is general machine status information such as position information feedrate and spindle speeds active G codes and tool and work offsets r Program Position Inch r Distance To Go Inch r Spindle r Feedrate r Active Tool Work Offset X 20 2671 X 0 0000 Status OFF Max Feed 0 Tool No TO G54 Max Speed 6000 Cmd Feed 0 0 Offset HOO DOO Cmd Speed 0 0 Act Feed 0 0 Sen 4 0421 0 0000 i Active G Code Active M Code Y MIRE Y Act Speed 0 0 Override 100 GOU 690 G17 MoS Mog Override 100 Mode FP
32. is stopped The Z axis is returned either manually or with programmed instructions Syntax G88 X_ Y_Z_R_F_P_L_ X Center location of hole along X Y Center location of hole along Y Z Depth to drill to R Reference plane in Z F Cutting feedrate P Dwell in seconds at the bottom of the cut L Number of repeats Programming Examples G99 G88X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 15 X 2 5 G80 G98 G88X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 return initial point reference point O G99 return o point Free Cutting Manual or Programmed Quill Return Example G89 Boring Cycle Finishing Cut Free Cutting When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position At this point a dwell of P seconds is performed Z is then fed linearly to the R value The return point in Z is the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G85 line if G99 mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel During this cycle manual feedrate override is ignored 110 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual Syntax G88X_Y_Z_R_F_P_L_ Center location of ho
33. move the compensated tool path will be a spiral Introducing Compensation Inside Corner Line Programmed Path Programmed Path 2 E gt Line a Arc Line Tool Center A Path i Eco y Line to Line Line to Arc Line Programmed Path Programmed Path Tool Center Path y a we Bag a Arc A Spiral rep Tool Center Path H ees L Arc to Line Arc to Arc cc2 46 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Outside Corner Introduction If the lead in move and the first fully compensated move form an outside corner the lead in move first moves to a point one cutter radius away from the intersection of the lead in move and the first fully compensated move with the line from the programmed point to this compensated endpoint being perpendicular to the path of the lead in move at the intersection When the lead in move is a LINEAR mode move this compensated tool path will be at a diagonal to the programmed move path When the lead in move is a CIRCLE mode move this compensated tool path will be a spiral Then a circular arc move with radius equal to the cutter radius is added ending at a point one cutter radius away from the intersection of the lead in move and the first fully compensated move with the line from the programmed point to this compensated endpoint being perpendicular to the path of the first fully compensated move at the i
34. or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 UPDATED AUTOPILOT UTILITY CHAPTER 05 09 06 CP AG 2 REMOVED TOUCH PROBING SECTION 10 10 06 CP VB 3 REMOVED WINDOWS 2000 SYSTEM REQ 04 06 07 CP VB 4 ADDED G05 1 amp G103 REMOVED M CODE INTEG 05 30 07 CP VB ADDED NEW SCREENSHOTS PP 8 9 REVISED NC BUFFERS SECTION P 18 5 REVISED PARAMETRIC VARIABLES PP 163 164 06 07 07 CP Me UPDATED NCUI32 REFS TO PMAG NC PRO ALL 6 NEW SYSTEM BACKUP CHAPTER 09 05 07 CP VB 7 NEW ALT FUNCTION KEY CHAPTER 07 30 08 CP VB 8 NEW SCREENSHOTS P 49 11 18 08 CP VB 9 NEW REGISTRY EDITOR SCREENSHOT P 83 02 26 09 CP VB 10 REPLACED G10 DESCRIPTION P 93 04 21 10 CP VB 11 REMOVED PLOTTTING SECTIONS 08 09 12 VB VB 12 REMOVED AMPLIFIER SPECIFIC SECTION 08 09 12 VB VB 13 REMOVED ALIASING SECTION 08 09 12 VB VB PMAC NC Pro2 Software Reference Manual Table of Contents INSTA IN 10 SOFTWARE INSTALLATION ccsccssssssssecsssessssccsscssosssecsssecsssss
35. parts counter press F9 To reset Parts Total press F10 Example M2 OR AND M30 code inside the file MILL M LatheA G or LatheB G or LatheC G N2000 VS PARTS COUNT M VS PARTS TOTAL M IF VS PARTS COUNT M VS PARTS COUNT M 0 ENDIF RETURN The user can write same code for M30 N30000 PMAC NC Pro2 Customizable Features VS_PARTS COUNT M 1 VS_PARTS TOTAL M 1 VS_PARTS REQUIRED Mi 57 PMAC NC Pro2 Software Reference Manual HOW TO ADD AND DISPLAY USER MESSAGES There are four different types of user messages possible Fatal Error Error Warning and Message box These messages are displayed in NC with different colors indicating different actions The user messages are written in the ERRORS DAT file Fatal Errors are displayed as NBN and can be edited under the FATAL section in ERRORS DAT file Errors are displayed as 4 and can be edited under the STOP section in ERRORS DAT file Warnings are displayed as WARNING and can be edited under the WARNING section in ERRORS DAT file Messages are displayed as MESSAGE and can be edited under the MESSAGE section in ERRORS DAT file To set or reset these messages set the bit of one of the pre defined M variable macros These are found in C Program Files Common FilesiDelta Tau Shared address h file The following list explains the association between the type of the error and macro name to be used in PLC or in G M T code 64
36. sop heboes suulenssatbevoldadelenscsadeiass yecdvssinaneasores Seasummntasusebesae 120 Code AA EEN EEN EAR e 120 Miscellaneous 28 Ee eeh 120 Block Delete Character Lai doi ibas 120 PROGRAMMERS GUIDE TURNING G CODES eesseesseesseesoessoessoeseoesooesooescooesosesosesosesosesoeesoseseeeseeeseeeseeee 121 Tool Mot iii retro 121 Tool Movement Specification ccccccsscccessecessecsseceseesseecscecesceessaeeesaeecsaeecsscecsaesesaeeesaeecsaeeseeessnaeeesaeeeaes 121 Axis TTT 121 Feed A ENT ege Eed 122 Cutting Speed perico idad cidos 122 Tool Movement Considerations cccscccessecessccessceensceesscecsscecsscecesaeeesaeeesseecsscecssaecesaeeesaeecsaeeceseessaeeesaeeosaes 123 Coordinate Systems cio o 123 Machine Coordina ac 123 Program e 124 Absolute coordinate POSTS de cabana Eaa ATEA 124 Mmetemental c ordinate VAS la 124 Reference point ia in 124 TURNING CENTER G AND M CODES sseseesseesseesseesoeesoeesoessoeesoecsoeseoesooesooesosesooesosesosesosesoeesoeesoeesoeeseeeseeeseeee 125 G and M Code Summary G Code Descriptions cria aa G00 Rapid Traverse Positioning ao add 127 GOL Linear Interpolation aii 127 G02 Circular Interpolation CW irises eea neaei ended daa 128 G03 Circular Interpolation CE Wii 130 G04 Dwell innin a 132 GO5 1 POPI PC Lookahead Models a da li 132 EE 132 G17 G18 G19 XY ZX YZ Plane Selection sccceseccessecessecesscessneecsscesssnecssceeesaeecseeceenesesaeessseeeseessneeseseeeen 132 G20 G21 Inch Metric Input Se
37. the G03 line usually by a G01 linear positioning move The END POINT is defined by the X and Y axis coordinates within the G03 line when in the XY PLANE The ARC CENTER is defined by the I J and K values vector incremental from the start point when in the X Y PLANE or the R value within the G03 line The full format for a G03 line must reflect in which plane the arc is being cut This is accomplished by use of a G code to define the plane and the letter addresses I J and K G17 XY PLANE Letter address I for X Letter address J for Y G18 XZ PLANE Letter address I for X Letter address K for Z G19 YZ PLANE Letter address J for Y Letter address K for Z The I J and K vector incremental values are signed distances from where the tool starts cutting START POINT the arc to the ARC CENTER For 90 degree corners or fillets the I J and K values can be determined easily The G17 XY PLANE is the default or power on condition If another axis not specified in the circular interpolation is programmed then helical cutting will be affected The feedrate of the linear axis will be F length of linear axis move length of arc move Programmers Guide Turning G Codes 131 PMAC NC Pro2 Software Reference Manual SYNTAX G17 G18 G19 G03X__Y_ I J_F G17 G18 G19 1G03X__ Y RF EXAMPLE CODE N4 G0 G90 G18 S500 M3 N5 X0 Z 1 H1 M8 N7 G03 I1 K1 X2 F150 G04 Dwell When programmed in a block following some motion such as G00
38. the file blank editor will be available for new NC program F3 OPEN This function key opens the existing file for editing File Open dialog box will pop up to select the file F2 SAVE AS This function key will allow saving the current file with different file name NC Operation and Programming 79 PMAC NC Pro2 Software Reference Manual DIAGNOSTIC OPERATIONS F6 DIAG This function key displays the Diagnostic page As a default on this menu parametric variable display Terminal window 3D plot and Plot functions are available The Geo Amp and Brick I O will be active only if standard ADV900 GEO Brick combination is used The other Function keys can be assigned to user diagnostic function This addition is strictly Machine Integrators responsibility using HMI NC Development system User can specify diagnostics requirement specific to his her machine to the Integrator and integrator will be responsible to implement it Delta Tau Data Systems CA Program Position Inch Machine Pos Inch Spindle Feedrate Active Tool Work Offset X 1 0000 X 1 0000 Status Max Feed 200 No AE Max Speed Cmd Feed 200 0 Offset Y 1 0000 Y 1 0000 Cmd Speed Act heed og Active G Code Active M Code j z KR S Act Speed Override 65 G00 G90 MOS MO9 Override Mode FPM G94 Z 0 0000 Z 0 0000 CSS Mode Rapid 50 Se LOCAL VARIABLES 1 33 F200 GO X1Y1 0 000000 a 0 000000 G4x0 1 0 000000 G1 X1y1 0 0
39. this button resets the Enable option When PLC is selected the HOME commands are issued through the HOME PLC This is set automatically if Enable is checked Currently Home using the motion program feature is disabled Handle Enter the value for the Handle PLC in this group of fields The value in the Max Handle field sets the limit for the maximum handwheel increment per one revolution By default this increment is one inch The value in the Min field sets the minimum handwheel increment per division Default settings are Hand Wheel Revolution Speed Selection Position Increment 1 High Max 1 Inch 1 Medium 0 1 Inch 1 Low Min 0 01 Inch In this group Max is set to 0 01 by default A typical pulse generator has 100 divisions Thus in High setting the motor will move 0 01 100 1 Unit Spindle Enter the value for the Spindle PLC in this group of fields Type This parameter allows selection of the spindle type as Close Loop or Open Loop The Close Loop spindle requires a feedback Open Loop does not Max RPM This parameter allows the definition of the maximum spindle speed Spindle PLC uses this input to set the proper RPM The program will not accept an RPM command greater than the value in the Max RPM field it will clamp 1t to Max RPM PMAC Type The program detects the type of the PMAC automatically and displays it here Autopilot Utility 23 PMAC NC Pro2 Software Reference M
40. typed into the MDI edit box may be placed in the Windows clipboard to be retrieved at a later using NC Operation and Programming 69 PMAC NC Pro2 Software Reference Manual Windows editing hot key sequences Ctrl C copies data to memory also known as the clipboard Ctrl V paste the data into an edit box Ctrl X deletes the selected data from the edit box Delta Tau Data Systems CA NC 5 0 x C AWINDOWS svstem32 MDI NC Reneat 1 of 1 Line 0 of 2 NODOD0O Program Position MM Distance To Go MM Spindle Feedrate Active Tool Work Offset x 0 414 x 0 414 Status Max Feed 1000 Tool No TO G54 i Max Speed Cmd Feed 1000 0 Offset Hoo poo Cmd Speed 0 0 Act Feed 0 0 Active G Code Active M Code Y 0 000 Y 0 000 Act Speed 0 0 Override 96 coo G90 G17 Mos Mi Override 98 Mode FPM G94 G97 G40 Z 0 391 Z 0 391 CSS Mode OFF Rapid 97 en 649 Machine Mod Manual Mode Speed Mult Taxis Manual O Continuous Low XL x o Incremental O MedL X10 O O Auto O hera O Med Oo MedH Oo o mr 0 sore se 50 0 cw cow e FeedRate OverRide FF 50 0 75 0 100 RPD OverRide v A 2 Read NC Program Write NC Program MENU OPERATIONS PMAC NC 5 0 features a main menu bar Pressing one of the main function keys causes the program to automatically go to the sub menu of the main i
41. 0 61 M160 M160 3 To change G54 1 P48 X value to 48 1 type the following PR_DATA M 48 1 PR_COMMAND M A0000 PR_BITS M PR_BITS M 941 3 PMAC NC Pro2 Customizable Features note that A is 10 in hex 63 PMAC NC Pro2 Software Reference Manual Type the following in PEWIN32 M162 48 1 M161 A0000 941 M160 M160 3 Setting a Tool Offset 1 To set the Z axis tool Geometry for offset number 8 to 10 0 type the following PR_DATA M 10 0 PR_COMMAND M 2D0000 8 note that 2D is 45 in hex PR_BITS M PR_BITS M 3 ze Type the following in PEWIN32 M162 10 0 M161 2D0000 8 M160 M160 3 Reading a Work Offset 1 Set upper 16 bits of command to 8 based on table 2 so that PMAC NC reads a work offset in the range G54 G59 2 Set the lower 16 bits to 61 based on table 3 so PMAC reads the G56 X work offset PR_COMMAND_M 80000 61 3 Set bit O to trigger PMAC NC to write the data we want in the data location PR_BITS M PR_BITS M 1 PR_DATA_M should now contain the G56 X axis work offset 4 Type the following in PEWIN32 M161 80000 61 M160 M160 1 M162 lt Will respond with the G56 X axis work offset gt Reading a Tool Offset 1 To read a tool offset type the following PR_COMMAND M 2D0000 8 2 Set bits 0 and 1 to trigger PMAC to read the data placed in data location PR_BITS M PR_BITS M 1 PR_DATA_M should now contain the Z axis tool geometry offset 3 Type the following i
42. 0 620 G49 Active M Code Mo5 Mog F200 GO X1Y1 G1 X2Y2 G4 X0 1 ES G4X0 1 G45 x1 ES RER ES G4X0 1 G45 x1 G1 X1y1 RER G45 x1 M99 _ NAANA gt gt SI E J m Machine Mod Manual Mode Continuous Incremental O Home Speed Mult Low X1 MedL X10 Med X100 MedH X1000 x10000 CCW FeedRate OverRide 50 0 75 0 100 RPD OverRide 0 0 25 0 50 0 75 0 100 NC Operation and Programming 83 PMAC NC Pro2 Software Reference Manual PROGRAMMERS GUIDE MILLING G CODES This section defines the basics of CNC Mills and instructions for the PMAC NC Pro2 for Windows application The goal of this document is to provide descriptions of the software within the required hardware environment and a detailed description of RS 274 style G Code programming The default G codes delivered with PMAC NC Pro2 are designed to emulate a Fanuc 10 style of G codes Hence a CNC program posted for a Fanuc 10 should work without any changes NC Mill Basics Unlike a lathe tool which moves around the work piece to produce a shape a rotating mill tool remains stationary while the table moves moving the work piece around the tool But NC programmers describe the operation of both machines in the same way as if the tool moves around the work piece That is not a problem when dealing with a lathe but this section discusses mill operation from a programmer s perspe
43. 0 Metric mm 25400 00000 Display Format 25400 00000 Inch 9 4 2009 00000 MM 3 3 o 00000 Degrees 9 3 0 0000 0 00000 0 00000 0 00000 0 0000 Reset_All Pulses Per Unit Decode Control Encoder Lines Ballscrew Pitch Unit Conversion Factor BallScrew in MM Example 4cts line 8192 lines rev rev 5mm 25 4 mm inch 166461 48 PPU Update Build Build amp Download X axis definition Encoder counts per unit Inch MM for X axis Display Format This allows defining the display format for different position units This display format is used by PMAC NC Pro2 to display the axis position The convention of the format is i e total number of digits is five with three of them after the decimal point Default format is 9 4 which mean total width is nine digits with four digits after the decimal point 20 Autopilot Utility PMAC NC Pro2 Software Reference Manual The Second step is to configure the NC PLC settings Select the Std PLC tab Std PLC Function Use the Std PLC function to configure create and download PLCs to PMAC and start the basic function of the NC The basic functionality includes Mode selection Axis selection Jog Speed selection Hand wheel operation All function keys from the Control panel single step optional stop block del etc CNC Autopilot Program For MILL Application Axis Motor Std PLC Machine Setup NCUI Registry
44. 00 it will be displayed on the error page Example IF 24 NE 0 GOTO 5 3000 1024 X argument required N5 conditional was true X argument passed 3001 3002 System Timers These timers are millisecond timers Timer 3001 is continuously running and will wrap around after 49 7 days of running 3001 is initialized to zero at power up Timer 3002 is an hour timer based on 3001 Hours are accrued only when a program is running 3002 is saved at power down and is restored on power up Both of these timers can be initialized with an assignment statement Parametric Programming 165 PMAC NC Pro2 Software Reference Manual Example dwell 3 5 seconds 3 1 3001 N1 IF 3001 LT 31 3500 GOTO 3003 3004 Single Block and Override Suppression 3006 Programmable Stop with Message A programmable stop M00 can be generated from within a parametric program by assigning a value to 3006 A comment can be placed on the block to assist the operator in what operation is to be performed Example 3006 2001 message for the operator 3007 Mirroring 4001 4026 Look ahead time modal group information Use these variables to determine what the look ahead time code is for any group These variables contain the modal group information for the last parsed G code block 4001 through 4026 correspond to groups 1 through 26 For example to know if cutter compensation is off check to make sure that group 7 is 40 IF 4007 EQ 40
45. 00000 G4 X0 1 0 000000 G45 x1 0 000000 G1 X1y1 0 000000 G4 X0 1 0 000000 Gl Xly1 0 000000 GA X0 1 645 x1 0 000000 ES 0 000000 G4 X0 1 0 000000 G45 x1 0 000000 GE 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 D NANNNNN SS ae Speed Low lt lt BACK PRM enen ceo 3D E ma N ror F2 PRM VAR This function key will display parametric variable used in NC file For example all the variable F2 TERMINAL This function key will allow integrator to communicate directly to PMAC Terminal Window on valid Password entry The password can be set by integrator using HMI NC Development System This feature allows integrator to debug without opening PEWIN32 PRO application The default password is delta 80 NC Operation and Programming PMAC NC Pro2 Software Reference Manual Delta Tau Data Systems CA NC 5 0 x D Software Visual c files foldeiPHMISamnleNC nc Reneat 1 of 1 Line O of 19 NODOD0O Program Position Inch Machine Pos Inch X 1 0000 X 1 0000 Y 1 0000 Y Z 0 0000 Z F200 GO X1Y1 G1 X2Y2 G4 X0 1 G1 X1y1 G4 X0 1 G45 x1 G1 X1y1 G4 X0 1 G1 Xly1 G4 X0 1 G45 x1 G1 Xly1 G4 X0 1 G45 x1 M99 Spindle Status Max Speed 6000 Cmd Speed D 0 Act Speed 0 0 Override 95 CSS Mode OFF Work Offset G54 Active Tool Tool No TO Feedrate Max Feed 200 Cmd Feed 200 0 Act Feed 0 0 Override 65 Mode FPM Ra
46. 1 4 5 6 13 17 18 19 20 21 22 23 24 25 26 N lt 2 lt calon gt Address codes G L N O and P cannot be used as arguments Note that the mapping is irregular This follows the FANUC convention A subroutine can access arguments by referring to the associated variable name Example 31 1 2 assign to variable 31 the argument A times 2 G1 G91 X 24 Feed X the incremental amount of argument X Note that subsequent assignments will destroy the value of the passed argument Parametric Programming 161 PMAC NC Pro2 Software Reference Manual Common Variables Common variables are always accessible in an NC program Another term used is global variables Common variables are numbered 100 through 199 and 500 through 599 Variables 100 4 199 are initialized to undefined when the control is turned on Variables 500 4599 values are maintained between power up and down conditions Common variables can be used to pass information from one parametric subroutine to another Once a value is set it remains available regardless of nesting level until it is later modified System Variables System variables give the NC programmer access to static parameters built into the control Occasionally the programmer needs access to these parameters in order to alter or automate machine setup A summary of system variables is below 162 Variable Description 1000 1031
47. 1 0 1 EQ 0 True False 1 NE 0 True False 1 EQ 0 False True 1 GE 0 True True 1 GT 0 False False 1 LT 0 False False If using a variable as for example a counter and comparing for 0 0 use 0 0 If comparing to see if a variable has been assigned to use 0 It is important to distinguish between the two 160 Parametric Programming PMAC NC Pro2 Software Reference Manual Local Variables Local variables as discussed above are allocated and initialized each time a G65 is executed Local variables are numbered 1 33 They are initialized to undefined which is equivalent to 0 Thus if the conditional phrase 1 EQ 0 evaluates to true then 1 has never been assigned a value and either argument A was not passed to the current level of nesting or argument A was 0 M98 differs from G65 in that the local variables are not nested M98 subroutines can still access local variables In an M98 subroutine the local variables that are accessed belong to the most recent G65 nesting level M99 in a G65 subroutine will un nest local variables and the values are lost M99 in a M98 subroutine do not un nest local variables Local variables are used to hold arguments passed to a G65 parametric subroutine call Local variables can be tested against 0 to determine if an argument with a value was passed Address code arguments are passed according to the following table Address Local Variable 1 2 3 7 8 9 1
48. 18 G19 EXAMPLE CODE N4 GO G90 G18 S500 M3 N5 X0 N6 Z 1 H1 M8 N7 G03 I1 X2 F150 G20 G21 Inch Metric Input Select Either inch or metric dimensional data may be selected by programming a G20 inch or G21 metric code The G20 or G21 code must be programmed before setting the coordinate system at the beginning of the program The inch metric status is the same as that in effect before the power was turned off or the control was reset Stored information such as tool offset values is automatically converted to the active measurement state when the G20 or G21 command is issued SYNTAX G20 21 EXAMPLE CODE N005 G49 G20 G90 cancel tool comp inch mode absolute mode N010 S2500 M03 N015 G55 G25 Spindle Detect Off Implementation may be machine dependent Functionality provided by the system integrator In general G25 sets the system flag SPND_SPEED_DETECT false This will be interpereted by the CNC as cancellation of Spindle Speed detect SYNTAX G25 Programmers Guide Turning G Codes 133 PMAC NC Pro2 Software Reference Manual G26 Spindle Detect On Implementation may be machine dependent Functionality provided by the system integrator In general G26 sets the system flag SPND_SPEED_DETECT true The CNC will prevent the next block from executing untill spindle rpm s are within a specified of the commanded value This is reported via CS_SPND_AT_SPEED and CS_SPND_AT_ZERO SYNTAX G26 G27 Reference Point Return Che
49. 4 through G59 and are either absolute positions or incremental values A Work coordinate offset W or defines the position within the Machine coordinate space Within the Work coordinate system a Local coordinate offset Lorp may define a Local coordinate system When there are no Work or Local offsets in effect or the work coordinates are zero then the Machine and Program coordinates are the same It is possible that the Machine zero position is not accessible by the tool Table Envelope Coordinate and Reference Point Examples Absolute Coordinate Positions The table moves to a point at the distance from zero point of the coordinate system i e to the position of the coordinate values Specify the table movement from point A to point B by using the coordinate values of point B Incremental Coordinate Values This specifies table moves relative to the current table position A move from point A to point B will use the signed difference between the two points The term Relative is also used 86 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual Reference Point Aside from Machine zero a machine tool may need to locate other fixed positions corresponding to attached hardware i e a tool changer This position is called the reference point which may coincide with Machine zero The tool can be moved to the reference point in two ways either manually or automatically In general manual reference poin
50. 5 Default File Name PAGES DAT 14 Autopilot Utility PMAC NC Pro2 Software Reference Manual Autopilot Utility 15 PMAC NC Pro2 Software Reference Manual AUTOPILOT UTILITY Introduction The CNC AutoPilot was developed to assist in setting up basic NC functionality allowing the integrator to concentrate more on custom machine software e g tool logic development ESTOP logic development etc This program works like a CNC Wizard program and generates the CNC project template This program is used to set up standard PLC s for the Delta Tau Data System s various control panels e The program allows configuration of the axis motor relation PLC and machining parameter e The program is useful for setting the PMAC NC PRO2related parameters but not PMAC setup The PMAC Setup program is required e CNC AutoPilot also creates the modular file structure system This helps in documentation and better control of machine software Creates project file which is used by PEWIN32Pro to Open as Workspace for easy control e The program sets up default NC registry for MILL or LATHE application e The program is user friendly The CNC AutoPilot program is a part of the PMAC NC PRO2installation It is available from the NC folder To verify the installation of the CNC AutoPilot by default it is installed under C Program Files Delta Tau ADV900 NC NC Setup How to Use CNC AutoPilot Select the CNC AutoPilo
51. ER_3 04000000 ALT F8 CNC_USER4TOGGLE M11 CS_USER_4 08000000 ALT F9 CNC_USER5TOGGLE CS_COMMAND4_M CS_USER_5 10000000 ALT F10 CNC_USER6TOGGLE CS_USER_6 20000000 ALT F11 CNC_USER7TOGGLE CS_USER_7 40000000 ALT F12 CNC_USER8TOGGLE CS_USER_8 80000000 When the Alt Function key is pressed the corresponding bit toggles in PMAC The user definable Alt Function keys can be used by the integrator to create custom keyboard functionality PMAC NC Pro2 Customizable Features 61 PMAC NC Pro2 Software Reference Manual MODIFYING WORK AND TOOL OFFSETS FROM PMAC PMAC NC contains bits in DPRAM as well as words that allow changing the tool and work offset database within PMAC NC In addition a floating point location resides there that is used to exchange floating point data Triggering PMAC NC to Read or Write an Offset The DPRAM location in PMAC DDFD 60DFD for Turbo and 0x37F4 for a PC Offset contains bits that PMAC NC monitors for triggering the modification of an offset In PMAC the macro variable name PR_BITS_M M160 is assigned to this location Table 1 indicates how bits in PR_BITS_M trigger various commands Once the command has been executed Bit 0 will be cleared by PMAC NC PR_BITS_M Function Bit 32 Bit 3 Bit2 Bit1 Bu Read An Offset Don t Care 0 0 1 Write An Offset Don t Care 0 1 1 No Command pending in PC Don t Care D C D C 0 C
52. G01 G02 or G03 all axis motion will be stopped for the amount of time specified in the X word in seconds Only axis motion is stopped the spindle and machine functions are unaffected The numerical range is from 001 to 99999 999 seconds SYNTAX G04X__ EXAMPLE CODE N4 G0 G90 S500 M3 N5 X0 N6 Z 1 H1 M8 N7 G04 X10 dwell 10 seconds G05 1 P0 P1 PC Lookahead Mode See G103 PO P1 G09 Exact Stop Inserts a dwell at the end of the block forcing a controlled deceleration to a stop in position registration so that moves in the next block do not blend with the current block i e sharp corners are cut G09 is not modal It is valid for the current block only see G61 for modal Exact Stop SYNTAX G09 EXAMPLE CODE N030 X1 125 Z2 25 N040 G61 G1 Z 02 F20 exact stop mode linear plunge cutter 20 ipm N050 G64 G3 X0 5 Z2 0 R0 375 G17 G18 G19 XY ZX YZ Plane Selection When cutting motion is for X Y and circular contouring geometry with no motion in Z the G17 plane must be in effect The G17 plane is a power on condition for all controls so normally is not programmed When cutting motion Is for Z and X circular contouring geometry with no motion in Y the G18 plane must be in effect When cutting motion is for Y and Z circular countouring geometry with no motion in X the G19 plane must be in effect 132 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual G18 PLANE G19 PLANE SYNTAX G17 G
53. It must also contain a Z axis positioning move Tool length compensation is modal Once instated it remains in effect until cancelled or changed G49 cancels tool length compensation that is in effect Syntax G43Z__ G44Z__ Example Code NO20 G20 G90 GO X0 YO N025 G43 20 25 H1 move to z0 25 with tool offset comp NO30 X1 125 Y2 25 G45 G46 G47 G48 Single Block Tool Offsets Single block increase and decrease of stored tool offset It uses the last modal D code G45 Increase offset by stored value G46 Decrease offset by stored value G47 Increase offset by stored value X 2 G48 Decrease offset by stored value X 2 Syntax G45 G46 G47 G48 G50 G51 Coordinate Scaling G51 is coordinate scaling X_Y_ Z_ is the center of scaling These parameters are meaningful only in absolute mode JI IK is the scaling magnification of the X Y and Z axis respectively When performing circular interpolation specified by a Radius the maximum value of the scaling magnification for the appropriate plane is applied to the Radius component For example if the selected plane is the X Z plane then the maximum magnification of X Z is used to scale R Likewise if the selected plane is the X Y plane the maximum magnification of Y is used to scale R When performing circular interpolation with I J K components each component is magnified by its appropriate scale factor Coordinate scaling is canceled with G50 Syntax G51X_Y_Z_I_J_K_ G50 G50 1 G51 1 Coord
54. LC OVERRIDED PLC HANDLE DLC SPINDLE PLC RESET PLC ADW_900 PLC GPTIMER PLC MILL G MILL M a a a a a a a a a a a a O 3 ss Position PMAC 0 v1 94 EI Active Project MyMachine Pmac 0 C Program Files Delta Tau MyMachine ADV_900 PLC a Project Project File s 1 Files 36 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual These are the P Q and M variable Resources used by the CNC Program P Variable used M variable Used Q variable Used P37 to P44 ADDRESS H P50 to P35 ADVCNTLU H P260 to P263 OEM H P291 to P297 OEM H P300 to P380 OEM H P440 to P468 OEM H P485 to P491 ADVCNTL H P500 to P502 ADVCNTL H P800 to P809 ADV900 H P960 to P985 OEM H MO to M599 ADDRESS H M601 to M671 OEM H M800 to M807 ADV900 H M2000 to M2010 ADV900 h Reserved Q91 to Q99 for Turbo PMAC V 1 942 and above command Q25 to Q140 OEM H Q200 to Q326 ADDRESS H PMAC NC Pro2 Customizable Features 37 PMAC NC Pro2 Software Reference Manual PMAC NC PRO2 CUSTOMIZABLE FEATURES Turbo PMAC Lookahead Function Introduction Turbo PMAC can perform highly sophisticated lookahead calculations on programmed trajectories to ensure that the trajectories do not violate specified maximum quantities for the axes involved in the moves This permits the writing of the motion program simpl
55. M G94 Go G40 Z 3 6851 Zi 0 0000 CSS Mode OFF Rapid 100 i El Program Position Program Position Inch X 20 2671 Y 4 0421 Z 3 6851 This area lists the current program position display This display corresponds exactly to the positional data in the part program If a program switches between G20 G21 Inch Metric mode this screen automatically changes the displayed units between Inch and Metric 66 NC Operation and Programming PMAC NC Pro2 Software Reference Manual Machine Position Distance To Go Distance To Go Inch X 0 0000 Y 0 0000 0 0000 This area displays either the current machine position the position with respect to the zero reference return position often referred to as home position Machine position is displayed when the machine mode is manual When the machine mode is auto or mdi distance to go is displayed Distance to go indicates the amount of movement left in the current move If lookahead has been installed the distance to go will correspond to the calculated distance to go during lookahead this will make the distance to go register un operable on machine with lookahead installed Spindle Spindle Status OFF Max Speed 6000 Cmd Speed 0 0 Act Speed 0 0 Override 99 CSS Mode OFF This area displays the current spindle information Status OFF CW CCW ORIENT LOCKED Max Speed The maximum allowed spindle speed
56. M98 Subroutine Call amp M99 Return from Subroutine Call Loads and runs the NC file specified by full pathname filename inside the accepts L address for loop iterations M98 c enc machines lathe newpawn nc L16 M99 must be the last line in a subroutine This returns to the line after The M98 call after executing all loop iterations To perform looping first create a calling program where the filename follows an M98 in parenthesis and that is followed by an L parameter which indicates how many times to loop the program An alternative syntax for subroutines uses the P address with a subroutine number M98 P_L_ This requires that a filename exist in the startup directory of number NC Example LOOP NC calls PRG NC 100 times G04X1 M98 CACNCPRG NC L100 G04X2 M30 Programmers Guide Turning G Codes 153 PMAC NC Pro2 Software Reference Manual PRG NC is any NC program with a M99 for a return from subprogram G1 X5 Z5 G0 X2 M99 T Codes T Code format Tnnmm nn specifies selected tool number for CNC tool change mm specifies tool number from TOOLS offset page Example TOOL 4 437 DRILL TOOL 3 1 2 13 TAP G90G80G49G40G20G17G56 T4M6 M3S3000 M8 G0X1 5Z 1 5 Miscellaneous Block Delete character Prevents execution of the block when block delete is on Must be the first character in the block Example G90G80G49G40G20G17G56 T4M6 M3S3000 154 Programmers Guide Turning G Codes
57. MAC NC Pro2 Software Reference Manual G98 return initial point reference point O G99 return z point Finishing Cut Boring Cycle Example G87 Boring Cycle Manual or Programmed Quill Return When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position At this point the spindle is stopped The Z axis is returned either manually or with programmed instructions Syntax G87 X_ Y_Z_R_F_L_ X Center location of hole along X Y Center location of hole along Y Z Depth to drill to R Reference plane in Z F Cutting feedrate L Number of repeats Programming Examples G99 G87X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 G87X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 return initial point reference point O G99 return o point Manual or Programmed Quill Return Example Programmers Guide Milling G Codes 109 PMAC NC Pro2 Software Reference Manual G88 Boring Cycle Free Cutting Manual or Programmed Quill Return When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position At this point a dwell of P seconds is performed and then the spindle
58. MAC NC Pro2 Software Reference Manual Programming Examples G99 G85X 3 Y 2 75Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 G85X 3 Y 2 75Z 0 005P 5R0 1F25 0 X 2 75 X 2 5 G80 G86 Boring Cycle Finishing cut When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position At this point the spindle is stopped and a dwell of P seconds will occur Z is then fed rapidly to the R value The return point in Z is either the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G85 line if G99 mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel During this cycle manual feedrate override is ignored G98 return initial point reference point O G99 return o point Reaming Boring Cycle Example Syntax G86X_Y_Z_R_F_P_L_ X Center location of hole along X Y Center location of hole along Y Z Depth to drill to R Reference plane in Z F Cutting feedrate P Dwell in seconds at the bottom of the cut L Number of repeats Programming Examples G99 G86X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 G86X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 108 Programmers Guide Milling G Codes P
59. MAC with 80Mhz CPU or greater e PMAC UMAC Option 2 Dual Ported Ram Minimum Communications Requirements PMAC UMAC Dependent e ISA PCI Bus e Hi Speed USB2 0 e Ethernet Note The G Code block transfer rate of the system can be limited depending on what type of communication bus is utilized Please contact the factory to discuss your application before choosing a communications bus Software Installation The PMAC NC Pro2 software installation is an automated process Once the CD ROM is inserted into a drive the installation application will auto start and direct the user through the process The software must be registered via email or phone Once the initial installation is complete the user will be prompted to enter a registration code The software includes a 30 day grace period during which it will remain fully functional without a registration code Backup Utility 11 PMAC NC Pro2 Software Reference Manual SYSTEM BACKUP Introduction It is important for the integrator to perform a complete backup of the NC system Doing so insures that a system can be restored quickly in the event of a PC crash or other catastrophic hardware failure A complete system backup also enables the integrator or OEM machine builder to quickly duplicate a system There are three steps required to completely backup a PMAC NC Pro2 system Step 1 PMAC UMAC Backup Contains all the setup parameters motion programs p
60. NC Pro2 Software Reference Manual Syntax G01 1R_X_Y Z_F_ Example Code N6 Z 1 H1 M8 N7 G1 1 R 05 F150 spline mode seg size of 05 in at 150 ipm N8 X10Y10 point 1 N9 X10 2236Y10 2236 point 2 N10 X10 0 4729Y10 0 4729 point 3 G02 Circular Interpolation CW Helical CW Circular interpolation uses the axis information contained in a block to move the tool in a clockwise arc of a circle up to 360 degrees The velocity at which the tool is moved is controlled by the feedrate word and is a vector tangent in the interpolation plane Rai thy i All circles are defined and machined by programming three pieces of information to the PMAC They are e Start Point of the arc e End Point of the arc e Arc Center of the arc or Arc Radius The Start Point is defined prior to the G02 line usually by a G01 or G00 positioning move The End Point is defined by the axis coordinates within the G02 line The Arc Center is defined by the I J and K values vector incremental from the start point or the R value within the G02 line The full format for a G02 line must reflect in which plane the arc is being cut This is accomplished by use of a G code to define the interpolation plane and the letter addresses I J and K e G17 XY Plane Letter address I for X Letter address J for Y e G18 XZ Plane Letter address I for X Letter address K for Z e G19 YZ Plane Letter address J for Y Letter address K for Z The I J and K vector incre
61. OS 2 Expression using functions When discussing the syntax of parametric programming identify how expressions can be used In the following general expression is identified as in the examples above by lt expr gt There are four places where expressions can be used in a parametric program Expressions are used in the following syntactical forms e Assignment statements e Address codes e Conditional expressions e GOTO expressions They are defined below Assignment Statements lt assign gt allow variables to be modified Assignment statements have the following form 1 lt integer gt lt expr gt Simple assignment A simple assignment explicitly states what variable to modify Example 1 5 0 3000 5 alarm An indirect assignment states the variable to modify with an expression Example 1 0 0 1 contains the number of the modified variable 500 41 0 1 contains the index into the common variables Address Code statements can use expressions in the following form X lt literal gt address code using literal value X lt expr gt address code using expression to define value 168 Parametric Programming PMAC NC Pro2 Software Reference Manual X lt expr gt address code negating value of expression If an address code is followed by an expression that results in 0 undefined the address code in the block 1s ignored Example 1 0 2 1 1 GO X 1 Y 2 same as GO Y1 1 Conditio
62. PEWIN32 to change 164 Parametric Programming PMAC NC Pro2 Software Reference Manual 2000 2999 Tool Compensation For a Mill Tool compensation system variables are organized by H and D codes The following are reserved for tool geometry and wear 2000 Always returns zero when used in an expression Associated with HO and DO 2001 2200 H code Geometry for tool 1 200 Tool Length offset 2201 2400 H code Wear for tool 1 200 Tool Length Wear 2401 2600 D code Geometry for tool 1 200 Tool Diameter offset 2601 2800 D code Wear for tool 1 200 Tool Diameter Wear These system variables are associated with the values of the tool offsets on the tool offset display For instance tool 004 would be referenced with system variables 2004 2204 2404 and 2604 for Z GEOM Z WEAR CC GEOM and CC WEAR respectively The values of the tool offsets can be read from and written to by use of the above system variables When Tool offsets are modified with an assignment statement the PC side block look ahead is halted and look ahead processing is not continued until the look ahead queue is exhausted Assignment to a tool offset sends a G10 through the rotary buffer to be executed by PMAC 3000 User Alarm with Message Fatal alarms can be generated from within a parametric program by assigning a value to 3000 The alarm generated will have this value as a reference in the alarm message If a comment is on the block assigning 30
63. PMAC NC Pro2 Software Reference Manual PARAMETRIC PROGRAMMING Introducing Parametric Programming Parametric programming is an extension to NC Numeric Control programming It gives the programmer of NC products the ability to use variables and to perform conditional branching within an NC program Subroutines are extended to accept arguments Predefined functions such as sine and cosine can be used Expressions can be evaluated With parametric programming it is possible to create libraries of routines that can be used and reused Custom canned cycles and families of parts can be programmed with less effort Parametric programming increases the productivity and versatility of machine tools and reduces the cost of machined products Parametric programming is not meant to be used in lieu of CADCAM systems It is provided to add flexibility to the NC control and to provide compatibility to controls that have made use of parametric programming in the past Delta Tau offers two forms of parametric programming The programmer has the ability to program in PMAC native code or in FANUC compatible macros parametric programming This section describes the parametric programming that is compatible with FANUC macro code Example Programs This section contains example programs Several applications are presented here to give an idea of the power of parametric programming Each program is described by three paragraphs e Purpose explains t
64. Pilot program based on user input and should not be altered The MyMachine H file is for general use NCPLC H The AutoPilot program generates this file It consist of the defines constant based on the user input MILL G MILL M and MILL T are the G M and T code files used in the application ADVCNTLU H This file is in C Program Files Common Files Delta Tau Shared folder and should not be altered This will be useful in assigning user buttons on the Adv 810 control panel 10810 H or 10600 H This file is an input output file The 10810 header file is for the Adv 810 and 10600 is for an Adv 600 type controller These files can be modified as needed and are found in C Program Files Delta Tau PmacNC Mill PMAC NC Pro2 Customizable Features 35 PMAC NC Pro2 Software Reference Manual MyMachine Project Workspace The NC Setup updates the default gt INI file used by PEWIN32 pro and creates MyMachie as a project This is very useful feature for controlling integrated Machine Source code In this screen the PEWIN32 PRO executive software shows MyMachine as a project with all the files built by AutoPilot lt PEWIN32PRO2 C Program FilesWelta Tau ADV900_1 ADV900_1 INI File Position Configure View PMAC Resources Backup Setup Tools Window Help Terminal PMAC 0 V1 941T1 10 12 2004 QMAC TURBO USB Port DIS B WU et a m NCPLC H MyMachine_UserDefines H NC_LVAR IVA INITIALIZE PLC CNTLPANEL P
65. T Registry FUNCHONS ii eelere etc 26 CA E 27 Ile EE 27 Miscellaneous E 28 LOOM A O T 28 CNC AutoPilot Example niss vsessiessdeenieesiees 29 MiMachne CF aid iii eisie 34 re EE 34 MyMachine_UserDe fins H 34 ING TV AR EE 34 4 Table of Contents PMAC NC Pro2 Software Reference Manual INTHIATIZE PEC elo ege deeg eege 35 EE RRE E GE 35 A TEE 35 HOME PEC a acid iia 35 HANDLE PLC eege eegener ee eegener eege eegene eege bech 35 SPINDLE E 35 ResetsPIG EE 35 GPT Mr PLE on 35 POSITION REPORT PEG ic Sha iia 35 DEM ee E 35 NCPECHA odia 35 RENE EE eee A GES RRR GHG UR MR 35 TO8IO H Or LODO Heise set shia EGR ic 35 MyMachine Project Workspace sicrie aisee aeaeaei eaaeo kiaka baa a anor Eanos ieS 36 PMAC NC PRO2 CUSTOMIZABLE FEATURES eeesseeseeessesseeroeeroeesosesoeesoeesoeesoeesoeesoresoeesosecoeeceseoeesoeesoeesoeesoe 38 Turbo PMAC Lookahead Function eeccescceseseecsseeesseeessneeesaeecsaeecscecseecssaeeesaeecsaeecsacesesaeessaeecsaeesseeenseeeenaes 38 EE eege E ln naciona do olas Tae 38 Quick Instructions Setting Up Lookahead AAA 39 Detailed Instructions Setting up Lookahead non nncnnnn rana ncnnnnrnnn non nccnancnnannss 39 Defining the Coordinate System saab diodo 39 Lookah ad Constraints mentinerii naa a aeaaea e a aaaea aa E EE oaaae odios bp 39 Position Sand EAE EEGEN 40 Velocity Limits sippii eaaa aae aaan aa aN an a EE 41 Acceleration Limits ooo eNEAN an eS 41 Calculating the Segmentation Time cccscccesscc
66. Y2 25 NO40 G61 G1 Z 02 F20 exact stop mode linear plunge cutter 20 ipm NO50 G64 G3 X0 5 Y2 0 RO 375 G01 1 Spline Interpolation Interpolates as a three point Cubic Spline a segmented profile trajectory of points with no change in acceleration at segment boundaries smooth contouring A fixed move time of R F for all segments is specified indirectly with a segment size and feedrate in the initial G01 1 block with R and F respectively Fx Actual commanded velocities a result of the Spline calculations are smooth Accelerations are matched at segment boundaries Subsequent blocks are blended to fit a 3 point cubic Spline with the adjacent blocks until dwell new segment word R or modal change i e G00 or G01 Zero length intervals of R F time units are added at the endpoints to facilitate entry and exit of the Spline The PMAC segmentation parameter 113 does not effect Spline mode Intermediate positions are relaxed somewhat to meet the velocity and acceleration constraints imposed and may be calculated from the following equation SS see q 1 Seg erry 6 It applies to vector sum of axis components for simultaneous multiple axis splines If a segment size within the block sequence deviates from that specified in the initial block R word then the above equation gives the error amount G01 1 is modal in group 01 It is canceled by other group 01 functions Programmers Guide Milling G Codes 89 PMAC
67. a Work Oe 64 Reading a Tool Offset 64 Implementation Issues in PLC and Motion Program Code 64 NC OPERATION AND PROGRAMMING eoccoccoccoconononnnncananonnaconanononanonanaconanononaconanonona conc nconenonona coca ncnonanonanacnno 66 Progr m Context Display cui Ati 66 Machining Context Display E 66 ee 66 Machine Position Distance Lo Go A EE A ENER 67 PU a laicas 67 El A cis 68 EU genee e EE EE EE 68 Mere Eeer e Geer 68 ACTIVE G e 69 Active M E 69 Operation Mode Context Display cscccessccesscceeseeesnseseneecescecssnecesseecsscecseecescecesseceeeecseesseesseaeeesaeesseeenaees 69 MDI OPERATION EE 69 MENU OPERATIONS cocococinccnonccnonaniononennononannononen toner ao ionene annn en onenen esien ieena iooi oeii 70 PROGRAM OPERATIONS AA 71 POSITION DISPLAY OPERATIONS 73 WORK OFFSET OPERATIONS ooeeeeeeeeeeeeeereeeresereesresrsssiserererersressresereseressressreserestesesstessreeseenseeeeeeee 74 TOOL OFFSET OPERATIONS u eccccsseseesseceseeseseeesseeceacecsscecesaecesseecsaeecseecscecssaecesseecsaeeceeesssaeeeseesseeeeaaees 75 EDIT OPERATION AAA ON 77 DIAGNOSTIC OPERATIONS EE 80 PROGRAMMERS GUIDE MILLING G CODES occoocccoononoonnncconncnonnnonnnnonnnncocanononncoonnnonccnoonc conca noconncoccc conca nono 84 IN IMMUN TEE 84 EE 4 Tool Movement Specification cccccccescccessccessecseseeesssecescecsscecessecesseecscecseecsaesesseceeeecsaeessaeecssaeessaeeesaeeseaaees 84 AXIS EE 84 Feed PEC ae eneo eo e i a es n ae E c
68. al CORNER BLEND SYNTAX G61 G62 G63 Diameter X Axis Radius X Axis G62 allows the operator to input values as diameters The parser will automatically multiply the input value by 1 2 for the actual move G63 will revert back to radius input Programmers Guide Turning G Codes 141 PMAC NC Pro2 Software Reference Manual SYNTAX G62 G63 G64 Cutting Mode When G64 is commanded deceleration at the end point of each block is not performed thereafter and cutting is blended to the next block This command is valid untill G61 exact stop mode is commanded However in G64 mode feed rate is decelerated to zero and in position check is performed in the following cases Positioning mode G00 Block with exact stop check G09 Next block is a block without movement command SYNTAX G64 G74 76 Canned Cycles A canned cycle simplifies programming through the use of single G codes to specify machine operations normally requiring several blocks of NC code The canned cycle consists of a sequence of five operations as shown here 1 Position of axes Rapid to initial point Hole body machining Hole bottom operations Retract to reference point aA un hh Y N Retract to initial point A canned cycle has a positioning plane and a drilling axis The Z axis is used as the drilling axis Whether the tool is to be returned to the reference point or to the initial point is specified according to G98 or G99 Use
69. alue for Type Bits 15 0 to Bits 15 0 to Bits 15 0 to Bits 15 0 to Bits 15 0 to Bits 15 0 to SetX Axis Set Y Axis Set Z Axis Set A Axis Set B Axis Set C Axis G54 20 21 22 23 24 25 26 G55 40 41 42 43 44 45 46 G56 60 61 63 63 64 65 66 G57 80 81 82 83 84 85 86 G58 100 101 102 103 104 105 106 G59 120 121 122 123 124 125 126 G54 1 Pl 0 1 2 3 4 5 6 G54 1 P2 20 21 22 23 24 25 26 G54 1 P48 940 941 942 943 944 945 946 Offset X Center Y Center Z Center XY Rotation YZ Rotation ZX Rotation Type of Rotation of Rotation Of Rotation Angle Angle Angle G68 1 2 3 4 5 6 Where PMAC NC Returns Data from a Read or Write of an Offset The DPRAM location in PMAC DDFF 60DFF for Turbo and 0x37FC for a PC Offset contains a floating point value that PMAC NC uses for setting the modification of an offset or feeding data to the PMAC from PMAC NC In PMAC the macro variable name PR_DATA_M MI162 is assigned at this location that is of the type DPRAM floating point format Setting a Work Offset Type the following to set a work offset PR_DATA M 30 8 Set the upper 16 bits of command to 8 based on table 2 so that PMAC NC sets a work offset in the range G54 G59 Set lower 16 bits to 61 based on table 3 so PMAC sets the G56 X work offset PR_COMMAND_M 80000 61 PR_BITS_M PR BITS M 3 Set bits 0 and 1 to trigger PMAC to read the data placed in the data location Type the following in PEWIN32 M162 30 8 M161 8000
70. an implicit compensation cancel and the resulting axis adjustment The programmer must consider this effect when moving out of the current plane as in depth changes in pocket milling Execute a move whose vector component in the compensation plane parrallel to the last in plane compensation move but of opposite direction is interpolated with the intended out of plane axis move 136 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual When deactivating tool nose compensation G40 again care must be taken in selecting a clearance move If the move is omitted the control will not cancel cutter rad comp and resulting axis motion until a block with a non zero move component in the compensation plane is executed DO NOT cancel tool nose compensation on any line that is still cutting the part Cancel of tool nose compensation may be a one or two axis move When tool nose compensation is active the control applies a virtual cutter of zero diameter The physical or actual diameter of the cutter Is stored in the control by the operator on the page that contains the cutter tool lengths and diameters The tool length is addressed by an H word and the tool diameter is addressed by a D word A tool offset number T word will address both using values stored in the Tools page NOTE The AtMoveToolChange profile setting in the machine type sre file can effect the order of axis motion and T word execution point in a com
71. and Programming PMAC NC Pro2 Software Reference Manual TOOL OFFSET OPERATIONS F4 TOOL Tool Offsets Sub Menu The Tool Offset displays the current tool offset settings A value for tool offsets can be entered into the table in 4 different ways By default the tool offset displays Cutter Compensation Geometry and Wear as well as Z Geometry and Wear Any axis can be displayed and any combination of Geometry and Wear can be added or deleted To change the configuration see machine builder The axis is offset by the summation of the Geometry and Wear values for a particular axis 1 3 Manual operator entry To manually enter data use your keyboard s cursor keys Left Right Up and Down arrows to position the cell for data entry and press Enter You may also use your mouse or touchpad to click on a desired cell When a cell is ready for data entry it is highlighted by a blue box on the grid display To enter a new value the existing value in the grid box must be deleted In addition manual entry is only allowed in MANUAL mode Expressions may be used for fine adjustments using the symbols For instance 1 3840 0 003 can be entered and the software will adjust the value to 1 3870 Manual operator set To ease the entry of work offsets and minimize data entry error there is a Set Z button This button automatically enters the value in the machine position register into the currently highlighted cell Use of this button is allow
72. anual Enable PLC If Enable PLC is checked then all of the generated PLCs are enabled by issuing Enable PLC command to PMAC after download Save PLC If Save PLC is checked then the SAVE command is issued to PMAC after download This saves all of the PLCs and I Variables in the PMAC memory There are five standard PLCs that can be configured based on the type of control panel hardware The next section explains more about configuring these PLCs Machine Setup Function Enter the values of all the basic machine related settings for PMAC NC Pro2 such as speed following error etc in this group of fields The menu window is self explanatory The axes are displayed only if they are assigned to the motor In Window 28 only X Y Z and S are displayed Therefore only X Y Z and S are assigned to the motor as displayed on the Axis Motor window CNC Autopilot Program For MILL Application Axis Motor Std PLC NCUI Registry Parameter Mtr 1 Mtr 2 Mtr 3 Mtr 4 Mtr 5 Mtr 6 Mtr 7 Axis Name a y Jog Speed HIGH 100 000 100 000 100 000 250 Rapid Speed 300 000 300 000 300 000 300 Positive soft Limit 9 jo 0 jo Negative soft Limit H 0 D 0 jo 200 y Ze e y Home Offset 0 000 0 000 0 000 Home Speed 50 000 50 000 50 000 Positive Limit Switch s Negative Limit Switch L s Home Switch e s s Home on C Channel Q Q CS SetUp Feed Rate 350 000 Y Lookahead ON F
73. arc or absolute mode from the programming origin Incremental mode is the default Programmers Guide Milling G Codes 111 PMAC NC Pro2 Software Reference Manual Syntax G90 Absolute mode G91 Incremental mode G92 Work Coordinate System Set This command establishes the work coordinate system so that a certain point of the tool e g tool tip becomes IP in the established work coordinate system Any subsequent absolute commands use the position in this work coordinate system Meet the programming start point with the tool tip and command G92 at the start of program G92X25 2723 0 When creating a new work coordinate system with the G92 command a certain point of the tool becomes a certain coordinate value therefore the new work coordinate system can be determined irrespective of the old work coordinate system If the G92 command issued to determine a start point for machining based on work pieces a new coordinate system can be created even if there is an error in the old work coordinate system If the relative relationships among the G54 to G59 work coordinate systems are correctly set at the beginning all work coordinate systems become new coordinate systems as desired Syntax G9X_Y_Z Example Code N4 G53X0Y0Z0 N5 G92X0 Y1 0156 No Z 1 H1 M8 23 02 G92X25 2Z23 0 25 2 x 00 Work Coordinate System Set Example G93 Inverse Time Feed G93 specifies inverse time mode move is specified by 1 F word mi
74. ariable range is from 1100 to 1131 32 total Each parametric variable represents a single bit of a 32 bit address in PMAC s Dual Ported Ram The 32 bit address is defined as follows and can be found in the Address H file define OUT_2 M M251 The integrator should use a mirror image technique to transfer information from whatever particular I O accessory being used into the OUT_2_M 32 bit word An additional 32 bit address to temporarily store the actual output state is provided and is as follows define OUT 2 CHNG M M261 Because of the multitude of hardware configurations supported it is up to the machine builder or integrator to implement this functionality Example PLC Code OUT 2 CHNG M ACTUAL OUTPUT WORD IF OUT _2 M OUT 2 CHNG M Outputs Changed OUT 2 M OUT _2 CHNG M Update change flag ENDIF How to Use in the NC program 1 Start the NC program 2 Select DIAG F6 from the main menu and then PRM VAR F2 3 Select COMMON VARIABLES 100 131 from the variables pull down menu 4 In the MDI mode write the following program G103 Pl 1100 104 1101 104 1102 104 M30 Use M99 for continuous execution 5 Execute the MDI program by pressing Cycle Start If the outputs are connected changing the state on the PRM VAR page will cause the outputs to be operated If the outputs are not connected use PEWIN32 and set 104 to 7 in PRM VAR page Setting 104 7 will cause the M251 parameter in
75. as follows and can be found in the Address H file define IN 2 M M231 The integrator should use a mirror image technique to transfer information from whatever particular I O accessory being used into the IN _2 mM 32 bit word An additional 32 bit address to temporarily store the actual input state is provided and is as follows define IN 2 CHNG M M241 Because of the multitude of hardware configurations supported it is up to the machine builder or integrator to implement this functionality Example PLC Code IN_2_CHNG M ACTUAL INPUT_WORD IF IN 2 M IN 2 CHNG Mi Inputs Changed IN 2 M IN 2 CHNG M Update change flag ENDIF How to Use in the NC program 1 Start the NC program 2 Select DIAG F6 from the main menu and then PRM VAR EF2 3 Select COMMON VARIABLES 100 131 from the variables pull down menu 4 In the MDI mode write the following program G103 Pl 100 1000 101 1001 102 1002 131 1031 M30 Use M99 for continuous execution 5 Execute the MDI program by pressing Cycle Start If the inputs are connected their values will be displayed If the inputs are not connected use PEWIN32 and write M231 7 and the DIAG page will display 100 1 101 1 and 102 1 Discrete Outputs 1100 1131 Parametric Programming 163 PMAC NC Pro2 Software Reference Manual Parametric programming allows the use of discrete outputs from within NC programs The useable parametric input v
76. be at least as great as the largest number of assignments expected during the time for lookahead There is no penalty for reserving more memory for these synchronous M variable assignments than is needed other than the loss of this memory for other uses Note The buffer reserved in this manner for synchronous M variables under lookahead is distinct from the fixed size buffer used for synchronous M variables without lookahead For example the command amp 1 DEFINE LOOKAHEAD 500 50 creates a lookahead buffer for Coordinate System 1 that can store 500 segments for each motor assigned to the coordinate system at that time plus 50 synchronous M variable assignments ao PMAC NC Pro Customizable Features PMAC NC Pro2 Software Reference Manual CUTTER RADIUS COMPENSATION Turbo PMAC provides the capability for performing cutter tool radius compensation on the moves it performs This compensation can be performed among the X Y and Z axes which should be physically perpendicular to each other The compensation offsets the described path of motion perpendicular to the path by a programmed amount automatically compensating for the size of the tool This permits the user to program the path along the edge of the tool letting Turbo PMAC calculate the tool center path based on a radius magnitude that can be specified independently of the program Cutter radius compensation is valid only in LINEAR and CIRCLE move modes The moves m
77. by the I J and K values vector incremental from the start point when in the X Y Plane or the R value within the G03 line The full format for a G03 line must reflect in which plane the arc is being cut This is accomplished by use of a G code to define the plane and the letter addresses I J and K e G17 XY Plane Letter address I for X Letter address J for Y e G18 XZ Plane Letter address I for X Letter address K for Z e G19 YZ Plane Letter address J for Y Letter address K for Z The I J and K vector incremental values are signed distances from where the tool starts cutting Start Point the arc to the Arc Center For 90 degree corners or fillets the I J and K values can be determined easily The G17 XY Plane is the default or power on condition START Circular Interpolation Example If another axis not specified in the circular interpolation is programmed then helical cutting will be affected The feedrate of the linear axis will be F x length of linear axis length of arc Syntax G17 G18 G19 G03X_Y_I_J_F G17 G18 G19 G03X_Y_R_F_ Example Code N4 GO G90 G17 S500 M3 N5 X0 Y1 0156 N6 Z 1 H1 M8 N7 G03 11 di YO X2 F150 Programmers Guide Milling G Codes 91 PMAC NC Pro2 Software Reference Manual G04 Dwell When programmed in a block following some motion such as G00 G01 G02 or G03 all axis motion will be stopped for the amount of time specified in the F P or X word in seconds Only ax
78. chine by the machine tool builder A coordinate system having the zero point at the machine zero point is called the machine coordinate system The tool cannot always move to the machine zero point because in some cases the machine zero point is set at a position to which the tool cannot move The machine Programmers Guide Turning G Codes 139 PMAC NC Pro2 Software Reference Manual coordinate system is established when the reference point return is first executed after the power is on Once the machine coordinate system is established it is not changed by reset change of work coordinate system G50 local coordinate system setting G52 or other operations unless the power is turned off Occasionally it is desired to move the axes to a specific position in relation to machine zero and ignore any tool and work offsets that are active This is accomplished using G53 for machine coordinate programming This code is nonmodal and is effective only in the block in which it is programmed Machine coordinates are always expressed as absolute coordinates If the G91 1 incremental mode is active the G53 command is ignored All G50 codes and offsets are ignored The interpolation mode must be either G00 or G01 The tool will be moved to the absolute Machine coordinates expressed in the G53 block SYNTAX G53X_Y Z EXAMPLE CODE N4 G53 X0 Z0 G54 59 Work Coordinate System 1 6 Selection Six coordinate systems proper to the machine tool are set i
79. ck Implementation may be machine dependent modified by the system integrator In general G27 positions the tool at rapid traverse to the optional ip and then the reference point The ip is saved for subsequent use by G29 Other Implementation dependent system integrator code may be included SYNTAX G27 X__Y__Z_ EXAMPLE CODE N4 G0 G90 S500 M3 N5 G27 X0 Y1 0156 Z 1 e REFERENCE POINT INTERMEDIATE POINT G28 Return to Reference Point Implementation may be machine dependent In general The tool is returned to the reference point via an intermediate point ip specified in the block The ip is saved for subsequent use by G29 SYNTAX G28 X__Y__Z_ EXAMPLE CODE N4 G0 G90 S500 M3 N5 G28 X0 Y1 0156 Z 1 134 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual G29 Return from Reference Point Implementation may be machine dependent In general The tool is moved to the point specified in the block via the ip stored by G28 G27 The normal usage of G27 G28 and G29 is depicted graphically in the above figure SYNTAX G29X_ Y Z G30 Return to Reference Point 2 3 Implementation may be machine dependent Functionality is provided by the system integrator In general the tool is moved to the second reference point via the ip specified in the block The ip is saved for subsequent use by G29 SYNTAX G30 K__Y__Z_ G32 Thread Cutting Threading is repeated along the same tool path in rough through
80. coordinate system a Local coordinate offset Logg may define a Local coordinate system When there are no Work or Local offsets in effect then the Machine and Program coordinates are the same It is possible that the Machine zero position is not accessable by the tool Absolute coordinate positions The tool moves to a point at the distance from zero point of the coordinate system i e to the position of the coordinate values Specify the tool movement from point A to point B by using the coordinate values of point B Incremental coordinate values This specifies tool moves relative to the current tool position A move from point A to point B will use the signed difference between the two points The term Relative is also used j Tool Envelope Table Envelope Reference point Aside from Machine zero a machine tool may need to locate other fixed positions corresponding to attached hardware ie a tool changer This position is called the reference point which may coincide with Machine zero The tool can be moved to the reference point in two ways Manual reference point return is performed by manual operation Automatic reference point return is performed in accordance with programmed commands In general manual reference point return is performed first after the power is turned on This will usually be the same as the homing function since the reference point will be at a fixed offset from the Machine zero position In order
81. ctive So although we know that physically the table moves and not the tool the section discusses operation in terms of tool motion Tool Motion The tool moves through lines and arcs within the table boundaries as required to manufacture a part In a working machine the table is moved in relation to the rotating tool so the actual table displacement will be the reverse of commanded tool motion Too Circular SY Tool oo N S e Work Piece Motion Tool Movement Specification Program commands for NC machines are called the preparatory functions also known as G codes The function of moving the table along straight lines and arcs is called interpolation Preparatory functions specify the type of interpolation used The three basic interpolation preparatory functions are 1 Table movement along straight line G01 2 Table movement along circular arc G02 G03 3 Table movement along specified trajectory G01 1 Reference to the axis position word executes motion The PMAC controller coordinates the movement of the axis motors to execute the command In this document the generalized form of the axis position word X_Y Z is used Axis Move Specification The last commanded position is the starting position of a move and the final position is the commanded position The final position may be either an absolute position a point referenced to program zero or a relative move signed incremental distance from the previous point
82. cular to the path of the fully compensated move at the intersection Turbo PMAC then adds a circular arc move with radius equal to the cutter radius ending at a point one cutter radius away from the same with the line from the programmed point to this compensated endpoint being perpendicular to the path of the lead out move at the intersection Finally Turbo PMAC gradually removes compensation over the lead out move itself ending at the programmed endpoint of the lead out move When the lead out move is a LINEAR mode move this compensated tool path will be at a diagonal to the programmed move path When the lead in move is a CIRCLE mode move this compensated tool path will be a spiral 52 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Removing Compensation Outside Corner Line Programmed Path F Tool Center Path Tool Center Line to Line 1 1 1 1 Line Fe Spiral Programmed pe SAO Path de Tool Center d Path Arc to Line Arc to Arc Note This behavior is different from changing the magnitude of the compensation radius to zero while leaving compensation active An arc move is always added at the corner regardless of the setting of Isx99 This ensures that the lead out move will never cut into the last fully compensated move Failures in Cutter Compensation It is possible to give Turbo PMAC a program sequence in which the cutter compensation al
83. d subsequent commands are rotated by the specified parameters Command the angle of rotation R within the range of 360 to 360 degrees A rotation plane must be specified G17 G18 G19 when G68 is designated though not required to be designated in the same block G68 may be designated in the same block with other commands Tool offsets such as cutter compensation tool length compensation or tool offset is performed after the coordinate system is rotated for the command program The coordinate system rotation is cancelled by G69 Syntax G68X_Y_Z R_ G69 Example Code N4 G17 G69 X1 Y1 R90 90 Degree rotation CCW in the XY plane about X1Y1 G70 Bolt Hole Circle Pattern When commanded the tool will first drill a center hole and then drill holes located at points equally distributed on the circle This G code must be preceded by a valid canned drilling cycle i e G81 G88 The canned cycle G code must precede G70 to establish the method of drilling for the pattern cycle The X_ and Y_ parameters specified on the line containing the G81 G88 determine where the center of the pattern will reside The drilling canned cycle cannot reside on the same line as the drilling pattern cycle G70 Syntax G70 L IL I Radius of circle must be greater than 0 J Angle formed by X axis and vector from center of circle to start point L Number of points in the circle Programming Example G83 X Y Z R L G70 I3 J45 L G80 G84 X Y Z RL FEP
84. d chamfering The chamfering distance is specified in a range from 0 1 to 12 7 in 0 1 increments of the thread lead parameter X is the thread dia or radius Z is the depth of the thread U is the ending X dia or radius W is the ending Z position R is added to X for taper threads F is the thread lead The diagram assumes radius programming values SYNTAX G92X__ U__ Z_ W_ R_F __ G93 Inverse Time Feed Specifies inverse time mode move is specified by move time F word is in time units of seconds and is derrived from the Rate x Time Distance equation applied to the specific block move AX in F ipm X 60 AT sec 148 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual EXAMPLE Assume X is at zero Specify the following as Inverse Time G01X1F100 a Solve for move time Fipm 100 AXin 1 AT ec 1 100 x 60 6sec b Recode the block G01G93X1F0 6 SYNTAX G93F__ G94 Endface Turning Cycle Endface Turning canned cycle for straight and taper R gt 0 cuts Incremental values are from the tool point at start and mixed incremental and absolute values are valid for this cycle X is the final radial depth of the cut Z is the final length of the cut U is the incremental distance to final radial depth of the cut W is the incremental distance to final length of cut R is the taper height The diagram assumes radius programming values Since data values of X U Z W and R during canned cycle ar
85. ded X 4 rapid SYNTAX G90X_ U_ Z_ W_ F_ Cox OU DN RE G90 1 G91 1 Absolute Incremental Mode Program commands for movement of the axes may be programmed either in incremental movement commands or in absolute coordinates The absolute mode is automatically selected when the power is turned on or the control is reset In the absolute mode G90 1 all axis word dimensions are referenced from a single program zero point The algebraic signs or of absolute coordinates denote the position of the axis relative to program zero In the incremental mode G91 1 the axis word dimensions are referenced from the current position The input dimensions are the distance to be moved The algebraic sign or specifies the direction of travel SYNTAX G90 1 Absolute mode G91 1 Incremental mode EXAMPLE CODE Programmers Guide Turning G Codes 147 PMAC NC Pro2 Software Reference Manual N020 G20 G90 1 GO X0 inch abs rapid to work piece x y zero psn N025 G43 Z0 25 H1 N030 X1 125 72 25 G92 Threading Cycle In incremental programming the sign of numbers following addresses U and W depends on the direction of paths 1 and 2 That is if the direction of path 1 is the negative along the X axis the value of U is negative The range of thread leads limitation of spindle speed etc are the same as in G32 thread cutting Thread chamfering can be performed in this thread cutting cycle A signal from the machine tool initiates threa
86. ditor and reading the line number from the editor status bar Line search Please enter the line number Cancel 16 72 NC Operation and Programming PMAC NC Pro2 Software Reference Manual POSITION DISPLAY OPERATIONS F2 POS Position Sub Menu The Position sub menu displays additional position data useful for operator diagnostics The Machine Position field displays the position of the machine with respect to where the machine has been zero referenced also referred to as homed The machine position has no meaning until the machine has been homed The Following Error Position field refers to the deviation of current actual position from the machine commanded position The commanded position in manual mode refers to the instantaneous desired position however in auto mode this register refers to the move destination position Note If your machine builder has configured you to use the lookahead feature the commanded position reflects the move destination position at lookahead time Therefore this field will lack meaning in auto mode The operator position directly corresponds to machine position However the operator position can be set to 0 at any time using the ORG ALL button The ORG ALL button can be used to set the operator position to O at any time All displayed axis under the operator field will have their values set to 0 This function is often used for simple digital position readout to assist operators in measure
87. dius then no proper path can be calculated In this case Turbo PMAC ends the program at the end of the previous move with a run time error setting the internal run time error code in register Y 002x14 to 7 54 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual HOW TO MAKE A CUSTOM TOOL OFFSET PAGE The default tool page comes with Z Geom Z Wear CC Wear CC Geom etc More columns can be added for other axes in this tool page by changing registry settings Use the registry editor to go to the Tool Offset Key as shown below Registry Editor DER File Edit view Favorites Help i i e nuz A Name k fTool Offsets ab toolOFsAxis A Work Offsets toolOfsAxisType 0 131 TDM Comp ter Snlitinns pel e S Sg g lt My Computer HKEY_CURRENT_USER Software Delta Tau NCUI 32 Tool Offsets There are two keys toolOffset and toolOfsAxisType In the figure Z represents the axis name and R represents the radius The number of characters digits must be same in these two keys Currently there are four characters digit in these keys Up to seven types can be assigned to the axis The table below shows the settings possible ToolOfsAxis letters and associated function ToolOfsAxisType Function ToolOfsA xis 0 Geometry X Y Z 1 Wear X Y Z 2 Length L 3 Orientation X Y Z 4 Cutter Compensation R 5 Pocket P 7 Cutter Comp wear R To add Geom for X axis change the reg
88. e Failure to See Through Outside Corner Line Line me A Re Programmed Line Arcs Line h gt ath Line Tool Center Line e Path gt d i Line Programmed d Stopping Point Overcut Not Executed i Arc Radius Smaller Than Cutter Radius Inside Corner Smaller Than Cutter Radius If Turbo PMAC cannot find the next move in time it will end the current move as if the intersection with the next move would form an outside corner If the next move when found does create an outside corner or continues straight on compensation will be correct On an outside corner an arc move is always added at the corner regardless of the setting of Isx99 However if the next move creates an inside corner the path will have overcut into the corner In this case Turbo PMAC will then move to the correct intersection position and continue with the next move leaving the overcutting localized to the corner Inside Corner Smaller than Radius Second if the compensated path produces an inside corner with one of the moves shorter than the cutter radius the cutter compensation will not work properly This situation results in a compensated move that is in the opposite direction from that of the uncompensated move and there will be overcutting at the corner Inside Arc Radius Smaller than Cutter Radius Third if the program requests an arc move with compensation to the inside and the programmed arc radius is smaller than the cutter ra
89. e IF Switch Press 1 SET ON ES PLCMSGBOX M Msg _boxl ENDIF IF ES _PLCMSGBOX M 65536 User responds YES POWER_OFF ENDIF IF ES _PLCMSGBOX M 65536 User responds NO CONTINUE ENDIF How to Add Modify User G M or T Code User G codes and existing T codes can be modified in the MILL G or MILL T files The NC software will download these G codes but will not display them on the screen under Active G codes The Default user G codes can be written from G60 1 G61 1 G62 1 to G79 1 These setting are stored in windows Registry database The default registry settings looks like PMAC NC Pro2 Customizable Features 59 PMAC NC Pro2 Software Reference Manual HKEY_LOCAL_MACHINE System CurrentControlS et S ervices PMAC Device0 Nc0 Code Group20 SetOnRewind dword 00000000 defaultVal dword 00000424 user 1 dword 00000424 G60 1 user2 dword 00000425 G61 1 user3 dword 00000426 1G62 1 user4 dword 00000427 1G63 1 userS dword 00000428 user6 dword 00000429 user7 dword 0000042a user8 dword 0000042b user9 dword 0000042c user10 dword 0000042d user11 dword 0000042e user12 dword 0000042f user13 dword 00000430 user14 dword 00000431 user15 dword 00000432 user16 dword 00000433 user17 dword 00000434 user18 dword 00000435 user19 dword 00000436 user20 dword 00000437 1G79 1 The default G codes can be modified by setting app
90. e For Adv 810 use I O M Variables defined in the 1O810 H file The file can be found at C Program Files Delta Tau Shared l0810 h This file is already included in the CFG file output of Auto Pilot Override Enter the values for the machine override parameters in this group of fields ADV 810 and ADV900 control panels supports only ANALOG type overrides 22 Autopilot Utility PMAC NC Pro2 Software Reference Manual Spindle Override Enter the values to set the Spindle Override percentages in this group of fields The value in the Speed Min field sets the minimum percentage spindle override and the value in the Speed Max field sets the maximum percentage spindle override The Digital and Analog options set the type of switch used for setting spindle override Range Default 50 to 110 Allowed 0 to 200 Settable Feedrate Override This group of fields is used to set the feedrate override percentages The value in the Feed Min field sets the minimum percentage feedrate override and the value in the Feed Max field sets the maximum percentage feedrate override The Digital and Analog options set the type of switch used for setting spindle override To use analog pots for spindle override click the Analog option Range Default O to 150 Allowed 0 to 200 Settable Home Enter the value for the Home PLC in this group of fields When Command is selected the xHM commands are issued through the Control Panel PLC If selected
91. e MyMachine Log will be created as output file after download to check the errors PMAC NC Pro2 Customizable Features 33 PMAC NC Pro2 Software Reference Manual MyMachine CFG This file is the template file created by AutoPilot to be used in case of manual download This file can be used in the future for further downloads The sample file is displayed below E MyMachine Notepad File Edit Format View Help ji Machine Name MyMachine CFG Created By CNC Autopilot UTILITY This file is useful in download List all other PLC s than standard ii PLC s and DOWNLOAD THIS FILE TO PMAC ji Machine Name MyMachine Date 5 2 2005 M0 1023 gt Q0 1023 0 P0 1023 0 include 10810 h include NCPLC H include MyMachine_UserDefines H include NC_I_VAR IVR include CNTLPANEL PLC include OVERRIDED PLC include HANDLE PLC include SPINDLE PLC include RESET PLC include ADV_900 PLC include GPTIMER PLC Include Machine Code File G M T code files include MILL G include MILL M include MILL T File names can be added deleted in the include files field for additional PLCs e g Lube Coolant etc and this file can be downloaded manually using the PEWIN utility As a good integration practice always use this file to download the PLC to PMAC Add additional PLC files to this file AutoPilot Files MyMachine_UserDefins H This file is a blank file created by
92. e IF statement has the following forms IF lt expr gt lt cond gt lt expr gt lt goto gt IF lt expr gt lt cond gt lt expr gt THEN lt assign gt In the above lt expr gt lt cond gt lt expr gt is a conditional expression containing one of the conditional operators EQ NE GT GE LT LE In general the bracketed syntax can be any expression but for FANUC portability it is best to follow the above syntax Conditional operators always return 0 0 or 1 0 If the conditional expression evaluates to 0 0 false then the statement following the conditional expression is not performed and the next block is executed On true not 0 0 and not 0 the statement following the conditional is performed This means that any expression that evaluates to a non zero value is considered to be true not just 1 0 Form 1 will branch conditionally whereas Form 2 will perform the assignment statement The keyword then is optional Example IF 24 EQ 0 GOTO99 no X argument N10 1 0 N20 1 1 1 N30 IF 1 LT 10 GOTO20 looping IF 500 NE 0 0 then 500 0 0 assignment Iteration is available with the WHILE statement The WHILE statement has the following form WHILE lt expr gt lt cond gt lt expr gt DOn ENDn Or DOn ENDn Where n 1 3 And WHILE can be replaced with WH In the above each WHILE statement must have matching DO and END words The DO and END labels for any WHILE must match in numbe
93. e If the expression evaluates to a positive number the search starts from the currently parsed block and proceeds to the end of the program If the target block is not found then searching resumes from the beginning of the program and continues through to the current block e If the expression evaluates to a negative number searching is performed in the reverse direction working toward the beginning of the program from the current block e Ifthe search fails to find the target block number an alarm is generated e Ifthe block is found program execution is transferred to that block The GOTO statement lt goto gt can be used in the following forms GOTO lt integer gt Branch searching forward GOTO lt integer gt Branch searching backward GOTO lt expr gt N code is derived from expression The GOTO statement when alone on a line is called an unconditional branch That is the branch always occurs Example N10 GOTO20 forward branch Parametric Programming 169 PMAC NC Pro2 Software Reference Manual N20 N30 GOTO 20 backward branch 1 10 mystery program 2 1 N10 2 2 3 N20 2 2 2 N30 2 2 2 N40 2 2 2 N50 2 2 2 1 1 10 GOTO 1 example of lt expr gt N60 MO Pause so variables do not clear M30 e PVU BBU Conditional block execution allows the programmer to execute a statement based on a conditional expression This is accomplished with the IF statement Th
94. e in the units of the current G20 or G21 mode such as the values input on the tool offset page and the work offset page SYNTAX G20 21 EXAMPLE CODE N005 G49 G20 G90 cancel tool comp inch mode absolute mode N010 S2500 M03 N015 G55 G25 Spindle Detect Off Programmers Guide Milling G Codes 93 PMAC NC Pro2 Software Reference Manual G25 sets the system flag SPND_SPEED_DETECT false This will be interpreted by the CNC as cancellation of Spindle Speed detect This will make the CNC program disregard whether the spindle is at speed Syntax G25 G26 Spindle Detect On G26 sets the system flag SPND_SPEED_DETECT true The CNC will prevent the next block from executing until spindle rpm s are within a specified percentage of the commanded value Programmer s note This is reported via system flags CS_SPND_AT_SPEED and CS_SPND_AT_ZERO Syntax G26 G27 Reference Point Return Check G27 positions the tool at rapid traverse to the optional intermediate point ip and then the reference point The ip is saved for subsequent use by G29 Syntax G27 X_Y_Z_ Example Code N4 GO G90 S500 M3 N5 G27 X0 110156 Z 1 R e REFERENCE POINT INTERMEDIATE POINT G28 A Reference Point Return Check Example G28 Return to Reference Point The tool is returned to the reference point via an intermediate point ip specified in the block The ip is saved for subsequent use by G29 Syntax G28 X__Y__Z_ Example Code
95. e modal if X U Z W or R is not newly commanded the previously specified data is effective Thus when the Z axis movement amount does not vary as in the example below a canned cycle can be repeated only by specifying the movement commands for the X axis However these data are cleared if a one shot G code expect for G04 dwell or a G code in the group 01 except for G90 G92 G94 is commanded Programmers Guide Turning G Codes 149 PMAC NC Pro2 Software Reference Manual 1 rapid o 2 feed SYNTAX G94X_ U_ Z_ W_ R_F __ G98 G99 Feed Per Min Feed Per Rev The G98 preparatory function code specifies the feed rate in terms of vector per unit time The G99 preparatory function code specifies feed rate in terms of vector feed per spindle revolution The G98 and G99 preparatory functions are modal and remain in effect until replaced by the opposite code The mode is set to G98 by power on data reset and the M30 code SYNTAX G98 G99 G96 G97 Constant Surface Speed CSS Mode In this mode G96 the spindle angular velocity is varied in real time so that its surface speed past the tool tip remains constant Essentially this means that the angular velocity of the spindle is inversely proportional to the radial distance of the tool edge from the spindle center Almost all the functionality of CSS is in the spindle PLC making this function very integrator specific CSS on a mill is normally used to compensate for mill cu
96. e on C Channel Home on C Channel is used if the homing is to be done on the rising edge of C channel only Only one type of condition is selected Rising Edge CS Setup This group of fields contains the settings related to the NC coordinate system Feed Rate This sets the maximum axis feed rate in user selected units This setting is for a complete machine and not for individual axes This speed is G1 G2 G3 speed in NC terms Following Error This sets the maximum following error in user selected units This setting is for a complete machine and not for individual axes In Position Band This sets the In Position band in user selected units This setting is for a complete machine and not for individual axes LookAhead ON This option is checked if the PMAC type is a Turbo This sets the basic starting parameters for the look ahead mode for the NC These settings depend upon the PMAC CPU frequency The following I Variables will be set for NC Coordinate System 1 e 15113 Move segmentation time e 15187 Acceleration time e 15120 Number of segment For details on these parameters refer to the PMAC Turbo User Manual Functions There are three functions available on all windows Update This option updates the Windows registry values used by PMAC NC Pro2 Registry values must be updated after the configuration of axes is complete for PMAC NC Pro2 to reflect the NC setup Autopilot Utility 25 PMAC NC Pro2 Software Refere
97. e workings of the algorithm If Turbo PMAC s inverse kinematic calculations are used the conversion from tip coordinates to joint coordinates takes place before lookahead calculations segment by segment for LINEAR and CIRCLE mode moves Therefore Turbo PMAC can execute the lookahead calculations in joint space motor by motor even if the system has been programmed in tip coordinates Once the lookahead function has been set up the lookahead function operates transparently to the programmer and the operator No changes need to be made to a motion program to use the lookahead function although the programmer may choose to make some changes to take advantage of the increased performance capabilities that lookahead provides 38 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Quick Instructions Setting Up Lookahead The following list quickly explains the steps required for setting up and using the lookahead function on the Turbo PMAC Greater detail and context are given in the subsequent section 1 Assign all desired motors to the coordinate system with axis definition statements 2 Set Ixx13 and Ixx14 positive and negative position limits plus Ixx41 desired position limit band in counts for each motor in the coordinate system Set bit 15 of Ixx24 to 1 to enable desired position limits 3 Set Ixx16 maximum velocity in counts msec for each motor in the coordinate system Set Ixx17 maximum acceleration i
98. ecified by the Start in property of the windows shortcut that launched the program O Code Specification When neither of these methods is present in a block the control constructs a filename using the number associated with the most recently invoked O address code This means that O can be used just like a P code Note When in MDI mode the calling program exists in the directory specified by the Start in property of the windows shortcut that launched the NCUI This means that when in MDI mode the subprograms identified by an O should reside in the Start in directory MDI mode does not support subprograms calls such as M98P100 Programmers Guide Milling G Codes 117 PMAC NC Pro2 Software Reference Manual Note If a P code or comment on an M98 line is missing and there is an O code at the top of the program the program will be called again recursively If more than one of these methods exists the control selects a method based on priority Only one method is selected The priorities are first P code then Comment and finally O code So if there is a P and O address code on the same block the P code is used to construct a filename for program execution A called program subroutine can return control back to the calling program by executing an M99 The number of subroutines that can be nested is limited only by PC memory However nest no more than ten levels deep This value is often encountered in o
99. ecifies the YZ plane These three settings of the normal vector correspond to RS 274 G codes G17 G18 and G19 respectively If implementing G codes in Turbo PMAC program 1000 incorporate them in PROG 1000 N17000 NORMAL K 1 RETURN N18000 NORMAL J 1 RETURN N19000 NORMAL I 1 RETURN Defining the Magnitude of Compensation The magnitude of the compensation the cutter radius must be set using the buffered motion program command CCR data Cutter Compensation Radius This command can take either a constant argument e g CCRO 125 or an expression in parentheses e g CCR P10 0 0625 The units of the argument are the user units of the X Y and Z axes In RS 274 style programs these commands are often incorporated into tool data D codes using Turbo PMAC motion program 1003 Negative and zero values for cutter radius are possible Note that the behavior in changing between a positive and negative magnitude is different from changing the direction of compensation See the Changes in Compensation section of this manual In addition the behavior in changing between a non zero magnitude and a zero magnitude is different from turning the compensation on and off See the appropriate sections of this manual PMAC NC Pro2 Customizable Features 45 PMAC NC Pro2 Software Reference Manual Turning on Compensation The compensation is turned on by buffered motion program command CC1 offset left or CC2 offset right These are equ
100. ed by PLC Path in Std PLC menu A detailed explanation of these settings follows each of the following screenshots CNC Autopilot Program For MILL Application Axis Motor Definitions Position Units Axis Mtr No Pulses Per Unit English inch 25400 00000 C Metric mm 25400 00000 Display Format 25400 00000 Inch 94 2000 00000 MM ER AO Degrees 9 3 0 00000 0 00000 0 00000 0 00000 0 00000 Reset_All Pulses Per Unit Decode Control Encoder Lines Ballscrew Pitch Unit Conversion Factor BallScrew in MM Example 4cts line 8192 lines rev rev 5mm 25 4 mm inch 166461 48 PPU Update Build Build amp Download Default System Position Units In Inch Autopilot Utility 29 PMAC NC Pro2 Software Reference Manual CNC Autopilot Program For MILL Application Axis Motor Std PLC Machine Setup NCUI Registry Machine Name IMyMachine PLC Path CAProgram Files Delta Tau MyMachine Browse Cntl Panel Override Home Handle Spindle Enable Enable e Enable J Enable M Enable M Tvpe Spindle Override Method Increment Type Ady 600 GEN c qe an Digital Analog REECH Max 0 01000 Close Loop Software Speed Min 50 e d PLO Min 0 00010 Open Loop Adv 810 Speed Max 110 Feedrate Override Max RPM 6000 Adv Settings C Digital Analog Initialize FeedMin 0 Enable 1 Feed Max 150 Update Build Build amp Download
101. ed in MANUAL mode only Through part program macro settings see MACRO programming guide 4 Through machine builder special codes see machine builder NC Operation and Programming 75 PMAC NC Pro2 Software Reference Manual Delta Tau Data Systems CA NC 5 0 C Software Enaineerina Machines Haas Turbo NC ProaramsWetteFinishHSS nc Reneat 1 of 1 Line O of 196357 RN Program Position Inch Distance To Go Inch Spindle Feedrate SEI e Work Offset FF ool No X 1 0600 X 0 0000 Status ol Max Feed 120 G54 Max Speed 6000 Cmd Feed 120 0 Offset HO poo Cmd Speed 150 0 Act Feed 0 0 T a Active G Code Active M Code Y 4100 0000 Act Speed 0 0 Override 100 coo 690 G17 MOS Mog Override 100 Mode FPM G94 G97 Gap Z 1 1614 Z 0 0000 CSS Mode OFF Rapid 100 en em 0100 Dette Finish Program Tool 4 2 Flute 3 8 HSS Ball End Mill N10 G00 G17 G20 G40 G49 G54 G80 N20 G91 G28 Z0 N30 G91 G28 X0 5 5000 0 0000 0 0000 0 0000 391 G E N40 G90 5 0000 0 0000 4 0000 0 0000 1 2 3 4 G1 F200 G43 H3 X 2 Y 08 Z 2 M8 5 5 5000 0 0000 0 0000 0 0000 7 8 Active Tool Tools ZGeom ZWear CCGeom CCWear A 2 00001 0 0000 0 0000 0 0000 7 2340 0 0000 0 0000 0 0000 7 1 2155 F100 3 0000 8 0000 0 0000 0 0000 Y 32 0 0000 0 0000 0 0000 7 0000 x 19 13 0251 4 0000 0 0000 0 0000 Y 08 g 0 5780 5 0000 0 0000 0 0000 x 18 10 0 5780 2 0000 0 0000 0 0000 Y 32 11 0 0000 4 0000 0 0000 8
102. eescceesseceseecessecescecesseecsseecsscecscecseaeeeeseecsaeesseeseeaeeeseeeseessaaees 41 Block Rate Relacion cop n idos dE 42 Calculation Implications oe dashed sl 42 Calculating the Required Lookahead Length 42 Lookahead Length Parameter EN 43 Defining the Lookahead Buffer 43 CUTTER RADIUS COMPENSATION sccsssssssosssecsssessssseesssscnssecsssecssssssnsssesssensssesssscsssesensssssessonssessesee 45 Defining the Plane of Compensation ege Sege ENEE SEENEN deen 45 Defining the Magnitude of Compensation ccceescceesceesseeeeeeesseecscecsseeessaeecsseecsaeecsseesesseessaeecsseesseeesneeeenaes 45 Turning n Compensation iii 46 Turning off Compensation ui 46 How Turbo PMAC Introduces Compensation 0 cccesccesesceesseessneecssceesseeeesaeecsaeecsaeeeseecssaeessaeecsaeessneeenseeeenaes 46 Inside Corner tro du asoci 46 Outside E ET ER Treatment of Inside Comers iia ia 47 Treatmentof Outside Comers iia 48 Sharp Outside Comer sssrinin end dec ae nd vengng Reeg 48 Shallow Outside Comte 49 Treatment of Full Reversi bre 50 Note on Full Circles ocio o DEE EE Ee SE 50 Speed of Compensated Moves oia Een 51 EIERE D EE 51 Radius Magnitude Chan ges 51 Compensation Direction Change 51 How Turbo PMAC Removes Compensation csccssscecssseeesseecseecscecsseeeesaeeesacecsacecsceseaeeesaeecsaeessaeesneneeenaes 52 Inside COM ido 52 OUST dE COET eisai iiss een ii 52 Failures in Cutter Compas basis 53 Inability to Ca
103. en ce EQ Equal cond 1 NE Not equal to cond 1 GT Greater than cond 1 GE Greater than or equal to cond 1 LT Less than cond 1 LE Less than or equal to cond 1 Binary Addition 2 Binary Subtraction 2 OR Bitwise Logical or 2 XOR Bitwise Exclusive or 2 Multiplication 3 Division 3 AND Bitwise Logical product 3 MOD Remainder 3 Unary 6 Unary 6 POPEN Peripheral I O device open 7 PCLOS Peripheral I O device close 7 DPRNT Print to Device 7 Parametric Programming 167 PMAC NC Pro2 Software Reference Manual Indirect operation 7 ABS Absolute value 7 ACOS Arccosine 7 ASIN Arcsine 7 ATAN Arctangent 7 COS Cosine 7 EXP Exponential 7 FIX Truncation floor 7 FUP Round up ceiling 7 LN Log natural base e 7 ROUND Round off 7 SIN Sine 7 SQRT Square root 7 TAN Tangent 7 FANUC differs from the above table in that FANUC defines the conditional operators to have the same precedence as binary addition If concerned about portability of the programs Include precedence brackets around the operands of a conditional expression For example 0 0 LT 1 2 instead of 0 0 LT 1 2 Examples of Expressions Follow 1 Singular expression 3 14159 Literal constant lt literal gt 1 2 compound expression 1 3 2 compound expression with precedence overrid 1 NE 0 Logical expression SIN 1 C
104. entry is highlighted by a blue box on the grid display To enter a new value the existing value in the grid box must be deleted In addition manual entry is only allows in MANUAL mode Expressions may be used for fine adjustments using the symbols For instance 1 3840 0 003 can be entered and the software will adjust the value to 1 3870 2 Manual operator set To ease the entry of work offsets and minimize data entry error there are Set buttons These buttons automatically enter the value in the machine position register into the currently highlighted cell Individual axis can be set with the Set X Set Y Set Z button or all axes simultaneously with the Set All button Use of these buttons is allowed in MANUAL mode only 3 Through part program macro settings see MACRO programming guide 4 Through machine builder special codes see machine builder Program Position Inch X 1 0000 Y 1 0000 Z 0 0000 Machine Pos Inch X 1 0000 Y 1 0000 Zz 0 0000 Spindle Status Max Speed Cmd Speed Act Speed Override CSS Mode Feedrate Max Feed 200 Crnd Feed 200 0 Act Feed 0 0 Override 65 Mode FPM Rapid 50 Active Tool Tool No Offset Hoo TO m Work Offset G54 Active G Code G00 r Active M Code MOS MO F200 GO X1Y1 G1 X2Y2 G4 X0 1 BERN G4 X0 1 G45 x1 G1 X1y1 G4 X0 1 BERN G4X0 1 645 x1 SES G4 X0 1 G45 x1 M99 74 NC Operation
105. epth of one cycle becomes smaller than this limit the cutting depth is clamped at this value Programmers Guide Turning G Codes 145 PMAC NC Pro2 Software Reference Manual In the G76 cutting block the taper value is programmed using the R parameter The thread height is in P Depth of the first cut is in Q Lead of the thread is F tool point C finishing allowance SYNTAX G76P_Q_R_ G76X_ U_ Z_ W_ P_Q_R_F_ 146 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual G90 Cycle A Single Pass Cut Outer Diameter Inner Diameter canned cycle for straight and taper cuts Incremental values are from the tool point at start and mixed incremental and absolute values are valid for this cycle X is the final radial depth of the cut Z is the final length of the cut U is the incremental distance to final radial depth of the cut W is the incremental distance to final length of cut R is the taper height The diagram assumes radius programming values Since data values of X U Z W and R during canned cycle are modal if X U Z W or R is not newly commanded the previously specified data is effective Thus when the Z axis movement amount does not vary as in the example below a canned cycle can be repeated only by specifying the movement commands for the X axis However these data are cleared if a one shot G code expect for G04 dwell or a G code in the group 01 except for G90 G92 G94 is comman
106. ersions of the Turbo PMAC firmware had three additional parameters controlling the dynamics of the lookahead operation Isx21 Isx22 and Isx23 In the current versions of the firmware these values are fixed at 3 6 and 7 respectively and the variables have been removed Isx21 now permits direct control of the lookahead state of operation Defining the Lookahead Buffer In order to use the lookahead function in a Turbo PMAC coordinate system a lookahead buffer must be defined for that coordinate system reserving memory for the buffer This is done with the on line coordinate system specific DEFINE LOOKAHEAD command Because lookahead buffers are not retained through a power down or reset this command must be issued after every power up or board reset There are two values associated with the DEFINE LOOKAHEAD command The first determines the number of motion segments for each motor in the coordinate system that can be stored in the lookahead buffer At a minimum this must be set equal to Isx20 PMAC NC Pro2 Customizable Features 43 PMAC NC Pro2 Software Reference Manual If this value is set greater than Isx20 the lookahead buffer stores historical data This data can be used to reverse through the already executed trajectory If reversal is desired the buffer should be sized to store enough back segments to cover the desired backup distance There is no penalty for reserving more memory for these synchronous M variable assignments t
107. es a violation it will then work backward through the pre computed buffered trajectories slowing down the parts of these trajectories necessary to keep the moves within limits The calculations are completed before these sections of the trajectory are actually executed Turbo PMAC can perform these lookahead calculations on LINEAR and CIRCLE mode moves The coordinate system must be put in segmentation mode Isx13 gt 0 to enable lookahead calculations even if only LINEAR mode moves are used The coordinate system must be in segmentation mode anyway to execute CIRCLE mode moves or cutter radius compensation In segmentation mode Turbo PMAC splits the moves into small segments automatically which are executed as a series of smooth splines to re create the programmed moves Turbo PMAC stores data on these segments in a specially defined lookahead buffer for the coordinate system Each segment takes Isx13 milliseconds when it is put into the buffer but this time can be extended if it or some other segment in the buffer violates a velocity or acceleration limit This technique permits Turbo PMAC to create deceleration slopes in the middle of programmed moves at the boundaries of programmed move or over multiple programmed moves whichever is required to create the fastest possible move that does not violate constraints All of this is done automatically and invisibly inside the Turbo PMAC the programmer and operator do not need to understand th
108. es the installation configuration and use of the Delta Tau PMAC NC Pro2 CNC software interface The PMAC NC Pro2 software was created using Delta Tau s PMAC HMI Designer rapid development utility All screens and functionality were created within the HMI environment The PMAC NC Pro2 software is distributed as a CNC human machine interface with built in customizable standard features The PMAC NC Pro2 can be customized with respect to number of axes type of machine tool offset display custom messaging etc The PMAC NC Pro2 software can be further customized by purchasing the PMAC HMI Designer software All PMAC NC Pro2 HMI source code is included with the standard software version Purchasing the PMAC HMI Designer enables the user to re configure existing screens as well as design custom new screens and functionality The PMAC NC Pro2 software license is distributed per machine An OEM licensing program is available for machine tool builders who wish to re distribute the product at a greatly reduced per machine cost 10 Introduction PMAC NC Pro2 Software Reference Manual SOFTWARE INSTALLATION System Requirements Minimum PC System Requirements e Microsoft Windows 7 32 or 64 Bit or Windows XP Pro e Minimum PC Requirements See Minimum Operating System Requirements per Microsoft e SVGA 1024x768 minimum video resolution e Keyboard and pointing device Minimum Delta Tau Controller Requirements e Turbo PMAC U
109. etter address K for Z G19 YZ PLANE Letter address J for Y Letter address K for Z The I J and K vector incremental values are signed distances from where the tool starts cutting START POINT the arc to the ARC CENTER For 90 degree corners or fillets the I J and K values can be determined easily The G17 XY PLANE is the default or power on condition If another axis not Programmers Guide Turning G Codes 129 PMAC NC Pro2 Software Reference Manual specified in the circular interpolation is programmed then helical cutting will be affected The feedrate of the linear axis will be F length of linear axis move length of arc move G02 using R SYNTAX G17 G18 G191G02X__ Y I J_F G17 G18 G19 1G02X__ Y RF EXAMPLE CODE N040 G61 G1 Z 02 F20 N050 G64 G2 X0 5 Z2 0 R0 375 cut mode ew circle Mie G1 Z1 5625 G03 Circular Interpolation CCW Circular contouring control uses the axis information contained in a block to move the tool in a COUNTERCLOCKWISE arc of a circle up to 360 degrees The velocity at which the tool is moved is controlled by the feedrate word and is vector tangential Rodt f All circles are defined and machined by programming three pieces of information to the control they are 130 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual START POINT of the arc END POINT of the arc ARC CENTER of the arc G03 using l K The START POINT is defined prior to
110. finish cutting for a screw lead E Thread cutting starts when the spindle encoder detects a trigger signal usually C channel pulse threading is started at a fixed point and the tool path on the workpiece is unchaged for repeated thread cutting Note that the commanded spindle speed must remain constant from rough cutting through finish cutting if not incorrect thread lead will occur Feedrate overide is fixed at 100 Actual feedrate is dependent on spindle speed variations and lead as follows F S E SYNTAX G32X_Z_F E EXAMPLE CODE N4 G0 G90 S500 M3 N5 G32 X0 Z1 0156 F25 E 125 G40 G41 G42 Nose Radius Compensation While cutting the programmed contours of lines and curves being dependent on the direction of cutting and spindle rotation the operator must keep the tool consistantly oriented to the cutting surface at the offset needed to maintain the depth of cut and surface finish called for in the print Calculations involving moving surface normals and curve tangencies are usually required Tool nose compensation will automatically provide cutter orientation and tool offset The control will offset the tool normal to the instantaneous surface tangent of the workpiece with respect to the direction of tool motion in the compensation plane This allows a programmer to compensate for cutters of different radial dimensions without the need for complex trigonometric code changes Climb milling will use G41 to instate tool nose compensation
111. g is incorrect code and will alarm WHILE 1 NE 0 0 DO1 WHILE 1 NE 0 0 DO2 END1 END2 Pausing or aborting the program is another form of program control Writing to system variables 3006 and 3000 will accomplish this Writing to system variable 3006 can generate a program stop An alarm can be generated and servos stopped by writing to 3000 Refer to the System Variables section for more on 3000 and 3006 N10 3006 1 turn part over N20 3000 1 G43 is not invoked Formatted Output Formatted Output is the way that a part program can send ASCII text strings to a serial port or a file The program can generate reports as a part is run allowing for run time generation of positional data This data can be used later for quality assurance The following is a list of Fanuc compatible commands that Delta Tau s NC control supports DPRNT This sends out ASCII text or formatted variables to the current output file or device The current output file is determined by a registry entry as described in the Integration section In addition the output file can be set in the motion applet under the probing tab The syntax follows Parametric Programming 171 PMAC NC Pro2 Software Reference Manual DPRNT lt ASCII text gt lt formatted variable gt 172 Parametric Programming PMAC NC Pro2 Software Reference Manual Where ASCII text is A Z 0 9 4 And Formatted variable ha
112. gorithm will fail not producing desired results There are three reasons the compensation can fail Inability to Calculate Through Corner First if Turbo PMAC cannot see ahead far enough in the program to find the next move with a component in the plane of compensation before the present move is calculated then it will not be able to compute the intersection point between the two moves This can happen for several reasons o There is a move with no component in the plane of compensation i e perpendicular to the plane of compensation as in a Z axis only move during X Y compensation before the next move in the plane of compensation and no CCBUFFER compensation block buffer declared There are more moves with no component in the plane of compensation before the next move in the plane of compensation than the CCBUFFER compensation block buffer can hold There are more than 10 DWELLs before the next move in the plane of compensation Program logic causes a break in blending moves e g looping twice through a WHILE loop PMAC NC Pro2 Customizable Features 53 PMAC NC Pro2 Software Reference Manual Failures in Cutter Compensation Overcut e E Center Point at Failure __ Line Line KS Tool Center j Path Failure to See Through Inside Corner Tool Center Path We OB a grammed Tool ae Tool Center D gt Path Center Point NC Path Line No Gu G r z d rogrammed Path Lin
113. han is needed other than the loss of this memory for other uses The room reserved for the segment data in the lookahead buffer is dependent on the number of motors assigned to the coordinate system at the time of the DEFINE LOOKAHEAD command If the number of motors assigned to the coordinate system then changes the organization of the lookahead buffer will be wrong and the program will abort with a run time error on the next move after the coordinate system is changed If the coordinate system must be changed during an application that uses lookahead the lookahead buffer must first be deleted then defined again after the change The following motion program code shows how this could be done DWELL 10 Stop lookahead execution CMD amp 1 DELETE LOOKAHEAD Delete buffer CMD sl 4 gt 100C Assign new motor to C S 1 CMD amp 1 DEFINE LOOKAHEAD 1000 100 Redefine buffer DWELL 10 Make sure commands execute The second value associated with the DEFINE LOOKAHEAD command determines the number of synchronous M variable assignments e g M1 1 for the coordinate system that can be stored in the lookahead buffer Synchronous M variable assignments in the motion program delay the actual assignment of the value to the M variable until the start of actual execution of the next move in the motion program Therefore these actions must be held in a buffer pending execution This size of the buffer for these assignments must
114. he Tools page Normally the tool length and the tool diameter are assigned the same tool offset number Cutter compensation takes the stored value for the diameter and calculates the cutter path offset from that value Because of look ahead care must be taken that programmed moves do not violate the called for compensation Refer to the separate section Cutter Radius Compensation for details on the operation of this function G43 G44 G49 Tool Length Compensation and Cancel Program zero is a point of reference for coordinates in a part program usually from a key location on the work piece The position of the tool s center in X and Y does not change as the tool changes In the Z axis this is not the case If the length of the tool changes so does the distance from the tip of each tool to the program zero point in Z Note that each tool has a different distance from the tip of the tool to a surface on the part Tool length compensation lets the control call out the Z axis movements in a program as the tool changes although physical interference problems between the work piece and the tool must still be overcome by the programmer 96 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual The programmer initializes tool length compensation in each tool s first Z axis approach move to the work piece This initialization command includes a G43 G44 word and an H or T word to invoke the desired tool offset
115. he program and includes supporting documentation to fully explain the program e Routines contains commented listings of supporting routines used in the main program e Program is a commented listing of the main program The following is a list of example programs displayed in this section e Clearing global variables e Drilling custom bolt hole patterns e Simple pocket milling Clearing Global Variables Purpose This is an example of how to initialize variables The program calls a generalized subroutine that initializes a range of variables The program is identified on disk as O100 NC and the parametric subroutine as O9400 NC Start and ending numbers define the range of variables If no value is passed in argument V the range is initialized to 0 which indicates that the variables value is undefined If the range of variables is invalid an alarm is generated The range checking is not necessary in the sense that if an invalid variable is passed the control will automatically alarm In a subroutine like the one below the range of variables may be limited to protect variables reserved for the application Routines o 09400 Init variables V value to write to range of variables S variable number to start writing to E variable to end writing to Write V into variables starting with S thru and including Variable E S must be less than e and both arguments must be supplied and valid V is alwa
116. his function key will paste the cut or copied string to current opened file This is same as pressing the CNTL V keys F10 UNDO This function key will UNDO last activity This is same as pressing the CNTL U keys Equivalent of standard WINDOWS CNTL Z function F11 REDO This function key will REDO last activity This is same as pressing the CNTL R keys Equivalent of standard WINDOWS CNTL Y function 78 NC Operation and Programming PMAC NC Pro2 Software Reference Manual F12 MORE gt gt This function key will take to second sub level of main EDITOR F6 Another set of F2 to F10 keys are available Delta Tau Data Systems CA NC 5 0 x D Software Visual c files folderWPHMINSamnleNC ne Reneat 1 of 1 Line O of 19 RN Work ool No G54 X 1 0000 X 1 0000 Status Max Feed j i Max Speed Cmd Feed Offset Cmd Speed S Act Feed 7 Active G Code Active M __ Y 1 0000 Y eae Act Speed Override coo G90 617 ME MOS Override Mode Z 0 0000 Zi 0 0000 CSS Mode Rapid F200 GO X1Y1 G1 X2Y2 G4 X0 1 ES G4 X0 1 G45 x1 G1 X1y1 G4 X0 1 ES G4X0 1 G45 x1 G1 X1y1 G4X0 1 G45 x1 M99 Program Position Inch Machine Pos Inch Spindle r Feedrate z a FA lt lt BACK NEW OPEN SAVE AS F2 NEW This function key will create new NC file If there is open file in the editor a dialog box will pop up to save the current opened file and on saving
117. iables of that subroutine Address codes G L N O and P cannot be used as arguments Refer to the section on local variables for more information Variables Variables are what make parametric programming possible Variables are used to replace literal values in the programs A literal value is a constant that cannot be changed Example G1 X1 2 Y3 5 examples of literal constants 1 1 2 2 3 5 Gl X 1 Y 2 example of replacing literals with variables Variables can be modified in a program by using assignment statements Variables are floating point numbers They are referenced by using a lt integer gt notation where lt integer gt is a positive integral number The value of lt integer gt is restricted i e only values defined in this manual can be used Variables can be accessed in an indirect method by replacing lt integer gt with lt expr gt where lt expr gt is any expression The following all refer to the same variable Example 1 1 1 2 3 6 2 1 2 SIN 90 0 Parametric Programming 159 PMAC NC Pro2 Software Reference Manual Variables can be used in conditional expressions assignment expressions GOTO expressions and address code expressions Example IF 1 EQ 3 0 GOTO 5 3 342 G1 X 1 Y 2 Z 3 The categories of variables in a FANUC compatible parametric program are e Undefined 0 e Local e Common e System Each category is discussed in detail below In order to deter
118. in 85 Cutting Speed Spechfiecoatton 85 Tool Movement Consideration 0 ccccscccsssccesseceeseeesseecenecsscecessecesseecsseecsseessaesesseeseeecsaeesseesseaeeeseessneeseaaees 85 OOF IMATE EE 86 Machine Coordinote 86 Program E 86 6 Table of Contents PMAC NC Pro2 Software Reference Manual Absolute Coordinate Positions ooonocccnonocananononnnnnanononnnonon cnn nano nana ran eran nena nr anna nn enn rnn nn rana reno anne n narran rn ncinass 86 Incremental Coordinate Values cccscccsscccescessssecesseeessecesseecssnecsscecescecesaeeesseecnacessaceceeceseseeesaeessanesseeesneneeees 86 Reference PON vss ciesiissatedosae dvsness utes ideal caes aerea acaricia arboleda dois tene 87 Machining Center G Code Library 87 G Code SuUMMAry it cti a 87 G Code Descriptions sssrin eneeier air ira 89 GOO Rapid Traverse Positioning idol adi 89 GOT Linear interpolaci n 89 GOL d Spline Interpola aia 89 G02 Circular Interpolation CW Helical CH 90 G03 Circular Interpolation CCW Helical Interpolation CO 91 G04 Dwell i255 ee BES osea 92 G05 1 PO PI PC Lookahedd Mode vi i 50i 5 ciesices hein Gi baste ata 92 GOD Exact Opio i 92 G10 Offset Value Sen ri 92 G10 1 PMAC Data Input by Program 92 G17 G18 G19 XY ZX YZ Plane Selection escccessccsssceesseessssetsseecescecesseesseecseecscesseseceseesseessseeeseaeseeaeeesaes 93 G20 G21 Inch Mode Metric Mode 93 G25 Spindle Detect Ur iaa 93 G26 Spindle Detect On iria ieee tues 94 G27 Refe
119. in cutter compensation and one or both of the ends produces a shallow outside corner that is directly blended no added arc see the previous section Treatment of Outside Corners the compensated arc move will be extended beyond 360 In addition Turbo PMAC may produce just a very short arc 360 shorter than what is desired making it appear that the circle has been skipped Typically while this is the result of sloppy programming an outside corner with a full circle causes an overcut into the circle many machine designers may want to permit slight cases of this Coordinate system parameter Isx97 defines the shortest arc angle that may be executed the longest arc angle is 360 plus this angle The default value of Isx97 sets a minimum arc angle of one millionth of a semi circle enough to account for numerical round off but sometimes not enough for compensated full circles To handle these cases Isx97 should be set to a somewhat larger value 50 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Failure When Compensation Extends Full Circle Tool Center 5 Path Compensated ircle Skipped Programmed Full Circle Speed of Compensated Moves Tool center speed for the compensated path remains the same as that programmed by the F parameter On an arc move this means that the tool edge speed the part of the tool in contact with the part will be different from that progra
120. in the Start menu as shown below E CS 3 accessories e a HTML Help Workshop EN Documents Microsoft Visual Studio NET 2003 gt Microsoft Word Settings r ES PMAC NC Pro2 RunTime VC Nc Setup W Search AL PMAC NC Backup and Restore Utility A 1 PMACNCSZ AMI pd 2 Help ME Pmac NC Pro2 Runtime Mill Run Pmac Ne Backup and Restore Utility Cy Shut Down Ln Col REC TRK EXT OVR A Start System Backup 13 PMAC NC Pro2 Software Reference Manual Once the PMAC NC Registry BackUp is launched you will see the application screen shown here B pmac wc Registry BackUp o x Delta Tau Data Systems Inc Version 1 0 0 0 PMAC NC Regstry BackUp Copyright c 2005 Al Rights Reserved PMAC NC Registry BackUp is a utility for saving and restoring the Windows Registry parameters which determine the configuration of the FMAC NC Pro2 CNC software interface PMAC NC Registry BackUp creates a backup file which can be used to restore these parameters in the event of a PC crash which results in data loss or allows OEM machine builders to quickly duplicate machine configurations WARNING PMAC NC Regisrty BackUp utility only saves the Windows Registry parameters which determine the PMAC NC GUI Interface settings 4 full parameter backup of the PMAC UMAC is also required in order to be able to restore or configure a system at a later date Restore PMAC NC Regi
121. inate Mirroring G51 1 is mirroring X_Y_Z_ is the axis to mirror about The value of this parameter is meaningful only in absolute mode It indicates the line about which mirroring occurs In incremental mode only the axis letter is meaningful and the actual value may be anything Mirroring is canceled with G50 1 G51 G Code Values Mirrored Program Positions Mirrored Program Positions Absolute Moves Incremental Moves G1 G90 X0 YO X 0 0000 Y 0 0000 G1 G90 X0 YO G91 X 0 0000 Y 0 0000 X 0 0000 Y 0 0000 X 1 0000 _Y 0 0000 X 1 0000 Y 1 0000 1 0000 Y 1 0000 Mirroring is canceled with G50 1 Syntax G51 1X_Y_Z Programmers Guide Milling G Codes 97 PMAC NC Pro2 Software Reference Manual G50 1 G52 Local Coordinate System Set While programming in a work coordinate system it is sometimes more convenient to have a common coordinate system within all the work coordinate systems This coordinate system is called a local coordinate system The G52 specifies the local coordinate system The Local CS X Y is offset from the Work CS XY by the vector A that makes the current tool point in the Local CS equal to the position word in the G52 block G52X100Y100 When a local coordinate system is set the move commands in absolute mode G90 which is subsequently commanded as are the coordinate values in the local coordinate system The local coordinate system can be changed by specifying the G52 command with the zero po
122. ine unit is inch then it is the number of encoder counts per inch To calculate this value use this formula Pulses per Unit Decode Control Encoder Lines Ballscrew Pitch Unit conversion factor Autopilot Utility 19 PMAC NC Pro2 Software Reference Manual Decode Control Turbo PMAC I7mn0 parameter value Default is 4 Encoder Lines The number of lines specified by the Encoder manufacturer used for the feedback Example For standard 5mm pitch ballscrew and 8192 lines encoders the pulses per unit value is Pulses Per Unit 4 cts Line 8192 lines rev rev Smm 25 4 mm inch 166461 48 pulses per inch Where 4 cts line is decode control I7mn0 variable of PMAC Position Units This allows defining the position unit of the machine in either inches or meters inch mm This setting is for the complete machine not for individual motors The first time the program is started this value defaults to English Inch and English Inch is checked on the window Select Metric mm and the program will start in Metric mm thereafter until switched back to English Reset All Click this button to set all definitions to 0 zero As zero indicates that the axis is not connected this function sets a new axis motor definition quickly E CNC Autopilot Program For MILL Application Axis Motor Std PLC Machine Setup NCUI Registry Axis Motor Definitions Position Units Axis Mtr No Pulses Per Unit English inch 1 25400 0000
123. int of a now local coordinate system in the work coordinate system To cancel the local coordinate system specify G52X0Y0 Syntax G52X_Y Z Example Code N4 GO G90 S500 M3 N5 G52 X 0157 Y1 0156 Z0 Y Y 160 100 Local Coordinate System Example G53 Machine Coordinate Selection The machine zero point is a standard point on the machine A coordinate system having the zero point at the machine zero point is called the machine coordinate system The tool cannot always move to the machine zero point The machine coordinate system is established when the reference point return is first executed after the power is on Once the machine coordinate system is established it is not changed by reset change of work coordinate system G92 local coordinate system setting G52 or other operations unless the power is turned off Occasionally it is necessary to move the axes to a specific position in relation to machine zero and ignore any tool and work offsets that are active This is accomplished using G53 for machine coordinate programming Machine coordinates are always expressed as absolute coordinates If the G91 incremental mode is active the G53 command is ignored All G92 codes and offsets are ignored The interpolation mode must be either G00 or G01 The tool is moved to the absolute Machine coordinates expressed in the G53 block Syntax G53X_Y Z __ 98 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual
124. ion 0 rotation DH tion of pattern in degrees Z start plane rectangular pattern the rotation and the depth of the holes If X and Y are not passed assume center is at current location if A is not passed assume no rotation if R is not passed assume R is at current Z position TE 11 EQ 0 GOTO9610 H not passed If 23 EQ 0 GOTO9620 W not passed If 26 EQ 0 GOTO9630 Z not passed Record R X and Y if they are not passed If 24 EQ 0 then 24 5041 current X position If 25 EQ 0 then 25 5042 current Y position If 18 EQ 0 then 18 5043 current Z position Calculate X and Y offset from center using H and W 31 11 2 32 23 2 Move to tool change position GO G53 Z0 GO G53 X0 YO Select drill T1 M06 T1 7 201 drill S1000 M3 spindle on M8 coolant on GO X 24 Y 25 Z 26 move move to XY locatio to R plane Rotate if requested IF 1 EQ 0 GOTO9602 G68 R 1 N9602 n Drill four holes at incremental offsets from center G81 X 24 31 Y 25 32 2426 E X 24 31 Y 25 32 X 24 31 Y 25 32 X 24 31 Y 25 32 G69 cancel rotation M5 spindle off M9 coolant off Move to tool GO G53 20 G G53 X0 YO Select drill T2 M06 chang e position T2 20 TAP Parametric Programming 5 upper right upper left lower left l
125. ion of the lookahead function Variable Isx13 for each Coordinate System x defines the time for each intermediate segment in the programmed trajectory in milliseconds before it is possibly extended by the lookahead function Isx13 is an integer value if a non integer value is sent Turbo PMAC will round to the next integer If Isx13 is set to 0 the coordinate system is not in segmentation mode no intermediate segments are calculated and the lookahead function cannot be enabled Several issues must be addressed in setting the Isx13 segmentation time These include its relationship to the maximum block rate the small interpolation errors it introduces and its effect on the calculation load of the Turbo PMAC Each of these is addressed in the following sections PMAC NC Pro2 Customizable Features 41 PMAC NC Pro2 Software Reference Manual Block Rate Relationship In most applications the Isx13 segmentation time will be set so that it is less than or equal to the minimum block programmed move time Put another way the segmentation rate defined by Isx13 is usually set greater than or equal to the maximum block rate For example if a maximum block rate of 500 blocks per second is desired the minimum block time is 2 milliseconds and Isx13 is set to a value no greater than 2 This relationship holds because blocks of a smaller time than the segmentation time are skipped over as Turbo PMAC looks for the next segment point While thi
126. is called the feedrate Feedrates can be specified similarly with the feed word F150 0 length time units in min mm min or Feed Per Rev in rev mm rey Length units are within program control see the G code definitions in the next section Time units are set by the machine builder I parameter 1190 controls the time units Cutting Speed Specification 122 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual The relative rotational speed of the tool with respect to the workpiece during a cut is called the cutting speed As for the CNC the cutting speed can be specified by the spindle speed in rpm units using the S address specification followed by the value S250 rpm units Tool Movement Considerations At multiple move or block boundries the CNC applies a coordinated ramp of the vector velocity into and out of the point without stopping The result of this is move blending Because of blending corners are not cut sharply If sharp corners are required to be cut Exact Stop or a dwell must be commanded in the block or set modally see G04 G09 G61 This will force an in position stop before starting the next move In position means that the feed motor is within a specified range about the commanded position This range is determined by machine tool builder Coordinate Systems There are two types of coordinate systems One fixed by the machine mechanics at the time of build And a relative
127. is cycle manual feedrate override is ignored Syntax G84 XZ Y_Z_R_F_L_P_ X Center location of hole along X Y Center location of hole along Y Z Depth to drill to R Reference plane in Z F Cutting feedrate IPM RPM 1 number of threads per inch L Number of repeats P Dwell in seconds at bottom of Z travel Programming Examples G99 G84X 2Y 1Z 0 501R0 1F15 625P 5 X 3 Y 1 G80 G98 G84X 2Y 12Z 0 501R0 1F15 625P 5 X 3 Y 1 G80 initial point Spindle cw spindle ccw reference point O dwell z point dwell Tapping Cycle Example G85 Reaming Boring Cycle When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position Z is then fed linearly to the R value The return point in Z is the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G85 line if G99 mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel During this cycle manual feedrate override is ignored Syntax G85 X_ Y_Z_R_F_L_ Center location of hole along X Center location of hole along Y Depth to drill to Reference plane in Z Cutting feedrate Number of repeats La eo es Programmers Guide Milling G Codes 107 P
128. is motion is stopped the spindle and machine functions under PLC control are unaffected The numerical range is from 001 to 99999 999 seconds If no parameter is specified then a default value of 0 seconds dwell is executed Syntax G04X_ Example Code N4 GO G90 S500 M3 N5 XO Y1 0156 N6 Z 1 H1 M8 N7 G04 X10 dwell 10 seconds N8 G04 P0 055 dwell 0 055 seconds G05 1 P0 P1 PC Lookahead Mode See G103 PO P1 G09 Exact Stop This forces a controlled deceleration to a stop with in position registration at the end of the block This is used to prevent move blending with the next block i e sharp corners are cut G09 is not modal It is valid for the current block only and is affected by issuing a dwell of zero time see G73 for modal Exact Stop Syntax G09 Example Code NO30 X1 125 Y2 25 NO40 G73 G1 Z 02 F20 exact stop mode linear plunge cutter 20 ipm NO50 G64 G3 X0 5 Y2 0 RO 375 G10 Offset Value Setting G10 allows setting of the Tool Length Wear and Tool Radius Wear from the G Code program L Mode Length Length Wear Radius Radius Wear P Offset Number R Value Syntax G10 L_ PR Example Code G10 L10 Pl R2 341 Tool Length Offset H of Tool 5 to 2 341 G10 L11 P2 RO 067 Tool Length Wear of Tool 2 to 0 067 G10 L12 P1 RO 500 Changing Tool Radius D of Tool 1 to 0 500 G10 L13 P8 RO 005 Changing Tool Radius Wear of Tool 8 to 0 005 G10 1 PMAC Data Input by Program Allows
129. istry to toolOfsAxis ZZRRX toolOfsAxisType 01470 The modified registry will look like the screen below amp Registry Editor File Edit View Favorites Help a Neu 32 A Name a eier lab toolofsaxis 0 131 TDM Comp ter Saliitians lt y My Computer HKEY_CURRENT_USER SoftwarelDelta Tau NCUI 32 Tool Offsets El toolOfsAxisType PMAC NC Pro2 Customizable Features 55 PMAC NC Pro2 Software Reference Manual The modified tool page will appear like this Tools ZGeom ZWear CCGeom COWear XGeom 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 3 5000 0 0000 0 0000 0 0000 How to Set Parts Counter Parts Total This value is incremented by 1 when a M02 M30 or M code specified by the machine tool builder is executed Usually this value represents how many parts have been made by the machine since its last rebuild This value cannot be set on the screen but is set through the following registry entry partsTotal dword 00000000 g Registry Editor oO x Registry Edit View Favorites Help E E E Code 4 Name Type Data gt a CoordSys0 i Ee pertsTota REG_DWORD 0x00000000 0 d 4 My Computer HKEY LOCAL MACHINE SYSTEM ControlSet001 Services PMAC Device0 NcO SYSTEM A Parts Required This value is used for setting the number of machined parts required When the parts count reaches this
130. ivalent to the RS 274 G Codes G41 and G42 respectively If implementing G Code subroutines in Turbo PMAC motion program 1000 simply incorporate them in PROG 1000 N41000 CC1 RETURN N42000 CC2 RETURN Turning off Compensation The compensation is turned off by buffered motion program command CCO which is equivalent to the RS 274 G Code G40 If implementing G Code subroutines in Turbo PMAC motion program 1000 incorporate them in PROG 1000 N40000 CCO RETURN How Turbo PMAC Introduces Compensation Turbo PMAC gradually introduces compensation over the next LINEAR or CIRCLE mode move following the CC1 or CC2 command that turns on compensation This lead in move ends at a point one cutter radius away from the intersection of the lead in move and the first fully compensated move with the line from the programmed point to this compensated endpoint being perpendicular to the path of the first fully compensated move at the intersection Note A few controllers can make their lead in move a CIRCLE mode move This capability permits establishing contact with the cutting surface very gently important for fine finishing cuts Inside Corner Introduction If the lead in move and the first fully compensated move form an inside corner the lead in move goes directly to this point When the lead in move is a LINEAR mode move the compensated tool path will be at a diagonal to the programmed move path When the lead in move is a CIRCLE mode
131. kes half the time of ramping down to zero speed Next convert this value to a number of segments by dividing by the coordinate system segmentation time StopTime m sec Ixx 16 2 Isx13 msecs seg 2 Ixxl7 Isx13 LookaheadLength segs This is the number of segments in the lookahead buffer that must be always properly computed ahead of time Because the Turbo PMAC does not recalculate fully the lookahead buffer every segment actually it must look further ahead than this number of required segments Lookahead Length Parameter Variable Isx20 for the coordinate system tells the algorithm how many segments ahead in the program to look This value is a function of the number of segments that must always be correct in the lookahead buffer SegmentsNeeded The formula is 4 Isx20 SegmentsNeeded 3 Setting Isx20 to a value larger than needed does not increase the computational load although it does increase the time of heaviest computational load while the buffer is filling However it does require more memory storage and it does increase the delay in having the program react to any external conditions Setting Isx20 to a value smaller than needed does not cause the limits to be violated However it may cause Turbo PMAC to limit speeds more severely than the Ixx16 limits require in order to ensure that acceleration limits are not violated In addition a saw tooth velocity profile may be observed Note Preliminary v
132. lc programs compensation tables etc which the hardware control itself requires This file can be generated and restored using the PEWIN32 Pro2 software application Step 2 Windows Registry Backup Contains all the parameters used by the software application on startup and during everyday use Certain parameters can change in this file from day to day such as coordinate system and tool offsets When you restore this file note some parameters offsets may have changed Step 3 PMAC NC System File Backup There are three system files which need to be backed up These three files contain the information the system uses for displaying user messages parametric programming variables 500 4599 and user display parameters accessed through the Data Pages screen PMAC UMAC Backup Use the following procedure to back up the PMAC UMAC 1 2 12 Make sure all other applications are closed Open the Pewin Pro2 software application Be sure the machine is in a safe condition by initiating an Emergency Stop condition i e no dangerous motion can occur from motors or other hazardous actuators Issue a command in the PMAC terminal window and wait for the message command completed successfully Be sure the current PMAC configuration has been saved prior to issuing the command Back up the PMAC or UMAC using the standard backup utility included with the Pewin32 Pro2 software Select the appropriate items required for you
133. lculate Through Comer non n nana conan r ona nena narran eeir ii ire inian 53 Inside Corner Smaller than Rodt 54 Inside Arc Radius Smaller than Cutter Radius 54 Table of Contents 5 PMAC NC Pro2 Software Reference Manual HOW TO MAKE A CUSTOM TOOL OFFSET PAGE eococcnccocccooncconononnnnconanononnconanononanonanaconanononaconanononanononacono 55 How to Set Parts Counter cicssecasschsacgrsansacaneshsscaresterctnasheacdsnnnlacelasgsacdseepiacchsobsceaenobacdoanhcnedveadencargubeneasnagsasasabye 56 Parts Lot id dea leia sos 56 PariS TRE A O 56 Parts EE 57 HOW TO ADD AND DISPLAY USER MESSAGES ssccssscssssscsssessscecsssecsesscsssessnssessssenssssssseesssssonsssenes 58 LO Sel or RESet the Messagen neen A idilio 58 EE 59 Message BOX tt o ode decide eiii geg E ees 59 Displaying MessapeN purser onin ds sevacavades subonevodedactvabatensuncassceuatbbenceseeta 59 How to Add Modify User G M or T Code 59 Adding 560 1 in MILE G Mei ee deer 60 CUSTOMIZABLE KEYBOARD FUNCTIONS ALT FUNCTION KEY eccnccccncocnnoconncccnncccnconcnnoccnncnonncoonos 61 MODIFYING WORK AND TOOL OFFSETS FROM PMAC oooccccoconoonnnconanonananonanononanonannconanononaconananonanonanacno 62 Triggering PMAC NC to Read or Write an Offset 62 Telling PMAC NC What Offset to Read or Wnte nn cnn n nro ano rnnnncnccranoss 62 Where PMAC NC Returns Data from a Read or Write of an Offset 63 Setting Mokka ergeet EE EAR dein R S ESEE ieS 63 CHING Lool E 64 Reading
134. le along X Center location of hole along Y Depth to drill to Reference plane in Z Cutting feedrate Dwell in seconds at the bottom of the cut Number of repeats cl E Programming Examples G99 G88X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 G88X 3 Y 2 752Z 0 005P 5RO 1F25 0 X 2 75 X 2 5 G80 G98 return initial point reference point O G99 return z point Finishing Cut Free Cutting Example G90 G91 Absolute Incremental Mode Program commands for movement of the axes may be programmed either in incremental movement commands or in absolute coordinates The absolute mode is selected automatically when the power is turned on or the control is reset In the absolute mode G90 all axis word dimensions are referenced from a single program zero point The algebraic signs or of absolute coordinates denote the position of the axis relative to program zero In the incremental mode G91 the axis word dimensions are referenced from the current position The input dimensions are the distance to be moved The algebraic sign or specifies the direction of travel Syntax G90 Absolute mode G91 Incremental mode Example Code N020 G20 G90 GO X0 YO inch abs rapid to work piece x y zero psn NO25 G43 20 25 H1 NO30 X1 125 Y2 25 G90 1 G91 1 Arc Radius Abs Inc Mode The vector to the center point of a G02 or G03 arc move may be programmed in either incremental mode from the starting point of the
135. lect 133 G25 Spindle Detect O da a eee 133 G26 Spindle Detect On id sense Te end eee 134 G27 Reference Point Return Check 134 G26 Return to Reference Poli iaa ela ia 134 G29 Return from Reference Pot 135 G30 Return to Reference E 135 ESPE AA e E A NS 135 G40 G41 G42 Nose Radius Compensation ooooocnoocononncnnnnnnnnnnonnn conan nc nnna conan rana nen n nana cerro n rana cra anar nnnnanccnnns 135 8 Table of Contents PMAC NC Pro2 Software Reference Manual G50 Work Zero Set amp Max Spindle Apeed rana conan non ne rnn nn cnn nn rana nano nnnnnnnarnns 137 G52 Local Coordinate System Set 138 G53 Machine Coordinate Selection cccccccccsscccsssessssecesecesseesscecssnecsscecesseeesanessacecesnesssaeeeeseeeseesseeseseeeen 139 G54 59 Work Coordinate System 1 6 Selectfon crono nonon nn nnn nara n nono n cra one n nn cnn narnna 140 GOI Exact Stop Mode a o ca laa liliana eel 140 G62 G63 Diameter X Axis Radius X Avise 14 G64 Cutting ARA See lta eck Gb tah ea ea ee ea eaa iaae arai eaan oie a ia ead aa Erainn 142 G74 76 Canned e EE 142 G74 Canned Cycle Sgar plain 143 G73 Groove Cutting Canned Cycle odiado iaa 144 G76 Multi Repetitive Threading Canned Cycle 145 G90 CyclesA Single Pass Cut A ROUGE aaea eaa aaa aaia 147 G90 1 G91 1 Absolute Incremental Mode 147 G92 Threading Cycle iii c ci begin SAG GREGG RONG Eee 148 G93 Inverse Time Feed dai 148 G94 Endface Turning e EE 149 G98 G99 Feed Per Min Feed Per Re 150 G96 G97 Con
136. ling G50 1 Mirror Cancel G51 1 Mirror Image G52 Local Coordinate System Setting Programmers Guide Milling G Codes 87 PMAC NC Pro2 Software Reference Manual G53 Machine Coordinate System Setting G54 Work Coordinate System 1 G55 Work Coordinate System 2 G56 Work Coordinate System 3 G57 Work Coordinate System 4 G58 Work Coordinate System 5 G59 Work Coordinate System 6 G61 Exact Stop Mode G64 Cutting Mode Cancel Exact Stop Mode G68 Coordinate System Rotation G69 Coordinate System Rotation Cancel Bolt Hole Circle Pattern Bolt Hole Center Hole Ignore Pattern Arc Pattern Bolt Line Pattern G80 Canned Cycle Cancel G81 Spot Drilling Canned Cycle G82 Counter Boring Drilling Cycle G83 Peck Drilling Cycle G84 Tapping Cycle G85 Fine Boring Canned Cycle G86 Boring Canned Cycle G87 Back Boring Canned Cycle G88 Reverse Tapping Canned Cycle G89 Canned Cycle Recall Absolute Command Mode Incremental Command Mode Arc Radius Abs Inc Mode Arc Radius Abs Inc Mode G92 Absolute Zero Point Programming G92 1 Absolute Zero Point Programming Cancel Inverse Time Feed Feed Per Minute Feed Per Revolution G98 Return To Initial Point in Canned Cycle G99 Return to R Point in Canned Cycle 88 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G Code Descriptions G00 Rapid Traverse Positioning This is used to position the tool from the current programmed point to the next p
137. loaded program title bar F3 Rewind If a program execution has been halted during the course of running a program the next block to execute in the program may be returned to the first line of the part program by pressing the Rewind button F4 Search If it is desired to start program execution at a location in the part program other than the beginning a textual search can be performed to locate the start point of program execution After the program start point has been set with a search command it is the operator s responsibility to insure that all miscellaneous M codes are manually set to the desired state For instance after a search an M3 start spindle and M8 start coolant are not automatically issued it is the operator s responsibility to manually start the spindle and coolant NC Operation and Programming 71 PMAC NC Pro2 Software Reference Manual Please enter the text to be searched Nao match Case F5 Go To Line If it is desired to start program execution at a location in the part program other than the beginning the start point of program execution can be set to a particular line of a part program The goto line button does not go to the N label of the program for instance N100 for that the Search button F4 must be used The Goto Line button sets the start point of program execution to the file line number To determine the actual line number to be used with Goto Line requires loading the program into the e
138. med acceleration time the larger of TA or 2 TS the programmed acceleration time is used instead This results in a speed less than what was programmed The lookahead function can further slow these moves but it cannot speed them up Acceleration Limits Variable Ixx17 for each Motor xx defines the magnitude of the maximum acceleration permitted for the motor These variables are defined in the raw PMAC units of counts per millisecond squared so a quick conversion must be calculated from the user units e g in sec or g s If the algorithm while looking ahead in the programmed trajectory determines that any motor in the coordinate system is being asked to violate its acceleration limit it will slow down the trajectory at that point just enough so that no limit is violated It will then work backwards through the buffered trajectory segments to create a controlled deceleration along the path to this limited speed in the minimum time that does not violate any motor s Ixx17 acceleration constraint Calculating the Segmentation Time Turbo PMAC s lookahead function operates on intermediate motion segments calculated from the programmed trajectory An intermediate point for each motor is computed once per segment from the programmed path and then a fine interpolation using a cubic spline to join these segments is executed at the servo update rate The user settable segmentation time is therefore an important parameter for optimizat
139. mental values are signed distances from where the tool starts cutting Start Point the arc to the Arc Center For 90 degree corners or fillets the I J and K values can be determined easily The G17 XY Plane is the default or power on condition If another axis not specified in the circular interpolation is programmed then helical cutting will be affected The feedrate of the linear axis will be F x length of linear axis length of arc Syntax G17 G18 G19 GO2X_Y_Z_I_J_K_F Example Code NO40 G73 Gl Z 02 F20 NO50 G64 G2 X0 5 Y2 0 RO 375 cut mode cw circle NO60 Gl Y1 5625 G18 PLANE G19 PLANE Z der x Circular Interpolation Example 90 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G03 Circular Interpolation CCW Helical Interpolation CCW Circular contouring control uses the axis information contained in a block to move the tool in a counterclockwise arc of a circle up to 360 degrees The velocity at which the tool is moved is controlled by the feedrate word and is vector tangential F f Ce f All circles are defined and machined by programming three pieces of information to the control e Start Point of the arc e End Point of the arc e Arc Center of the arc The Start Point is defined prior to the G03 line usually by a GO1 linear positioning move The End Point is defined by the X and Y axis coordinates within the G03 line when in the XY Plane The Arc Center is defined
140. ments Delta Tau Data Systems CA NC 5 0 x D Software Visual c files foldeiPHMISambleNC nc Reneat 1 of 1 Line O of 19 NO000000 Program Position Inch Machine Pos Inch Spinde r Feedrate Gem Tool Work Offset X 1 0000 X 1 0000 Status Max Feed 200 Tool Max Speed Cmd Feed 200 0 Offset Cmd Speed Act Feed 0 0 Active G Code Active M Code Y 1 0000 Y 1 0000 Act Speed Override 65 G00 G90 MOS MO9 Override Mode FPM Z MK Z 0 0000 I oss Mode Rapid 50 Operator Position Inch Machine Position Inch 1 0000 1 0000 1 0000 1 0000 0 0000 Commanded Pos n Inch Following Error Inch 0 0000 0 0000 0 0000 lt lt BACK CLORG ORG ALL NC Operation and Programming 73 PMAC NC Pro2 Software Reference Manual WORK OFFSET OPERATIONS F3 OFS Work Offsets Sub Menu The Work Offset displays the current G54 G59 standard work offset setting as well as the extended work offsets G54 1 Pn where n ranges between 1 to 48 A value for work offsets can be entered into the table in 4 different ways 1 Manual operator entry To manually enter data all the operator simply positions the cell to enter data into using the keyboard cursor keys Left Right Up and Down arrows on the keyboard then press the enter key In addition a pointing device mouse or touchpad in that case clicking on the desired cell is necessary The cell that is ready for data
141. messages are possible in each category One M variable can display 32 error messages Display PLC or G M or T Code Fatal Error ES ERR FATAL M ES ERR _FATAL2 M Error ES ERR STOP M S_ERR_STOP2 M Warning S ERR WARN M ES ERR WARN2_M General Message ES ERR_MSG_M ES ERR_MSG2_M Message Box ES PLCMSGBOX_M To Set or Reset the Message Decide how many messages and types of messages Edit the ERRORS DAT file for different messages in the editor Notepad or any editor Find out the bit address for the message Define the bit number as a macro To set the error use SET_ON Message Address Bit Number macro in the PLC To Reset the error use SET_OFF Message Address Bit Number macro in the PLC For example The error message No Air Pressure Check is displayed if there is no air pressure 1 Edit the ERRORS DAT and add a message under STOP PLCStopErr64 0064 tPLC t No Air Pressure Check DUB DOES 2 Define the bit number as a macro in the header file define ERROR_AIR 80000000 Bit 32 3 In the PLC check for air pressure Input and set the error message PLC will look like IF INPUT_AIR 0 SET_ON ES_ERR_STOP2_M ERROR_AIR ELSE SET_OFF ES_ERR_STOP2_M ERROR_AIR ENDIF 58 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Clearing Messages
142. mine if a program is executing correctly it is necessary to be able to view variables as they are being modified in the program The parameter display is ideal for this Screens for displaying Local and Common variables are predefined on the parameter display Refer to the Parameter Display section for details on how to access and use this useful tool Undefined 0 A variable that has not been assigned a value is called undefined It is referenced in an NC program with 0 Undefined variables allow the programmer to determine if a subroutine is being called correctly or to determine if a certain logic path has been taken Allowing variables to be undefined requires special processing Algebraic expressions convert undefined variables to 0 0 If the equation is singular then the expression evaluator returns undefined Example 1 0 1 is undefined 3 1 3 is undefined 4 1 3 4 is 0 0 5 1 3 5 is 0 0 Address Codes using variables that evaluate to undefined are ignored This means that if an address code is parsed with an undefined variable it is just as if the parser did not see that address code Example 1 0 2 3 5 Gl X 1 Y 2 same as G1 Y3 5 X 1 0 same as X0 0 Z 1 Z is ignored Conditional expressions convert undefined values to 0 0 in the same manner as algebraic expressions If the algebraic expression results in an undefined value it is treated as 0 0 except for EQ and NE Conditional 1 0
143. mmed by the fraction RAR Changes in Compensation Radius Magnitude Changes Changes in the magnitude of compensation new CCR values made while compensation is active are introduced linearly over the next move When this change is introduced over the course of a LINEAR mode move the compensated tool path will be at a diagonal to the programmed move path When this change is introduced over the course of a CIRCLE mode move the compensated tool path will be a spiral Compensation Direction Changes Changes in the direction of compensation between CC1 and CC2 made while compensation are generally introduced at the boundary between the two moves However if there is no intersection between the two compensated move paths the change is introduced linearly over the next move Cutter Compensation Change of Direction No Intersection Programmed d coz N Tool Center AUN Path Tool Center Path Bemis mm gt Change Through a Line Change Through an Arc Tool Center SH Programmed N Path SL Ate Change Through a Line Change in Reversal PMAC NC Pro2 Customizable Features 51 PMAC NC Pro2 Software Reference Manual How Turbo PMAC Removes Compensation Turbo PMAC gradually removes compensation over the next LINEAR or CIRCLE mode move following the CCO command that turns off compensation This lead out move starts at a point one cutter radius away from the intersection of the lead in move and the first fully c
144. mon block The machine tool builder or integrator will specify the parameter selection Normally the tool length and the tool diameter are assigned the same tool offset number Tool nose compensation takes the stored value for the diameter and calculates the cutter path offset from that value Because of look ahead care must be taken that programmed moves do not violate the called for compensation Refer to the separate section Cutter Radius Compensation for details on the operation of this function G50 Work Zero Set 8 Max Spindle Speed This command establishes the work coordinate system so that a certain point of the tool for example the tool tip becomes IP in the established work coordinate system Any subsequent absolute commands use the position in this work coordinate system Meet the programming start point with the tool tip and command G50 at the start of program When creating a new work coordinate systemwith the G50 command a certain point of the tool becomes a certain coordinate value therefore the new work coordinate system can be determined irrespective of the old work coordinate system If the G50 command isused to determine a start point for machining based on workpieces a new coordinate system can be created even if there is an error in the old work coordinate system If the relative relationship among the G54 to G59 work coordinate systems are correctly set at the beginning all work coordinate systems become new coordina
145. n PEWIN32 M161 2D0000 8 M160 M160 1 M162 lt PMAC will respond with the Z axis tool geometry offset for tool number 9 gt Implementation Issues in PLC and Motion Program Code When performing these functions in PLC or a motion program code the programmer should check to make sure that PR_BITS_M bit 0 is cleared before relying on the data in PR_DATA_M to insure that PMAC NC has successfully completed the transaction 64 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual For example To set tool offset 8 and 9 consecutively enter the following PR_DATA M 10 0 PR_COMMAND_M 2D0000 8 PR_BITS M PR_BITS M 3 WHILE PR_BITS Mei 0 wait for PC to finish ENDWHILE PR_DATA M 11 0 PR_COMMAND M 2D0000 9 PR BITS M PR BITS M 3 WHILE PR_BITS Mel 0 wait for PC to finish ENDWHILE Production software would of course have a timeout in the while statement and create an error message if the 0 Bit of PR_BITS_M was not cleared PMAC NC Pro2 Customizable Features 65 PMAC NC Pro2 Software Reference Manual NC OPERATION AND PROGRAMMING Program Context Display The program context displays three fields relative to the file loaded for execution These three fields are always present on the screen The first field indicates the file to be executed In MDI mode the file to be executed in changes to the MDI buffer otherwise the file loaded for execution is the file chosen by the operator Upon
146. n advance permitting the selection of any of them by G54 to G59 Work coordinate system 1 G54 Work coordinate system 2 G55 Work coordinate system 3 G56 Work coordinate system 4 G57 Work coordinate system 5 G58 Work coordinate system 6 G59 The six coordinate systems are determined by setting distances work zero offset values in each axis from the machine zero point to heir respective zero points The offsets are saved in the OFS page of the PMAC NC program Example G55G00X20 0Z100 0 X40 0Z20 0 In the above example positioning is made to positions X 20 0 Z 100 0 and X 40 0 Z 20 0 in work coordinate system 2 Where the tool is positioned on the machine depends on work zero point offset values Work coordinate system 1 to 6 are established after reference point return or homeing after the power on When the power is turned on G54 coordinate system is selected by default SYNTAX G54 59 G61 Exact Stop Mode Causes a stop between block moves so that no corner rounding or blending between the moves is done i e sharp corners are cut When G61 is commanded deceleration is applied to the end point of cutting block and in position check is performed every block thereafter This G61 is valid untill G64 cutting mode is commanded Cutting mode G64 is the startup default 140 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manu
147. n counts msec for each motor in the coordinate system Es Set Isx13 segmentation time in msec for the coordinate system to minimum programmed move block time or 10 msec whichever is less Compute maximum stopping time for each motor as Ixx16 Ixx17 Select motor with longest stopping time Compute number of segments needed to look ahead as this stopping time divided by 2 Isx13 Oe th E Multiply the segments needed by 4 3 round up if necessary and set the Isx20 lookahead length parameter to this value 10 If the application involves high block rates set the Isx87 default acceleration time to the minimum block time in msec set the Isx88 default S curve time to 0 11 If the application does not involve high block rates set the Isx87 default acceleration time and the Isx88 default S curve time parameters to values that give the desired blending corner size and shape at the programmed speeds 12 Store these parameters to non volatile memory with the SAVE command to make them an automatic part of the machine state 13 After each power up reset send the card a DEFINE LOOKAHEAD of segments of outputs command for the coordinate system where of segments is equal to Isx20 plus any segments for which backup capability is desired and of outputs is at least equal to the number of synchronous M variable assignments that may need to be buffered over the lookahead length 14 Load the motion program into the Turbo PMAC
148. n expression is how data is created and how decisions are made in a parametric program This section explains expressions It defines how they are formed and where they can be used in a program An expression is made of three elements These elements are operands operators and precedence brackets An operand is a variable or literal number Variables appear as lt integer gt Literals are constants such as 1 0 5 or 0 An operator is a function that uses operands and derives a resultant operand Operators are single character operators like and They can be functions like SIN or LOG Or operators can be conditional operators like EQ or GT Order of evaluation is from left to right As an expression is evaluated from left to right operations are either performed immediately or deferred based on the operator s precedence Operators with higher precedence are executed first In the expression 5 4 5 9 5 will be assigned the value of 49 This is because multiplication has a higher priority than addition and its operation is executed first even though the addition comes first in a right to left scan of the expression Brackets can override the default order of evaluation determined by operator precedence The precedence brackets are and i e square brackets The following table defines the precedence of operators in the Delta Tau control Symbol Meaning Prec ed
149. nal Expressions make use of the following conditional operators EQ Equal to NE Not equal to GT Greater than GE Greater than or equal to LT Less than LE Less than or equal to These conditional operators are binary operators that return a value of 1 0 or 0 0 If the condition represented by the operator is true the value of 1 0 results If the condition represented by the operator is false 0 0 results Thus a conditional expression has the following general form lt expr gt In most cases a conditional expression will be less general lt expr gt lt cond gt lt expr gt where lt cond gt EQ NE GT GE LT LE To maintain FANUC compatibility this form of a conditional expression should be adhered to GOTO expressions lt goto gt can be followed by an expression The form of the GOTO is explained in the next section Program Control Parametric programming allows additional control of program processing The following constructs when combined provide the NC programmer with complete flexibility and control of the program Branching GOTO Conditional block execution IF Iteration WHILE Pause or abort 3006 n stop 3000 n alarm Branching is available with the GOTO statement The GOTO statement must be followed by an expression that evaluates to the N code of a block The block is searched for in the currently executing main program or subroutine Searching is performed in the following manner
150. nce Manual configuration Update will work only if the PMAC NC PRO2 application is not running In addition registry values will not be updated if the key is not active an error will be displayed Build When selected this function generates the PLCs that are marked enable All the PLCs are stored in selected lt PLC PATH gt The next step is to download these PLCs manually using PEWIN Executive software Use the lt Machine Name gt CFG file for the download Build and Download This function generates the PLCs that are marked enable All the PLCs are stored in selected lt PLC PATH gt This downloads the machine name CFG file to PMAC automatically If selecting ENABLE PLC and SAVE PLC it issues the appropriate commands to PMAC NCUI Registry Functions The last step is to set Default NCUI file path CNC Autopilot Program For MILL Application Axis Motor Std PLC Machine Setup NCUI Registry File Managment NC Program to Load C Program Files Delta Tau PMAC NC Pro Designer Mill NC Program Folder C Program Files Delta Tau PMAC NC Pro2 Designer Mill NC Error File les Delta Tau PMAC NC Pro Designer MiIKERRORS DAT _J NC Variable File C Program Files Delta Tau PMAC NC Pro2 Designer Mills d NC PagesDatFlle C Program Files Delta Tau PMAC NC Pro2 Designer Mills NC Buffers Lookahead Buffer 1400 Rotary Buffer 4000 Synchronous M Buffer fi 00 Miscellaneous Tool User_Position_Repor
151. nce plane in Z Cutting feedrate Number of repeats Number of seconds of bottom dwell Vie NK p Programming Examples G99G8 2X 3Y 2 75Z 0 05R0 1F25 0L2P2 X 2 75 X 2 5L2 X 2 25 G80 Z when cycle is called R Value Z Depth Boring Spotfacing Counter Sinking Cycle with G99 Active Programming Examples G98G8 2X 3Y 2 752Z 0 05R0 1F25 0L2P2 X 2 75 X 2 5L2 X 2 25 G80 when cycle is called R value Z Depth Boring Spotfacing Counter Sinking Cycle with G98 Active Programmers Guide Milling G Codes 105 PMAC NC Pro2 Software Reference Manual G83 Deep Hole Peck Drilling Cycle When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Normal drilling is then performed at the specified feedrate to a depth of K below the R value The tool is then retracted from the bottom of the hole at rapid traverse rate to the R value The tool is then moved at rapid traverse rate to the height of the last drilling plus the R parameter Normal drilling is then repeated to a depth of K below the last hole The tool is then once again retracted from the bottom of the hole at rapid traverse rate to the R value This pattern is repeated until the depth of the Z parameter is achieved This cycle permits intermittent cutting feed to the bottom of the hole to assist in removing chips from the hole The return point in Z is the value
152. nd Y_ parameters specified on the line containing G81 G88 determine where the start of the pattern will reside The canned cycle G81 G88 cannot reside on the same line as the pattern cycle G72 Syntax G72 L J_L_ I Distance between drill points must be greater than 0 J Angle formed by X axis and vector of line L Number of points on the line Programming Example G83 X Y Z R L G72 11 J45 L5 G80 G84 X Y Z RL FEP Q G72 11 J45 L5 G80 L 5 Number of points The code excerpt above would first drill a hole at the points in the picture with a peck drill cycle then would tap holes with the tap cycle at the same points 102 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G80 89 Canned Cycles A canned cycle simplifies programming through the use of single G codes to specify machine operations normally requiring several blocks of NC code The canned cycle consists of a sequence of five operations as shown here 1 Position of axes 2 Rapid to initial point 3 Hole body machining 4 Hole bottom operations 5 Retract to reference point A canned cycle has a positioning plane and a drilling axis The positioning plane is the G17 plane The Z axis is used as the drilling axis Whether the tool is to be returned to the reference point or to the initial point is specified according to G98 or G99 Use G99 for the first drilling and G98 for the last drilling When the canned cycle is
153. ng M98 Subprogram Call M99 Subprogram Return MOO Program Stop Unconditional stop of part program at current block The coolant and spindle are stopped with this command Machine state does not change until restart or rewind 114 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual M01 Optional Stop Same as MOO but conditional on Optional stop switch setting Example X 1 25 X 1 G80 M1 OPT STOP M1 M02 Program Rewind This resets the program buffer to the beginning of the program cancels tool compensation and resets coolant and spindle to off Example G0G49X0Y0Z0 Z 5M5M9 G90G0G4 9M5M9 X0Y0Z0 M2 M03 Spindle Clockwise Starts the spindle in the clock wise direction CW using the current setting for speed Example N30 G54 GO X 3 7185 Y 1649 N40 S5000 M3 T1 N50 G43 H1 2 1 M04 Spindle Counterclockwise Starts the spindle in the counter clockwise direction CCW using the current setting for speed M05 Spindle Stop Turns off the coolant and stops the spindle Example N1940 G28 X0 ZO N1945 M5 N1947 G4 X2 N1950 M2 tool change lighted pushbutton Note The tool change position is above the home position Example M06 Tool Change Moves to the tool change position and blinks the GOG49xX0Y0 T3M6 M3S100 M8 GOX1 5Y 1 5 Programmers Guide Milling G Codes 115 PMAC NC Pro2 Software Reference Manual MO8 Coolant On Engages the coolant pum
154. ntersection Introducing Compensation Outside Corner A H I i p Programmed Arc G Path Tool Center d Path d Tool Center Are Pay a Line to Line Um Line to Arc CC3 A H X Spiral pira Programmed ANG Path Tool Center r Path d Tool Center Aro ooo ccoo gt D ine Arc to Line Arc to Arc Note The behavior for lead in moves is different from changing the compensation radius from zero to a non zero value while compensation is active An arc move is always added at the corner regardless of the setting of Isx99 This ensures that the lead in move never cuts into the first fully compensated move Treatment of Inside Corners Inside corners are still subject to the blending due to the TA and TS times in force default values set by coordinate system I variables Isx87 and Isx88 respectively The longer the acceleration time the larger the rounding of the corner The corner rounding starts and ends a distance F TA 2 from the compensated but unblended corner The greater the portion of the blending is S curve the squarer the corner will be When coming to a full stop e g Step Quit or DWELL at the corner at an inside corner Turbo PMAC will stop at the compensated but unblended corner point PMAC NC Pro2 Customizable Features 47 PMAC NC Pro2 Software Reference Manual Inside Corner Cutter Compensation Line Programmed Path Programmed Path Tool Center
155. nutes In inverse time feed mode an F word is interpreted to mean the move should be completed in one divided by the F word minutes For example if the F word is 2 0 the move should be completed in half a minute thirty seconds Customarily this code is used to program rotary axis used on a line by itself however it may be used at anytime a Solve for move time of 5 sec F 60 sec Tyee F 12 b Recode the block G01G93A30 F12 Syntax G93F_ 112 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual G94 G95 Feed Per Min Feed Per Rev The G94 preparatory function code specifies the feed rate in terms of vector per unit time The G95 preparatory function code specifies feed rate in terms of vector feed per spindle revolution The G94 and G95 preparatory functions are modal and remain in effect until replaced by the opposite code The mode is set to G94 by power on data reset and the M30 code Syntax G94 G95 G98 G99 Canned Cycle Return Point Used in a canned cycle block to determine the return point G98 Initial point G99 clearance plane or reference point G98 causes the tool to return to the point from which it was first called G99 causes the tool to return to the point specified by the R address Syntax G98 G99 Example Code N4 XOYO N5 G98 N6 G81X1 Y1R0 1Z 3 N4 Zb N5 G99 N6 G81X1Y1R0 1Z 3 G103 P0 P1 PC Lookahead Mode G103 Controls the PC program lookahead mode G103 is typically
156. of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G83 line if G99 mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel Syntax G83X_Y_Z_R_F_L_K_ Center location of hole along X Center location of hole along Y Depth to drill to Reference plane in Z Cutting feedrate Number of repeats Peck depth Programming Examples G83X 2Y 1Z 0 600K0 150R0 1F25 G80 G98 G83X 2Y 1Z 0 600K0 150R0 1F25 G80 Ar ON x xX initial point A G98 move re dwell 1 z point Deep Hole Peck Drilling Cycle Example G84 Tapping Cycle When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Linear movement is then performed at the programmed feedrate to the specified Z position At this point a dwell of P seconds occurs The spindle direction is then reversed and Z is fed linearly to the R value The return point in Z is the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G84 line if G99 106 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel During th
157. okahead 1100 104 1101 104 G103 PO Restore PC Lookahead G01 X3 2371Y1 2342 M Code Descriptions MOO Program Stop Unconditional stop of part program at current block Machine state does not change until restart or rewind M01 Optional Stop Same as MOO but conditional on Optional stop switch setting Example X 1 25 X 1 G80 MI OPT STOP M1 Programmers Guide Turning G Codes 151 PMAC NC Pro2 Software Reference Manual M02 Program Rewind Resets the program buffer to the beginning of the program Example G0G49X0Y0Z0 Z 5M5M9 G90G0G49M5M9 X0Z0 M2 M03 Spindle Clock wise Starts the spindle CW using current S word Example N30 G54 GO X 3 7185 Z 1649 N40 S5000 M3 T1 N50 G43 H1 Z 1 M04 Spindle Counter clock wise Starts the spindle CCW using current S word M05 Spindle Stop Stops the spindle Example N1940 G28 X0 Z0 N1945 M5 N1947 G4 X2 N1950 M2 M06 Tool Change Execute the machine builders tool change code Example G0G49X0Y0 T3M6 M3S100 M8 G0X1 5Z 1 5 152 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual MO8 Coolant On Engage the coolant pump Example G43Z0 5H10 M8 MO9 Coolant Off Disengage the coolant pump Example X 4 1657Z 5 4552 G2X 4 2073Z 5 44211 0 0056K0 0547 G0Z0 5M5M9 M30 End of Program and Rewind Stops program and rewinds buffer Example Z 5M5M9 G90G0G49M5M9 X0Z0 M30
158. ol panel Velocity Scale X Velocity Scale Y Velocity Scale Z These values are used as scale factor in Feed Rate calculation HMI NC uses these values to display Feed Rate Typically used when Dual feedback is used on machine Default is 1 Tool This will allow user to configure Tool page columns in the NCUI like Geometry Wear etc The Maximum number of tools is 99 Any tool number entry more than 99 tools will reset back to default 50 tools 28 Autopilot Utility PMAC NC Pro2 Software Reference Manual CNC AutoPilot Example This section will give a description of the CNC AutoPilot Program Refer to the different screen pictures which show the input for generating the standard PLC for Adv 900 CNC control On completion of these steps the Build or Build amp Download options can be clicked If Build amp Download is selected make sure to check the ENABLE PLC and SAVE PLC option Step 1 Run NC_Setup EXE and select MILL option Step 2 Set the Axis Motor definition as shown in Fig 1 Step 3 Set machine Name for this example set it as MyMachine See Fig 2 Select ADV900 as control panel Step 4 Set all the machine parameter like Jog Speed Homing condition following error etc See Fig 3 Step 5 Set the NC default File path and Buffer sizes Step 6 Check ENABLE PLC and SAVE PLC check boxes and click Build amp Download This will generate the PLC and download it to PMAC The PLCs are generated in a folder specifi
159. oller This will set CS_RESET bit defined in ADRESS H file Integrator can write a PLC to add necessary action using this status bit Default the RESET PLC template is available when PLC s are generated using CNC Autopilot utility F8 OPER This function displays the software control panel and is used when the Hardware control panel is not available All the NC functions are possible This function is enabled by setting windows registry value and generating Software control panel PLC using CNC Autopilot utility To set a window s registry key set UseOperatorDialog to 1 which enables the Software Control Panel Then the registry path is displayed Registry Editor File Edit View Favorites Help Sy NCUI 32 All Name Type Data Editor AE UseOperatorDialog REG_DWORD ox0oo00001 1 FA Tool Offsets TA RRR lt My Computer HKEY_LOCAL_MACHINE SYSTEM CurrentControlSet Services PMAC DeviceD NcO NCUI 32 S 82 NC Operation and Programming PMAC NC Pro2 Software Reference Manual The software control page appears as follows Delta Tau Data Machine Pos Inch X 1 0000 Y 1 0000 Z 0 0000 Spindle Status Max Speed Cmd Speed Act Speed Override CSS Mode Reneat 1 of 1 Line O of 19 NO000000 Feedrate Active Tool Max Feed 200 Tool No Cmd Feed 200 0 Offset HO x Work Offset P G54 D00 Act Feed 0 0 Active G Code Override 65 coo 690 Mode FPM G94 G97 a Rapid 5
160. ollowing Error 0 0250 In Position Band 0 0250 Machine Unit Inch Min Update Build Build amp Download Set Positve Software Limit in SelectedUnits Jog Speed This sets the maximum axis jog speed in user selected units The user selected unit is displayed as machine unit The speed setting can be different for different motors 24 Autopilot Utility PMAC NC Pro2 Software Reference Manual Rapid Speed This sets the maximum axis rapid speed in user selected units This setting can be different for different motors This speed is GO speed in NC terms Positive S W Limit This sets the positive software limit in user selected units This setting can be different for each motor Negative S W Limit This sets the negative software limit in user selected units This setting can be different for each motor Home Offset This sets the distance in user selected units to move after machine completes the HOME PLC Home Speed This sets the maximum machine home speed in user selected units This setting can be different for each motor Speed can be positive or negative Positive Limit Switch This group of buttons per axis sets the basic condition for homing For example Sat 1f Positive Limit Switch is selected then homing will be done on the rising Negative Lunt ovat edge of the positive limit switch and the rising edge of C channel This is the Home Switch same for the other two switches Hom
161. omizable Features PMAC NC Pro2 Software Reference Manual Outside Corner Cutter Compensation Sharp Angle cosA lt Isx99 Programmed Programmed d Path Path Arc Ki Tool Center Arc Ne Tool Center pore _Path sce EE Path Une ne Line to Line Line to Arc Line Arc Programmed Programmed Are NG Arc t gt Arc te 5 Are ee A Ke re EI Arc to Line Arc to Arc Outside Corner Cutter Compensation Shallow Angle cos A gt Isx99 Programmed Path Programmed Path Line Tool Center Se leen Path Tool Center A Line Path Line to Line Line to Arc Programmed Path Programmed Path Tool Center Mel a ab_ y Tha Arc Line Tool Center A Path Arc to Line Arc to Arc Shallow Outside Corner If the cosine of the change in directed angle is greater than Isx99 which means that the corner is flatter than the specified angle the moves will be directly blended together without an added arc The added arc prevents the compensated corner from extending too far out on the outside of a sharp corner However as an added move it has the minimum time of the acceleration time which can cause a slowdown on a very shallow angle While the default value for Isx99 of 0 9998 cos1 causes an arc to be added on any change in angle greater than 1 many will set Isx99 to 0 707 cos45 or 0 0 cos90 so arcs are only added on sharp corners When coming to a full stop e g S
162. ommand is pending in PC Don t Care D C D C 1 Beep PC Speaker Don t Care 1 0 0 Table 1 Telling PMAC NC What Offset to Read or Write The DPRAM location in PMAC DDFE 60DFE for Turbo and 0x37F8 for a PC Offset contains a DWORD that PMAC NC interprets when it receives a command for triggering the modification of an offset In PMAC the macro variable name PR COMMAND_M M 161 is assigned at this location PR_COMMAND_M is a DWORD however it can be interpreted as two 16 bit WORDS concatenated together to form the DWORD The upper WORD reflects what type of offset can be set Table 2 indicates how the upper 16 bits of PR_COMMAND_M is interpreted when it receives a trigger command from PR_BITS_M The lower 16 Bits of PR COMMAND indicate for what tool number to interpret the command In tool offsets the PR_COMMAND_M upper word is 40 48 or 50 58 and in cutter compensation the DR COMMAND_M upper word is 2 or 3 For work offsets there is a special interpretation of the lower 16 bits In G54 the value for the low 16 bits should have a base 20 plus the axis number where the axis number can be 1 2 3 4 5 6 representing X Y Z A B C respectively PR_COMMAND M Value for Bit Value for Bit 31 16 15 0 Cutter Comp Geometry Offset 2 Tool Number Cutter Comp Wear Offset 3 Tool Number Work Offset G54 G59 8 See Table 3 Work Offset G54 1 P1 P48 10 See Table 3 Five Axis Tool Length 11
163. ompensated move with the line from the programmed point to this compensated endpoint being perpendicular to the path of the first fully compensated move at the intersection Note A few controllers can make their lead out move a CIRCLE mode move This capability permits releasing contact with the cutting surface very gently important for fine finishing cuts Inside Corner If the last fully compensated move and the lead out move form an inside corner the lead out move starts directly from this point to the programmed endpoint When the lead out move is a LINEAR mode move the compensated tool path will be at a diagonal to the programmed move path When the lead in move is a CIRCLE mode move the compensated tool path will be a spiral Removing Compensation Inside Corner Line Programmed Path cco Programmed Path Tool Center Are Line Arc ES a Tool Center Lines i Path SS i Line to Line Line to Arc Line Programmed Path Programmed Path Tool Center Arc Tool Center H Path 1 i Spira Spirals Arc to Line Arc to Arc Outside Corner If the last fully compensated move and the lead out move form an outside corner the last fully compensated move ends at a point one cutter radius away from the intersection of the last fully compensated move and the lead out move with the line from the programmed point to this compensated point being perpendi
164. ompensation plane This allows a programmer to compensate for cutters of different radial dimensions without the need for complex trigonometric code changes Climb milling will use G41 to instate cutter radius compensation Conventional milling will use G42 to instate cutter radius compensation Of greatest concern is how to position the tool just prior to the start up of cutter radius compensation PMAC NC will not engage compensation unless a move having a vector component in the compensation plane is commanded e G40 Cancel cutter radius compensation e G41 Cutter compensation tool on the left of the work piece in the feed direction e G42 Cutter compensation tool on the right of the work piece in the feed direction When activating cutter compensation G41 G42 care must be taken in selecting a clearance move in the compensation plane On start up the tool will move a vector distance equal to the offset value the initial compensation in plane move The tool must be positioned so that as the compensation engages the tool begins cutting normal to the surface In addition the center of the cutter must be at least the cutter radius away from the first surface to be machined Cutter radius compensation is modal Once cutter radius compensation is correctly engaged it will remain in effect until it is canceled Make any zero component compensation plane axis moves before cutter compensation Make an axis startup move having a non zero comp
165. onent in the compensation plane G17 18 19 on or immediately after the G41 or G42 block The compensation adjustment will be vectored with this move The programmer must consider this effect when moving out of the current plane as in depth changes in pocket milling Execute a move whose vector component in the compensation plane parallel to the last in plane compensation move but have opposite direction is interpolated with the intended out of plane axis move Programmers Guide Milling G Codes 95 PMAC NC Pro2 Software Reference Manual compensated Lon tool path program path Cutter Radius Compensation Example When deactivating cutter compensation G40 care must be taken in selecting a clearance move If the move is omitted the control will not cancel cutter radius compensation and resulting axis motion until a block with a non zero move component in the compensation plane is executed Do not cancel cutter compensation on any line that is still cutting the part Cancel of cutter compensation may be a one or two axis move When cutter compensation is active the control applies a virtual cutter of zero diameter The physical or actual diameter of the cutter is stored in the control by the operator on the page that contains the cutter tool lengths and diameters The tool length is addressed by an H word and the tool diameter is addressed by a D word A tool offset number T word addresses both using values stored in t
166. ool offset value corresponding to the current H Code can be determined by adding the Geometry and Wear fields of an axis for the row number corresponding to the current H code The actual cutter compensation value corresponding to the current D Code can be determined by adding the Cutter Compensation Geometry and Wear fields for the row number corresponding to the current H code Work Offset Work Offset G54 This area displays the current work offset value G54 G59 68 NC Operation and Programming PMAC NC Pro2 Software Reference Manual Active G Code Active G Code GOO 690 G94 G9 G20 G49 G17 G40 This area displays some the currently active modal G codes The groups displayed are group 1 GO G3 group 3 G90 G91 group 16 G17 G19 group 2 G97 G98 group 7 G40 G42 group 6 G20 G21 and group 23 G 43 G49 Active M Code Active M Code MOS Mog This area displays the active M Codes for spindle and coolant operation Operation Mode Context Display The machine mode context displays information relative to the current mode the operator has placed the machine in The first field on the first row displays the operation mode of the machine either AUTO MDI or MANUAL The remainder of the first row depends on whether the machine is in MANUAL mode or not In Manual mode jog relative fields are displayed The second column reflects the current selected axis for jogging the third column reflec
167. ove Cutting Canned Cycle The return amount is specified in the G75 setup block using R This designation is modal The X axis component of point C is specified in the X parameter U contains the incremental amount from A to C The Z parameter would specify the Z axis component of point B or W for the increment amount from A to B Movement amount in Z direction and radius amount without sign uses the Q address parameter P specifies the depth of cut in X direction without sign R specifies the relief amount of the tool at the cutting bottom The sign of this cutting relief is always plus However if address Z W and Q are omitted the relief direction can be specified by the desired sign Feed rate uses F 144 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual return amount SYNTAX G75 R__ G75 X_ U_ Z_ W_ P_Q_ R_F_ G76 Multi Repetitive Threading Canned Cycle In the G76 setup block the P parameter takes three values in this order finishing repetitive count chamfering amount and angle of tool tip angle Each value must use two digits for a total of six digits The finishing repetitive count is 01 to 99 The chamfering amount is expressed in terms of the thread lead F parameter and can be set from 00 to 99 using 0 1 increments of lead The tool tip angle has six legal values 80 60 55 30 29 and 00 The finishing allowance uses the R parameter Q has the minimum cutting depth When the cutting d
168. ower right 157 PMAC NC Pro2 Software Reference Manual s100 M3 spindle on M8 coolant on GO X 24 Y 25 move to XY location ZH26 move to R plane Rotate if requested IF 1 EQ 0 GOTO9604 G68 D I N9604 Tap four holes at incremental offsets from center G84 X 24 31 Y 25 32 Z2 26 2 F5 X 24 31 Y F25 32 X 24 31 Y 25 32 X 24 31 Y 25 32 G69 cancel rotation M5 spindle off M9 coolant off GOTO 9699 Alarms follow N9610 3000 961 missing H N9620 3000 962 missing W N9630 3000 963 missing Z N9699 M99 6 successful return Program upper right upper left lower left lower right O96 main program that demonstrates bolt hole patterns G65 P9600 X1 0 Y1 0 H1 25 W1 75 Z 75 M30 o Parametric Subroutines clamp 1 G65 P9600 X7 0 Y8 0 H1 25 W1 75 Z 75 A 135 clamp 2 A parametric subroutine is an extended version of an M98 subroutine The following list identifies the features that make up a parametric subroutine e Numeric arguments can be passed from the calling program to the subroutine e Each subroutine called has access to its own private variables that are not altered by other subroutine calls These variables are local to the subroutine e The parametric subroutine is invoked with a line containing G65 and a P code Example N100 G65 P50 A1 0 B2 0 C3 0 In the above e
169. p Example G43Z0 5H10 M8 MO9 Coolant Off Disengages the coolant pump Example X 4 1657Y 5 4552 G2X 4 2073Y 5 44211 0 0056J0 0547 G0Z0 5M5M9 M19 Spindle Orient The spindle rotates to a known angle Example X 4 1657Y 5 4552 M19 Z 2 01 M30 End of Program and Rewind Same as M2 Example Z 5M5M9 G90G0G4 9M5M9 X0Y0Z0 M30 M87 Start Data Gathering Setup the Data Gathering buffer and begin gathering data Example Z 5M5M9 G90G0G49M5M9 X0Y0Z0 M87 M88 End Data Gathering End the Data Gathering Example Z 5M5M9 G90G0G4 9M5M9 XO0YOZO M88 116 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual M98 Subroutine Call Syntax M98 1 P___ M98 L___ Ca 5 M98 L___ 0__ Where L_____ specifies the number of times to execute the program OU specifies a program name of the form O___ nc P____ specifies a program name of the form P____ nc CA specifies a program name as a path and filename in a comment Description M98 is the NC program s method of transferring control to another program from an executing program When an M98 command is encountered in a currently executing program the calling program control is transferred to the specified program in the M98 block the called program The name of the calling program is saved by the Control The called program can transfer control back to the calling program with an M99 block There
170. pid 50 Offset Hoo boo Active G Code r Active M Code GOU G90 G17 Mo5 Mog G94 GF G40 G20 649 1 0000 0 0000 AAA AA AAA lt lt BACK FRM TERMINAL ris NC Operation and Programming SI PMAC NC Pro2 Software Reference Manual F7 MSGS This function key will display all the messages You can clear or reset the messages Delta Tau Data Systems CA NC 5 0 x D Software Wisual c files folderWPHMI SampleNC nc Reneat 1 of 1 Line O of 19 NO y Work Offset G54 Program Position Inch Machine Pos Inch Spindle Feedrate Ste Tool ool No TO Offset Hoo boo X 1 0000 xX 1 0000 Status Max Feed 200 Max Speed Cmd Feed 2000 Cmd Speed 0 0 Act Feed 0 0 Active G Code r Active M Code Y 1 0000 Y 1 0000 Act Speed 00 Override 65 op G90 G17 MOS Mi Override 26 Mode G94 G97 Gan Z 0 0000 Z 0 0000 CSS Mode Rapid 50 en cs F200 GO X1Y1 G1 X2Y2 G4 X0 1 G1 Xly1 G4 X0 1 G45 x1 G1 X1y1 G4X0 1 G1 Xly1 G4X0 1 G45 x1 G1 Xly1 G4X0 1 G45 x1 M99 lt lt Back CLEAR RESET MSGS F2 CLEAR MSGS This function key will clear the messages Messages such as Limit Amp fault will not be cleared until actual fault signal is OFF F2 RESET This function key will command RESET to the contr
171. planation for NCUI Registry Under File management all the default NC file paths are set As a good integration practice create a folder called CNC_programs on the hard drive Use this folder to store all the NC specific files In the above example this folder has been created so that all the default path settings and default files will be stored here NC Buffers setting specifies the PMAC buffer sizes In our example the lookahead buffer will be defined as follows Def Look 400 100 And rotary buffer will be defined as Def Rot 4000 32 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual For this example assume that Build is clicked This creates the PLC The following screenshot shows the files generated by the CNC AutoPilot program C Program FilesWelta TauWyMachine File Edit View Favorites Tools Help Q Back gt 5 ya Search e Folders PO Address O C Program Files Delta Tau MyMachine 7 EN Go Folders Type Date Modified Program Files hl C C Header 3 17 2005 12 38 PM E 5 Adobe O Altiris Analog Devices Borland O Broadcom Common Files Compaq ComPlus Applications 3 Delta Tau feed ADv9a00_1 ADY900_5Axis E 5 Manuals B MyMachine E 5 PHMI O PmacClassLibrary fH 5 PRO SUITE2 E O H l E EE H D Er Er En E i h apv900 h h ADVCNTL H h 10600 h h 1o810 h h MyMachine_UserDefines H h NCPLC H
172. r For example WHILE 1 GT 0 0 DO1 END1 WHILE 500 NE 550 DO2 170 Parametric Programming PMAC NC Pro2 Software Reference Manual END2 DO of the WHILE loop will branch to the first block after its matching end block if the conditional statement preceding it is false otherwise execution continues to the block just following the DO statement If there is no conditional on the block DO END is looped through forever Each program subroutine or parametric subroutine can have up to three WHILE DO END loops active at any one time The DO loops of the subroutines are all independent This means that subroutines can be called from within a WHILE loop and that subroutine will have three more WHILE loops available to it When the calling program is returned to any WHILE loops that were active prior to the call are restored WHILE loops can be nested as follows N10 WHILE 1 NE 0 0 DO1 N20 WHILE 2 NE 0 0 DO2 N30 WHILE 3 NE 0 0 DO3 N40 END3 N50 END2 N60 END1 WHILE loops can be repeatedly used in the same program N10 WHILE 1 NE 0 0 DO1 N20 END1 N60 WHILE 1 NE 0 0 DO1 N70 END1 Branching outside of a WHILE loop is allowed Branching cannot be made into a WHILE loop The following code is allowed N20 WHILE 1 LT 10 Dol N30 N40 IF 100 NE 1 0 GOTO 70 Nat N60 END N70 WHILE loops cannot overlap The followin
173. r Sinking Cycle Free Cumg 104 G83 Deep Hole Peck Drilling Cwcle AAA 106 ER TEE 106 G83 Reaming Boring Cycle viciosa Zeg tee Seege ee Eege ed eased 107 G87 Boring Cycle Manual or Programmed Quill Reim 109 G88 Boring Cycle Free Cutting Manual or Programmed Quill Rem 110 G89 Boring Cycle Finishing Cut Free Cuingl 110 G90 G91 Absolute Incremental Mode 111 G90 1 G91 1 Arc Radius Abs Inc Mode 111 G92 Work Coordinate System Selina iii dias didactica 112 G93 Inverse Time Feed iii 112 G94 G95 Feed Per Min Feed Per eu 113 Table of Contents 7 PMAC NC Pro2 Software Reference Manual G98 G99 Canned Cycle Return Point 113 G103 PO P1 PC Lookahead Mode 113 M Code Library CNC M Codes 114 MOO Program STO Dossier anda De ad aan id EEA A el 114 MOT Optional OD ao Debra daa ainia rectas cio 115 MO2 Program Reuwtnd E E E E ARE A A REE 115 MOS Spindle TEE 115 M04 Spindle Counterclockwise irisse eienenn REESEN EES EENS EEENEEEEEE AE 115 MOS Spindle Stops a eea au a a ae aaae air aaeeei aaia anaa eine a Sa 115 M06 Tool Change dica Aa Sa 115 MOS Coolant On caian 116 MOS Coolant UR SRE SH SE ERAS ER RRB A REE MR 116 MIO Spindle Orient oia 116 M30 End of Program and Reni bid died 116 e TTT 116 M88 End Data Gathernet o ii tS gaa ace dees 116 M98 Subroutine Call iccccssaticscsiccccsaicssscsdtcsnsabtcsnscatscen inetd deniaedadessaedbcesacedbasuacebddeaasadsacaeaed cenicedacaaccesesentes 117 M99 Return from Aubroutine 118 Ee
174. r particular system The minimum items selected are shown in the following screenshot System Backup PMAC NC Pro2 Software Reference Manual Backup Configuration Device 4 0 UMAC TURBO V1 BAR M Item Groups to Backup i i P Important M Registers and User Buff MV P Variables Iw Motion Programs and Kinematics IV GQ Variables Iw PLC Programs M M Variable Definitions Iw Coordinate Systems F User Written Servos PLCC s 1 Compensation Tables Standard Option 16 Memory Registers Extended Optic MACRO Configuration M Backup How Single Backup File Use Include Files Done Once the backup is complete be sure to store this file on secure remote media so it is not lost in the event of PC failure Windows Registry Backup The PMAC NC Registry BackUp is a utility included in the PMAC NC Pro2 software suite for saving and restoring the Windows Registry parameters which determine the configuration of the PMAC NC Pro2 CNC software interface The PMAC NC Registry Backup creates a Windows Registry backup file with the necessary parameters to restore the PMAC NC Pro2 environment in the event of a PC crash or for OEM machine builders duplicating machine configurations The PMAC NC Registry BackUp can be started by double clicking the executable file in the folder location where the PMAC NC Pro2 Software was installed or from the Windows Start menu The default installation will place the application
175. rence Point Return Check iii 94 G28 Return to Reference Poltica abad ill 94 G29 Return from Reference Poi it cosirer einna iaa dance ada NENNEN 95 G30 Return to Reference E 95 GIL Move Until Tag Ber ienne e de EE EE EE 95 G40 G41 G42 Cutter Compensation iseinean na EEE EEE E 95 G43 G44 G49 Tool Length Compensation and Cancel 96 G45 G46 G47 G48 Single Block Tool Offsets ooonooconccconncnnnanononnnnnononannnonnnnnnna no non nn ran nn rana nono n rra ana ran nn ran nnranass 97 G30 G51 Coordinate Scaling cion A Rd 97 G30 1 G51 1 Coordinate MUITO MB ES cai 97 G52 Local Coordinate EE 98 G53 Machine Coordinate Selection nan n nana n ona nana n enn n aran nn rana n ran n nc nn nn cnn cn rana ninnnss 98 G54 59 Work Coordinate System 1 6 Selection conan no nonnc nan n rana conan cnn nc rannnrannccnnnss 99 GOL Exact Stop Mode siii deed dees dE an aaee da Retard dae 99 G64 Cutting Mod 5 cscs ees eege degen Eeer det 99 G65 MACRO INStruction csccescccessccessecesseeesseeescecescecseneessseessaeecsscecscecseaeessseesseecsesesssaeseeaeeesaeessneeseaeeee 100 G68 G69 Coordinate System Rotation oonoccnonncnonncnonnnnnnnnonnnnonon nc narco nana cnn nn rana nono n nr nn nn rana n cana nr nn nn cnnnnnanncnnne 100 G70 Bolt Hole Circle Bonten 100 G70 1 Bolt Hole Center Hole Ignore Botten 101 GT ALCP CIM issn tee EE 101 LEE 102 G80 89 Canned e a 103 G80 Canned Cycle Comte al aa EEE aee aea EEE EE S 103 EE 103 G82 Boring Spotfacing Counte
176. rm is issued and program execution stops Examples Program O099 nc performs initialization and loops indefinitely Program 099 nc 099 M99 example dr Initialization code Executed one time only LJ 7 N50 O The part program Executed indefinitely LJ 3 M99 P50 o Program 0990 nc calls O991 nc twice Each time 0991 nc loops 5 times and returns Program 0990 nc o 0990 M99 example G90 M98 0991 GO X 5 0 M98 P991 M30 2 6 Program 0991 nc Called by 0990 nc 0991 Subroutine G91 G81 X 5 Z 5 F30 0 X 4 XD Programmers Guide Milling G Codes 119 PMAC NC Pro2 Software Reference Manual G90 G80 M99 LS o T Codes T Code Format Tnn Where nn specifies tool number from the Tools page in the NC display Example TOOL 4 437 DRILL TOOL 3 1 2 13 TAP G90G80G49G40G20G17G56 T4M6 M353000 M8 G0X1 5Y 1 5 Miscellaneous Block Delete Character Prevents execution of the block when Block Delete is on Must be the first character in the block 120 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual PROGRAMMERS GUIDE TURNING G CODES Tool Motion Tool movement along circular arc Tool movement along straight line The tool moves through lines and arcs within the table boundries as required to manufacture a part Rather than moving the tool in
177. rmitted for the motor software overtravel limits These variables are defined in counts and are referenced to the motor zero or home position often called machine zero Even if the origin of the axis for programming purposes has been offset often called program zero the physical position of these position limits does not change they maintain their reference to the machine zero point Turbo PMAC checks the actual position for each motor as the trajectory is being executed against these limits if a limit is exceeded the program is aborted and the motors are decelerated at the rate set by Ixx15 Variable Ixx41 for each Motor xx defines the distance between the actual position limits explained above and the desired position limit that can be checked at move calculation time even in lookahead That is if the calculated desired move position is greater than Ixx13 Ixx41 or less than Ixx14 Ixx41 this will constitute a desired position limit violation Desired position limits are only checked if bit 15 of Ixx24 is set to 1 In this mode if the lookahead algorithm while scanning ahead in the programmed trajectory determines that any motor in the coordinate system would exceed one of its desired position limits it will suspend the program and force a stop right at that limit It will then work backwards through the buffered trajectory segments to bring the motors to a stop along the path at that point in the minimum time that does not
178. rogrammed point at maximum traverse rate for all axes G00 is group 01 modal It is canceled by other group 01 functions The rapid move is not axis coordinated Each axis has a different endpoint velocity ramp Each axis may also have a different maximum traverse rate The axis with the longest move time move distance axis velocity will finish last and provide the final in position for end of block registration Rapid moves are never blended with adjacent blocks Syntax GOOX_Y_Z_ Example Code NOO5 G49 G54 G20 G90 G40 G80 NO10 52500 M03 NO15 G55 NO20 G20 G90 GO X0 YO inch abs rapid to work piece x y zero psn G01 Linear Interpolation Linearly interpolates the position of the tool from the current point to the programmed point in the G01 block Segmentation control for all interpolation is controlled by the PMAC 113 parameter The speed of the tool is controlled by the modal feedrate word F and is the vector velocity of the tool path defined by Ly Ly GE oe Ji L dJi Lx Linear moves may blend with adjacent interpolative blocks If the G01 block contains a Dwell G04 or an Exact Stop G09 a controlled deceleration to a stop with in position going true will inhibit blending with the next block If the G61 modal Exact Stop is active no blending between linear blocks will occur until canceled G64 Cutting Mode G01 is group 01 modal It is canceled by other group 01 functions Syntax GOILX_Y_Z_F_ Example Code NO30 X1 125
179. ropriate user to user 20 values in registry database and writing those G codes in Mill or Lathe g code file Adding G60 1 in MILL G file To add G60 1 to the MILL G file 1 Open the MILL G file in the editor 2 Add label N60100 and write the code under this label 3 Follow the same procedure for other user G codes 60 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual CUSTOMIZABLE KEYBOARD FUNCTIONS ALT FUNCTION KEY PMAC NC Pro2 includes the capability to send commands directly to PMAC via the PC keyboard These commands are initiated by pressing the Alt key in combination with one of the following Function keys F2 F12 Three functions are predefined leaving 8 user customizable inputs The predefined Alt Functions are as follows Function PMAC NC Pro2 Software PMAC M Variable PMAC MACRO Key Variable Name Mapping Address h Definition Address h Bit ALT F2 CNC_SINGLEBLOCKTOGGLE CS_SINGLE_BLOCK 00000004 ALT F3 CNC_BLOCKDELETETOGGLE M2 CS_STATUS3_M CS_BLOCK_DELETE 00000010 ALT F4 CNC_OPTIONSTOPTOGGLE CS_OPT_STOP 00000008 The User Customizable Alt Functions are as follows Function PMAC NC Pro2 Software PMAC M Variable PMAC MACRO Key Variable Name Mapping Address h Definition Address h Bit ALT F5 CNC_USER1TOGGLE CS_USER_1 01000000 ALT F6 CNC_USER2TOGGLE CS_USER_2 02000000 ALT F7 CNC_USER3TOGGLE CS_US
180. ror and In Position band settings are coordinate system specific and are in USER UNITS In the above example it is Inch specified by Machine Unit Lookahead mode is ON Homing is based on HOME Switch Radio Button is selected for this option All motor specific Mtr 1 Mtr 2 settings are in User units INCH In our Axis Motor definition we have 4 motors assigned to X Y Z and spindle so only 4 motors settings are enabled on Machine Setup page PMAC NC Pro2 Customizable Features 31 PMAC NC Pro2 Software Reference Manual 1 CNC Autopilot Program For MILL Application Axis Motor Std PLC Machine Setup NCUI Registry Fille Managment NC Program to Load C Program Files Delta Tau PMAC NC Pro2 Designer Mill NC Program Folder C Program Files Delta Tau PMAC NC Pro2 Designer Mill NC Error File les Delta TautPMAC NC Pro2 Designer MilIKERRORS DAT NC Variable File C Program Files Delta Tau PMAC NC Pro2 Designer Mills d NC PagesDatFlle C Program Files Delta Tau PMAC NC Pro Designer Mill NC Buffers Lookahead Buffer 400 Rotary Buffer 4000 Synchronous M Buffer fi 00 Miscellaneous Tool User_Position_Reporting No Of Tools 50 WirelessPendentOn Geometry ae mav 1 0000 Wear S ES ffe o Orientation Wi mS 9 Velocity Scale Y 1 0000 Cutter Compenstion Riv Velocity Scale Z 1 0000 Cutter Comp Wear Riv Welocity Scale X Update Build amp Download Set Pages Dat file Path Setting Ex
181. roup 01 functions Programmers Guide Turning G Codes 127 PMAC NC Pro2 Software Reference Manual SYNTAX GOIN ZF EXAMPLE CODE N030 X1 125 Z2 25 N040 G61 G1 Z 02 F20 exact stop mode linear plunge cutter 20 ipm N050 G64 G3 X0 5 Z2 0 R0 375 G02 Circular Interpolation CW Circular interpolation uses the axis information contained in a block to move the tool in a CLOCKWISE arc of a circle up to 360 degrees The velocity at which the tool is moved is controlled by the feedrate word and is vector tangential 2 2 F f x f y All circles are defined and machined by programming three pieces of information to the control they are 128 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual START POINT of the arc END POINT of the arc ARC CENTER of the arc 02 using I K The START POINT is defined prior to the G02 line usually by a G01 linear positioning move The END POINT is defined by the X and Y axis coordinates within the G02 line when in the XY PLANE The ARC CENTER is defined by the I J and K values vector incremental from the start point when in the X Y PLANE or the R value within the G02 line The full format for a G02 line must reflect in which plane the arc is being cut This is accomplished by use of a G code to define the plane and the letter addresses I J and K G17 XY PLANE Letter address I for X Letter address J for Y G18 XZ PLANE Letter address I for X L
182. s does not cause any errors there is no real point in putting these programmed points in the motion program if the controller is going to skip over them However some inherit old motion programs with points closer together than is actually required these users may have reason to set the segmentation time larger than the minimum block time Note The programmed acceleration time sets a limit on the maximum block rate The move time for a programmed block even before lookahead is not permitted to be less than the programmed acceleration time The programmed acceleration time is the larger of the TA time TA Isx87 by default and twice the TS time TS Isx88 by default In high block rate lookahead applications the TA time is typically set equal to the minimum desired block time and typically the TS time is set to because it squares up corners Calculation Implications While smaller Isx13 segmentation times permit higher real maximum block rates and permit more accurate interpolation they increase the Turbo PMAC computational requirements particularly when lookahead is active The following table shows the result of benchmarking tests on the Turbo PMAC and the minimum segmentation times that can be used for a given number of axes executing lookahead calculations Number of Axes Maximum Block Rate blocks sec Minimum Segmentation Time msec 2 2000 1 200 3 1000 1 4 500 2 5 500 2 6 500 2 8 333 3
183. s the form lt var integer gt lt whole integer gt lt decimal integer gt where var integer is any valid local or global variable number Whole integer is the number of places to reserve for the Whole part of a floating point number Decimal integer is the number of places to reserve for the Fractional part of a floating point number Examples Given 1 4 13 24 dad 100 5 9 Then DPRNT A 1 22 X 24 34 AND VARIABLE 100 100 34 Sends out A 4 13 X 7 9000 and variable 100 5 9000 Given 9 300 24 125 25 1 0 Then DPRNT G1 X 24 44 Y 25 44 F 9 30 Sends out G1 X 0 1250 Y 1 0000 F30 Given 500 100 501 0 Then DPRNT THIS IS PART 501 30 OF 500 30 Sends out This is part 0 OF 100 POP EN F E This prepares or opens the output file or device for output It should be included prior to any DPRNT statement for Fanuc compatibility PCLOS This closes any output device opened by POPEN For FANUC compatibility it should be used before terminating a program The proper sequence for POPEN PCLOS and DPRNT is illustrated in the skeleton subroutine below 0999 DPRNT UTILITY POPEN Open device for output DPRNT DPRNT PCLOSE Parametric Programming 173 PMAC NC Pro2 Software Reference Manual M99 Parameter Display The parameter display is an important tool for developing and determining if a parametric program is working as expected The programmer
184. servo cycles Select Number of Coordinate DPR AT Buffers i v DPR BG Buffers DPR Setup Buffers o A Cancel li 3 DPR Setup Buffers Device Properties PMAC Device number 0 DPR Setup Buffers Eee Gather Size fo Variable Read Size 384 DPR AT Buffers Variable Write Size 32 Bin Rat Buffer Sizes RBO 1024 D I 11024 RB2 p RB3 fo RB 4 Pe 0 DPR Setup Butfers RBG fo RB fo RBS eal 0 RB 10 o RB 11 fo RB 12 oo RB 14 fo ABIS O NOTE All entries are decimal numbers DPR BG Buffers o A lit 18 Autopilot Utility PMAC NC Pro2 Software Reference Manual For example in a typical MILL application there are 4 axes X Y Z and spindle i e 4 motors Mark check box for DPRAM Real Time Update and 1 2 3 and 4 by selecting DPR RT Buffers Button Mark check box DPRAM Background Update by selecting DPR BG Buffers This will complete DPR configuration for typical MILL machine Mark the appropriate check boxes for any additional motors Click the OK button to go back to the PMAC Device dialog box On the PMAC Device dialog box you may click the Test button to check communications with selected PMAC device If the communication is established then a pop up message will be displayed This procedure completes verification of the PMAC device selected for CNC Auto Pilot MM PcommServer A The PMAC was successfully detected Press OK to exit from PMAC Device dialog box
185. snsssssssscnsssesesscssssssnsssssssonsssssessssssesonsseones 11 System Requirements ton AAA A A Gel eee 11 Minimum PC System Requirements ANERER 11 Minimum Delta Tau Controller Requirements oooooconocononncnannnnnnanonnnnnnnnnononnc nana n nana n cnn nena cenar nn ran n cra a nena ncinnncons 11 Minimum Communications Requirements PMAC UMAC Dependent 11 Software Install iii dci ieaS 11 SYSTEM BACKUP AAA 12 Tint OG Ct OI ia ica 12 PMAC UMAC Backup ico NEEN ENEE EE 12 Windows Repistry Backup codicia ere EENS 13 PMAC NC System Pile BackUpe cotidiano tale N N S 14 AUTOPILOT UTILITY E 16 Introducir ai id 16 Howto Use CNC Auto loca its 16 AXIS MOtOr Definitions pt eege eege Eege EE 19 Position EE 20 deed ee EN 20 Display AA hee ee ee Dee atts ges ae 20 Std PEC Enciso 21 A ANS A EEN EE 21 EE e Lee Les 22 A ee ege SCENE ee EE EEN 22 Ady CINES ia a a N R aaaea a aea 22 ET 22 Va L0 AE EE E E EES 23 EE 23 ET 23 PMAG TY Denia 23 Enable PEC eege AER 24 ege Eege 24 Machine Setup Function ia 24 JOR Pedi 24 Rapid perdi iaa 25 Positive S W LAM tb cis AN 25 Negative S W Litt ssrisssrcisicsessosieniniienietone orosenie uss oeaio iene saws iE OESE ASERNES ERNE Eden 23 Home OFF SC ties vsieiess bvieuessbevesisssduesinessoceevsssendaysisbveessitpoeus SEEE eO AERE E OSERE S N ESEE EEEIEE E 23 HOME Pedi an eese a eiai aesae A Eeee Eae S KE AA A bese 25 E E 25 EC ii A ata ia 25 t 25 B ild EE 26 Build and Download sumi nina dead a iia 26 NCU
186. stant Surface Speed CSS Mode oooooocconccconccconanonancnnanncnonancnnnncnna conan nc nan nc nano crac acc nn ano nannnnnncinna 150 G98 1 G99 1 Canned Cycle Return Point 151 G103 PO P1 PC Lookahead Mode 151 MEC ode Descriptions 2 io ini 151 MOO Program Stopuri Bee Ee EE dee AER ees 151 MOL Optional MOP its 151 MOZ Program Rewind vac a ie 152 MOS Spindle EE 152 M04 Spindle Counter Clock Wise ccccsscccsssecessecesseceeseeesneecescessscecesseeesaeecsseecenesscecnssesesaeessaeeseaeesseaeeesaeeenaes 152 MOS Spindle MOP a dais 152 M06 Tool Ching ad aci 152 MOSE Coolant EE 153 M09 e ed turers 153 M30 End of Program and Rewind AA 153 M98 Subroutine Call amp M99 Return from Subroutine Colle 153 EE 154 A EE 154 PARAMETRIC PROGRAMMINGooooccccononoonnconanononaconananananonnanonanononanonananananonnnnconanonona conan cconanoncn ccoo nononaronannss 155 Introducing Parametric Progtamming id Ee 155 Example Pa caia 155 Clearing Global Variables cin 155 Drilling Custom Bolt Hole Patterns ccccccssceseseeceseeesseceneceseecsceceseecesseeesaeecsacecsscecesaeeesaeessaeesenaeensnesenaes 156 Parametric Subroutines eet aere i ed ida 158 Val cc 159 EXPTE EE 167 Propran Cont AAA O enden sestaunetens 169 Formatted Output 171 Barameter Display seeks cxcdecnsseids cceetdesnseasdss e e eaa eee eiea e ri iee nie deed Ee dese Tee 174 Table of Contents 9 PMAC NC Pro2 Software Reference Manual INTRODUCTION This manual discuss
187. stry Settings Exit Follow the onscreen instructions to either save or restore the PMAC NC Pro registry settings Save PMAC NC Registry Settings Saves your backup Registry file in text format to a location and name of your choice Restore PMAC NC Registry Settings Restores your PMAC NC Pro2 GUI parameters Once the backup is complete be sure to store this file on secure remote media so it is not lost in the event of PC failure PMAC NC System File Backup The three files simply need to be backed up and saved to secure remote media so they are not lost in the event of PC failure In the event a restore is required be sure to put them back in the folder specified by the NC Setup application under the NCUI Registry tab NC Error File The name of the file and folder location is specified in the NCUI Registry tab of the NC Setup Utility This file contains the custom error messages you see on screen Default File Name ERRORS DAT NC Variable File The name of the file and folder location is specified in the NCUI Registry tab of the NC Setup Utility This file contains the parametric variable values which are saved through a power down 500 599 Default File Name VARS DAT NC Data Pages File The name of the file and folder location is specified in the NCUI Registry tab of the NC Setup Utility This file contains the information which determines what is displayed in the custom form found under DIAG F6 then DATA PAGES F
188. t F2 Edit Curr Program This function key will load current file from NC execution window to the Editor window User can edit the current program This is active only in MANUAL mode F3 Load Curr Program This function key will load current file from the Editor window to NC execution window This is active only in MANUAL mode F4 SAVE This function key will SAVE current open file from Editor Window If the file name does not exist then it will open File Save dialog Box to Name the file and to save NC Operation and Programming 77 PMAC NC Pro2 Software Reference Manual F5 FIND This function key will open dialog box in the Editor window to find string from current opened file Finde aeaea T Match whole word only Direction Cancel Match case C Up Down F6 REPLACE This function key will open dialog box in the Editor window to find and Replace string from current opened file Replace Find what 690 Replace with 691 Replace Replace All T Match whole word only Cancel Match case Gei F7 CUT This function key will cut the selected string from current opened file The string can be selected by holding Shift Arrow key This is same as pressing the CNTL X keys F8 COPY This function key will copy the selected string from current opened file The string can be selected by holding Shift Arrow key This is same as pressing the CNTL C keys F9 PASTE T
189. t application from NCUI folder At the start of the application the introduction window will be displayed CNC Autopilot Program Delta Tau Data Systems CNC AUTOPILOT APR 28 2005 Version 4 0 0 2 Application Type Mill Lathe A Lathe B Lathe C Cancel This dialog box will display the Software Release date APR 28 2005 version number 4 0 and build number 0 2 This is important for any technical support issues The default setting for Application Type is MILL Verify the type of application depending upon your machine type 16 Autopilot Utility PMAC NC Pro2 Software Reference Manual Click Start to continue The PMAC Devices dialog box will be displayed Select the appropriate device from the list Click the Properties button to set up dual port RAM communication necessary for NC software PMAC Devices OK Insert Remove Test Properties Cancel 1 DPR RT Buffers Device Properties PMAC Device number 0 V DPRAM RealTime Update General 20 RT update rate servo cycles Motor Mask 1 2 3 H4 5 H6 H7 8 DPR AT Buffers v 71d a D 99 H9 10 11 12 13 14 15 16 NM on a 0 17 18 19 20 21 22 23 24 oo oo oe en oe 25 26 27 28 29 30 31 32 oo Cancel Autopilot Utility 17 PMAC NC Pro2 Software Reference Manual 2 DPR BG Buffers Device Properties PMAC Device number 0 V DPRAM BackGround Update General 20 BG update rate
190. t return is performed first after the machine power is turned on Usually this is the same as the homing function since the reference point is at a fixed offset from the Machine zero position In order to move the tool to the reference point for tool change thereafter the function of automatic reference point return is used Machining Center G Code Library G Code Summary PMAC NC Pro2 for Windows Machining Center G Code Library Valid As Of 6 1 99 Bold indicates Default G Codes used at startup G Code Function G00 Rapid Traverse G01 Linear Interpolation G01 1 Spline Interpolation G02 Circular Interpolation CW G03 Circular Interpolation CCW G02 amp G03 Helical Interpolation X Y amp Z in the G code command line Dwell Exact Stop Check Program Data Input PMAC Data Input G17 XY Plane Selection G18 ZX Plane Selection G19 YZ Plane Selection G20 Inch Mode G21 Metric Mode G25 Spindle Speed Detect Off G26 Spindle Speed Detect On Reference Point Return Check Return To Reference Point Return From Reference Point 2 Reference Point Return G31 Move Until Trigger Cutter Compensation Cancel Cutter Compensation Left Cutter Compensation Right G43 Tool Length Compensation Direction G44 Tool Length Compensation Direction Tool Offset Increase Tool Offset Decrease Tool Offset Double Increase Tool Offset Double Decrease G49 Tool Length Compensation Cancel G50 Scaling Cancel G51 Sca
191. te systems as desired Programmers Guide Turning G Codes 137 PMAC NC Pro2 Software Reference Manual SYNTAX G50X_Z_S __ EXAMPLE CODE G50X25 2Z23 0 G52 Local Coordinate System Set While programming in a work coordinate system it is sometimes more convenient to have a common coordinate system within all the work coordinate systems This coordinate system is called a local coordinate system The G52 specifies the local coordinate system The Local CS X Y will be offset from the Work CS XY by the vector A that makes the current tool point in the Local CS equal to the position word in the G52 block G52X100Y100 When a local coordinate system is set the move commands in absolute mode G90 1 which is subsequently commanded as are the coordinate values in the local coordinate system The local coordinate system can be changed by specifying the G52 command with the zero point of a now local coordinate system in the work coordinate system To cancel the local coordinate system and specify the coordinate value in the work coordinate system match the zero point of the local coordinate system with that of the work coordinate system 138 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual SYNTAX G52X_Z EXAMPLE CODE N4 G0 G90 S500 M3 N5 G52 X 0157 Z0 G53 Machine Coordinate Selection The machine zero point is a standard point on the machine It is normally decided in accordance with the ma
192. tem F11 F2 F3 F4 F5 F6 F7 Fa Cros mo err ons leon ome wsos ern On every sub menu to navigate back to the main menu only requires pressing the BACK button F1 AGA lt lt BACK 70 NC Operation and Programming PMAC NC Pro2 Software Reference Manual PROGRAM OPERATIONS Fi PROG This function key will display the sub menu s available for part program functions Delta Tau Data Systems CA NC 5 0 x D Software Visual c files foldeiPHMISambleNC nc Reneat 1 of 1 Line O of 19 NODOD0O Program Position Inch Machine Pos Inch i Feedrate Active Tool Work Offset x Rod x 1 0000 Max Feed 200 Ur P 054 Max Speed Cmd Feed 200 0 Offset Hoo boo Cmd Speed Act Feed 0 0 Active G Code Active M Code Y 1 0000 Y 1 0000 Act Speed Override 65 Goo en G17 Mos Mog Override Mode FPM G94 G97 GAD Z 0 0000 K i 0 0000 CSS Mode Rapid 50 en 649 Machine Speci F200 GO X1Y1 a Ce Power On Time 000 0 1 56 Cutting Time e 3 G1 X1y1 B G4 X0 1 Operating Time Cycle Time G45 x1 G1 X1y1 che a Darts G1 X1y1 G4 X0 1 Parts Required G45 x1 G1 X1y1 Parts Count GA X0 1 G45 x1 EE Parts Total Current Date And Time Date 6 Current Time GOTO Parts Reset Reset Reset SERES o a SEARE nI LINE Required Parts Co Parts Total Cycle Time F2 Load This button allows loading a program for part program execution The loaded program will appear at the top of the screen in the
193. tep Quit or DWELL at an outside corner with an added arc Turbo PMAC will include the added arc move before stopping When coming to a full stop at an outside corner without an added arc Turbo PMAC will stop at the compensated but unblended corner point PMAC NC Pro2 Customizable Features 49 PMAC NC Pro2 Software Reference Manual Treatment of Full Reversal If the change in directed angle at the boundary between two successive compensated moves is 180 1 the included angle is less than 1 this is considered a full reversal and special rules apply If both the incoming and outgoing moves are lines the corner is always considered an outside corner and an arc move of approximately 180 is added If one or both of the moves is an arc Turbo PMAC will check for possible inside intersection of the compensated moves If such an intersection is found the corner will be treated as an inside corner Otherwise it will be treated as an outside corner with an added 180 arc move Reversal In Cutter Compensation Programmed Path Line S Line lt 6 ee ane e a Tool Centet Arc Tool Center enter Path gt 77 Path Right Path Left Line to Line Line to Arc Inside and Outside Tool Center gt _ Path Ar r rod Programmed Path Arc Are e gt Programmed Path AT oo Center DC Path gt Arc to Arc Outside Arc to Arc Inside Note on Full Circles If a full circle move is executed while
194. th is updated automatically Cntl Panel Function In this Cntl Panel group of fields enter the values to create the Control Panel PLC Delta Tau standard PMAC NC Pro2 has different types of Control Panels Currently this software supports Adv 600 Adv 810 Software Panel and ADV900 The details of these control panels are available at www deltatau com The Control Panel PLC outputs changes according to the selection of the control panel Select the appropriate panel By default Adv 600 control panel is selected The Software Control Panel is selected when NC4 x will be running without a hardware control panel The Control Panel PLCs support NC4 x software and more These control panel PLCs will not work with older NC software such as NC2 36 or NC3 x To support old NC software use the Autopilot which comes with the installation of the old NC software Adv Settings If the Adv Settings function is clicked the window shown below displays Advance Settings allows setting of some special features of NC These settings are useful for ADV600 style control panel and ACC34 style PMAC I O boards Advance Settings Advance Settings Only ACC34 Type No of I0 Cards E l I0 Card 2 170 Card 3 l 0 Card 4 M VO Card 5 Press Done when Finished No of I O Cards This box is for adding I O cards Default control panel PLC reads and writes one I O card When the control panel type is Adv 810 then these settings are not availabl
195. the AutoPilot program The machine related defines Macros can be written in this file for better document control and maintainability As a good integration practice do not alter or modify Address h or OEM h etc files Use this file to add machine specific stuff NC_I_VAR IVR This file stores all the I Variables generated by AutoPilot program using the Machine Setup input 34 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual INITIALIZE PLC This is a one time execution PLC This is used to initialize the NC system variables or I O Additional variables can be placed in this file CNTLPANEL PLC This is the control panel PLC for Adv 810 OVERRIDE PLC This is the percentage override control PLC used for spindle and feed rate HOME PLC This is the home PLC for all axes HANDLE PLC This PLC is for handle SPINDLE PLC This PLC is for spindle It can be open or closed Reset PLC This is template PLC for Reset action User can add RESET sequence or any other Reset related action in this PLC GPTimer PLC This PLC provides additional Timers This PLC uses PMAC free memory location to create additional TIMERS POSITION_REPORT PLC This is user position reporting PLC generated only if the User Position Reporting check box is selected from miscellaneous group box In our example we did not selected this check box so this PLC will not be generated OEM H This header file is created by the Auto
196. ther controls A subroutine can be called more than once within the same block This is called looping The number of loops is specified with the L address code M98 P10 14 would execute program O10 nc four consecutive times Examples Program O98 nc calls O100 nc once and PRG nc 100 times Program 098 nc o 098 Subroutine call example A G04 X1 M98 P100 M98 C CNC PRG NC L100 G04 x2 M30 o 6 Program O100 nc in the same directory as program O10 nc o 0100 G91 G81 X 5Z 1 0 F30 G90 M99 2 6 PRG NC is aN NC program with a M99 for a return from subprogram 2 6 PRG NC Gl X5 Z5 Cena 46 GO X2 M99 2 6 M99 Return from Subroutine Syntax M99 L__ P___ Where L specifies the number of times to execute the program P specifies a program block to branch to Description M99 transfers program control to a calling program or to a different location of the current program being executed The action of M99 is different depending on whether M99 is encountered in a subroutine or in the main program 118 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual Subroutine program action of M99 e If M99 is encountered in a subprogram and no L or P address code is in the block processing is transferred to the first block after the M98 block or the calling program that called the current program e Ifan Lis on the
197. ting No Of Tools 50 WirelessPendentOn Geometry O 1 0000 Wear D Welocity Scale x Orientation xT Velocity Scale Y 1 0000 Cutter Compenstion Velocity Scale Z 1 0000 crte compiea Build Build amp Download Set Pages Dat file Path 26 Autopilot Utility PMAC NC Pro2 Software Reference Manual File Management NC Program to Load This stores the NC file with path to be loaded in NCUI interface on start up of the application NC Program Folder This sets default NC file path NC will use this path as default to open different machine files NC NC Error File This sets the path for storing Errors data file NC will use this file to show different users error NC Variable File This sets the path for storing Parametric variable in data file NC PagesDatFile This sets the path for loading Pages Dat file to be used in NC diagnostic menu NC Buffers The NC Buffers section of the AutoPilot utility configures the parameters which control the way PMAC NC Pro2 utilizes Turbo PMAC s advanced lookahead features LookAhead Buffer This parameter determines the number of move segments that can be stored in PMAC s lookahead buffer size in move segments Synchronous M Buffer This parameter determines the number of synchronous M variable assignments that can be stored in PMAC s lookahead buffer Rotary Buffer The rotary buffer parameter defines PMAC s rotary buffer size for coordinate system 1 The
198. to Reference plane in Z Cutting feedrate Number of repeats Ce Ee Programmers Guide Milling G Codes 103 PMAC NC Pro2 Software Reference Manual Programming Example G996G81X 3 Y 2 75Z 0 05R0 1F250L2 X 2 10 X 2 5L2 X 2 259 G80 when cycle is called F Value Z Depth Drilling Cycle with G99 Active Programming Example G98G81X 3 Y 2 75Z 0 05R0 1F25 0L2 X 2 75 X 2 5L2 X 2 25 G80 Zwhen cycle is called R Value Z Depth Drilling Cycle with G98 Active G82 Boring Spotfacing Counter Sinking Cycle Free Cutting When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Normal drilling is then performed at the specified feedrate to the specified Z position A dwell then occurs at the bottom of the hole for P seconds The tool is then retracted from the bottom of the hole at rapid traverse rate The return point in Z is either the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G82 line if G99 mode is active This cycle occurs on every line that includes an X and Y move until the mode is canceled with G80 canned cycle cancel 104 Programmers Guide Milling G Codes PMAC NC Pro2 Software Reference Manual Syntax G82 X_ Y_Z_R_F_L_ Center location of hole along X Center location of hole along Y Depth to drill to Refere
199. to be repeated by L in G98 mode the tool is returned to the initial level from the first time drilling In the G99 mode the initial level does not change even when drilling is performed rapid operation 1 initial point A rapid rapid operation 2 operation 6 reference poini o feedrate feedrate operation 3 Operation 5 operation 4 y Canned Cycle Example The drilling data can be specified following the G and a single block can be formed This command permits the data to be stored in the control unit as a modal value The machining data in a canned cycle is specified as shown below G80 Canned Cycle Cancel Cancels any active canned cycles G81 Drilling Cycle When this cycle is commanded the tool is located to the specified X Y at rapid traverse rate followed by a rapid traverse to the R value Normal drilling is then performed at the specified feedrate to the specified Z position The tool is then immediately retracted from the bottom of the hole at rapid traverse rate The return point in Z is either the value of Z when the canned cycle is called if G98 mode is active Otherwise the return point in Z is the value of R specified on the G81 line if G99 mode is active This cycle will occur on every line which includes an X and Y move until the mode is canceled with G80 canned cycle cancel Syntax G81 X_ Y_Z_R_F_L_ Center location of hole along X Center location of hole along Y Depth to drill
200. to move the tool to the reference point for tool change thereafter the function of automatic reference point return is used 124 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual TURNING CENTER G AND M CODES G and M Code Summary PMAC NC for Windows Turning Center G amp M Code Library Valid As Of 6 1 96 Version 1 60 Software Bold indicates start up G Code G Code Function G00 Rapid Traverse G01 Linear Interpolation G01 1 Spline Interpolation G02 Circular Interpolation CW G03 Circular Interpolation CCW G04 Dwell G09 Exact Stop Check G10 Progam Data Input G10 1 PMAC Data Input G17 XY Plane Selection G18 ZX Plane Selection G19 YZ Plane Selection G20 Inch Mode G21 Metric Mode G25 Spindle Speed Detect Off G26 Spindle Speed Detect On G27 Reference Point Return Check G28 Return to Reference Point G29 Return from Reference Point G30 2 Reference Point Return G32 Thread Cutting G40 Tool Nose Radius Compensation Cancel G41 Tool Nose Radius Compensation Left G42 Tool Nose Radius Compensation Right G50 Coordinate System Setting amp Maximum Spindle Speed G50 1 Coordinate System Setting Cancel G52 Local Coordinate System Setting G53 Machine Coordinate System Setting G54 Work Coordinate System 1 G55 Work Coordinate System 2 G56 Work Coordinate System 3 G57 Work Coordinate System 4 G58 Work Coordinate System 5
201. tors is controlled by Ixx15 not Ixx17 and deceleration is not necessarily along the programmed path 40 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Velocity Limits Variable Ixx16 for each Motor xx defines the magnitude of the maximum velocity permitted for the motor These variables are defined in the raw PMAC units of counts per millisecond so a quick conversion must be calculated from the user units e g millimeters per minute If the algorithm while looking ahead in the programmed trajectory determines that any motor in the coordinate system is being asked to violate its velocity limit it will slow down the trajectory at that point just enough so that no limit is violated It will then work backwards through the buffered trajectory segments to create a controlled deceleration along the path to this limited speed in the minimum time that does not violate any motor s Ixx17 acceleration constraint Note During the initial move block calculations before move data is sent to the lookahead function a couple of factors can result in commanded velocities lower than what is programmed First if the vector feedrate commanded in the motion program with the F command exceeds the maximum feedrate parameter Isx85 then Isx85 is used instead Second if the move block time either specified directly with the TM command or calculated as vector distance divided by vector feedrate is less than the program
202. ts the jog mode continuous handwheel incremental or home The fourth column indicates the current jog rate or handwheel increment distance A Status In Auto or MDI mode program execution relative fields are displayed The second column reflects the current running state of the machine Stop Feedhold Running The fourth column is diagnostic and should always read ROT Buf Open The 5 column indicates the number of part program lines that are loaded ahead of the currently executing line in the part program the second number in this column indicates the number of lines that have been parsed ahead for program execution The remaining fields indicate if Block Delete Optional Stop or Single Block has been turned on by the operator The field labeled Status is textual and never changes The status label is only an indication that the list box to the right of 1t contains the current alarm status information Auto IT sw ROT Buff Open 403 2000 Single Block Optional Stop Block Delete Status MDI OPERATION When MDI mode is selected from the optional operators control panel or software operator panel an edit box will appear directly below the program execution window This edit box will allow the entry of a part program The part program entered must end with either a M2 or M30 After typing a part program the user may place the program in the program execution window by issuing the the Alt W command The data
203. tter diameters when cutting for a similar surface finish The current spindle PLC provided assumes the X axis as the CSS axis and allows an offsett parameter Refer to the Integrators Documentation for details Cancel with G97 150 Programmers Guide Turning G Codes PMAC NC Pro2 Software Reference Manual SYNTAX G96 G97 G98 1 G99 1 Canned Cycle Return Point Used in a canned cycle block to determine the return point G98 1 Initial point G99 1 clearance plane or reference point See the G80 G89 canned cycles SYNTAX G98 1 G99 1 G103 P0 P1 PC Lookahead Mode G103 Controls the PC program lookahead mode G103 is typically used with parametric programming when it is desired to stop the NC parser lookahead functionality It is desirable to turn off the PC lookahead when reading or writing to certain parametric variables especially system variables This prevents the condition of the parser evaluating logical expressions prematurely causing erroneous conditions G103 PO allows full PC lookahead functionality default state When it is desired to limit the PC lookahead G103 P1 will limit the lookahead to one block G103 does not affect PMAC s internal lookahead functionality G103 can be replaced by G05 1 depending on the setting of the multiBuffer mode in PMAC NC Windows registry Code Group0 Note G103 functionality is available in PMAC NC Pro2 versions 2 1 5 0 and later Syntax G103 P_ Example Code G103 Pl Stop PC Lo
204. used with parametric programming when it is desired to stop the NC parser lookahead functionality It is desirable to turn off the PC lookahead when reading or writing to certain parametric variables especially system variables This prevents the condition of the parser evaluating logical expressions prematurely causing erroneous conditions G103 PO allows full PC lookahead functionality default state When it is desired to limit the PC lookahead G103 P1 will limit the lookahead to one block G103 does not affect PMAC s internal lookahead functionality G103 can be replaced by G05 1 depending on the setting of the multiBuffer mode in PMAC NC Windows registry Code Group0 Note G103 functionality is available in PMAC NC Pro2 versions 2 1 5 0 and later Syntax G103 P_ Example Code G103 Pl Stop PC Lookahead 1100 104 1101 104 G103 PO Restore PC Lookahead G01 X3 2371Y1 2342 Programmers Guide Milling G Codes 113 PMAC NC Pro2 Software Reference Manual M Code Library CNC M Codes PMAC NC Pro2 for Windows Machining Center M amp T Code Library Valid As Of 6 1 99 Bold indicates Default M Codes used at startup G Code Function M00 Program Stop M01 Optional Stop M02 Program End amp Rewind M03 Spindle CW M04 Spindle CCW M05 Spindle Stop M06 Tool Change M08 Coolant On M09 Coolant Off M19 Spindle Orient M30 Program End amp Rewind M87 Start Data Gathering M88 End Data Gatheri
205. ust be specified by F feedrate not TM move time Turbo PMAC must be in move segmentation mode Isx13 gt 0 to do this compensation Isx13 gt 0 is required for CIRCLE mode anyway Note In CIRCLE mode a move specification without any center specification results in a linear move This move is executed correctly without cutter radius compensation active but if the compensation is active it will not be applied properly in this case A linear move must be executed in LINEAR mode for proper cutter radius compensation Defining the Plane of Compensation Several parameters must be specified for the compensation First the plane in which the compensation is to be performed must be set using the buffered motion program NORMAL command Any plane in XYZ space may be specified This is done by specifying a vector normal to that plane with I J and K components parallel to the X Y and Z axes respectively For example NORMAL K 1 by describing a vector parallel to the Z axis in the negative direction specifies the X Y plane with the normal right left sense of the compensation NORMAL K1 would also use the XY plane but invert the right left sense This same command also specifies the plane for circular interpolation NORMAL K 1 is the default The compensation plane should not be changed while compensation is active Other common settings are NORMAL J 1 which specifies the ZX plane for compensation and NORMAL I 1 which sp
206. ut the commanded position Insert a deceleration command w Program path N Actual path E Program path Move Blending X Move Blending Example Programmers Guide Milling G Codes 85 PMAC NC Pro2 Software Reference Manual Coordinate Systems There are two types of coordinate systems One is fixed by the machine mechanics and the other is a relative coordinate system specified by the NC program that coincides with the part drawing The control is aware only of the fixed one Therefore to correctly cut the work piece as specified on the drawing the two coordinate systems must be specified at machine startup When a work piece is set on the table these two coordinate systems are as follows e Coordinate system specified by the CNC Machine Coordinates e Coordinate system specified by the part Program Coordinates Machine Coordinates The machine zero point is a standard reference point on the machine The machine coordinate system is established when the reference point return is first executed after the machine power is turned on or the homing cycle is executed Once the machine coordinate system is established it is not changed A G code program will not execute without the machine coordinate system being established first 1 e all the machine axes must be homed before a G code program can be executed Program Coordinates The Program coordinates are always within one of the Work coordinate systems G5
207. value a machine tool builder specific function may occur 56 PMAC NC Pro2 Customizable Features PMAC NC Pro2 Software Reference Manual Parts Count This value is incremented by 1 when a M02 M30 or a M code specified by the machine tool builder is executed In general this value may be reset when it reaches the number of parts required However a machine tool builder program specific function may occur Delta Tau Data Systems CA NC 5 0 D wareWisual c files foldeiPHMISambleNC nc Reneat tof Lineott9 1 of 1 Line D of 19 RN Machine Pos Inch Spindle Status Max Speed Cmd Speed Act Speed Override CSS Mode Program Position Inch X 1 0000 X 1 0000 0 0000 Y IEN y 1 0000 Z HEN z ME x Feedrate Active Tool Work Offset Max Feed 200 Tool No TO G54 Cmd Feed 200 0 Offset HOO boo Act Feed 0 0 Active G Code Active M Code Override 65 G00 690 Mo5 Mog Mode FPM G94 G97 e Rapid 50 en Gm G17 G40 F200 GO X1Y1 G1 X2Y2 G4 X0 1 G1 Xly1 G4 X0 1 G45 x1 G1 X1y1 G4X0 1 G1 Xly1 G4X0 1 G45 x1 G1 X1y1 G4X0 1 G45 x1 M99 GOTO lt lt BACK LINE LOAD REWIND SEARCH Machine Specific Time r On Time Operating Time Parts Parts Required Parts Count Parts Total irrent Date And Time Date Current Time F11 Parts Reset Reset Reset Required Parts Co Parts Total Cycle Time To modify the parts required press F8 To reset the
208. ve The position is returned in work coordinates 5061 returns the skip position of PMAC s 1 axis 5062 returns the skip position of PMAC s 2 axis etc Tool offsets are not included 5081 508n Current Tool Offset Applied 5101 511n Current Following Error 5201 520n Common Work Coordinates These variables return the common work coordinates in effect at look ahead time Fanuc also refers to these as external work coordinates The common work coordinates can be modified in a G code program by assigning values to these variables When these variables appear on the left of an assignment statement the PC side look ahead queue is allowed to empty and the coordinates will change before further look ahead is allowed 5201 corresponds to PMAC s 1 axis 5202 corresponds to PMAC s 2 axis These variables do not refer to G92 166 Parametric Programming PMAC NC Pro2 Software Reference Manual 5221 522n G54 Same as common work coordinates but applies to G54 5241 524n G55 Same as common work coordinates but applies to G55 5261 526n G56 Same as common work coordinates but applies to G56 5281 528n G57 Same as common work coordinates but applies to G57 5301 530n G58 Same as common work coordinates but applies to G58 5321 532n G59 Same as common work coordinates but applies to G59 7001 795n G54 1 P1 P48 extra offsets Same as common work coordinates but applies to extra offsets Expressions The evaluation of a
209. ve distance axis velocity will finish last and provide the final in position for end of block registration Rapid moves are never blended with adjacent blocks The maximum traverse rate for each axis motor is set by the maxRapid parameter in the machine type cne file The CNC profiling uses these values to program the maximum jog motor I parameters in the PMAC PC 1x22 Ix16 Ix50 motion card Consult the control package hardware documentation or the PMAC User Software reference manuals for further information SYNTAX G00X__Z__ EXAMPLE CODE N005 G49 G54 G20 G90 G40 G80 N010 S2500 M03 N015 G55 N020 G20 G90 GO X0 ZO inch abs rapid to work piece x y zero psn G01 Linear Interpolation Linearly interpolates the position of the tool from the current point to the programmed point in the G01 block Segmentation control for all interpolation is controlled by the PMAC 113 parameter The speed of the tool is controlled by the modal feedrate word F and is the vector velocity of the tool path defined by L L E F F Fx 4__ VL h le L Linear moves may blend with adjacent interpolative blocks If the G01 block contains a Dwell G04 or an Exact Stop G09 a controlled deceleration to a stop with in position going true will inhibit blending with the next block If the G61 modal Exact Stop is active no blending between linear blocks will occur until canceled G64 Cutting Mode G01 is group 01 modal It is canceled by other g
210. violate any motor s Ixx17 acceleration constraint Note If bit 14 of Ixx24 is also set to 1 the program does not stop at the limit Instead it will continue with the offending motor saturating at the limit value When stopped on a desired position limit within lookahead the program is only suspended not aborted The action is effectively equivalent to issuing a quick stop command It is possible to retrace the path coming into the limit or even to resume forward execution after changing the limit value An abort command must be issued before another program can be started Note If an actual position limit is also tripped during the deceleration to a stop at the desired position limit the program is aborted so retracing and resuming are not possible For this reason if the possibility of retracing and resuming is important Ixx41 should be set to a large enough value so that the actual position limit is never tripped during a desired position limit stop This technique permits these software position limits to be placed just within the hard stops of the machine Without the desired position limits the software position limits cannot be detected until the actual trajectory passes the limit This requires that these limits be placed far enough within the hard stops so that the motors have enough distance to stop after they pass the limits When a motor hits a software position limit without lookahead the deceleration of mo
211. with the tap drill cycle at the same points G71 Arc Pattern When commanded the tool is located at points distributed equally on an arc This G Code must be preceded by a valid canned cycle i e G81 G82 G83 G84 G85 G86 G87 G88 The canned cycle G code must precede G71 to establish the method of drilling for the pattern cycle The X_ and Y_ parameters specified on the line containing G81 G88 determine where the center of the pattern will reside The canned cycle G81 G88 cannot reside on the same line as the pattern cycle G71 Syntax G71 LJ_K_L_ I Radius of arc must be greater than 0 J Angle formed by X axis and vector from center of arc to start point L Number of points in the arc K Angle between points on the arc Programming Example G83 X Y Z R L G71 I3 JO L8 G80 G70 1 G84 X Y Z R L FEP Q G71 13 JO L8 G80 Programmers Guide Milling G Codes 101 PMAC NC Pro2 Software Reference Manual L 4The number of points on the circle The code excerpt above would first drill a hole at the points in the picture with a peck drill cycle then would tap holes with the tap cycle at the same points G72 Bolt Line Pattern When commanded the tool is located at points distributed equally on a line This G Code must be preceded by a valid canned cycle 1 e G81 G82 G83 G84 G85 G86 G87 G88 The canned cycle G code must precede G72 so as to establish the method of drilling for the pattern cycle The X_ a
212. xample block 100 invokes program 50 as a parametric program It passes to program 50 arguments A B and C The G65 command loads the subroutine into memory and allocates a set of local variables for its use The local variables of the calling routine are saved and are restored when the subroutine returns with an M99 This concept of saving and restoring of local variables is known as nesting he Delta Tau NC nesting is limited to four levels The main program is considered to be nesting level 0 Following is an example of how nesting takes place and how variables are allocated in G65 and M98 subroutines 158 Parametric Programming PMAC NC Pro2 Software Reference Manual Program Comments 01 Main program Level 0 Variables 665 P100 Nest 0100 Allocate Level 1 Variables G65 P200 Nest 0200 Allocate Level 2 Variables M98 P1000 Call subroutine 01000 Using Level 2 Variables M39 Retum G65 P300 Nest 0300 Allocate Level 3 Variables G65 P400 Nest Allocate Level 4 Variable M39 UnNest Using Level 3 Variables Using Level 2 Variables Un Nest Using Level 1 Variables Using Level 0 Variables Program End There are 33 local variables allocated when G65 is invoked They are initialized to an undefined value indicating that they have no value assigned to them This value is called undefined and its symbol is 0 If arguments are passed to the subroutine the values of the arguments are stored into the local var
213. y by describing the commanded path Vector feedrate becomes a constraint instead of a command programmed acceleration times are used only to define corner sizes and minimum move block times Turbo PMAC will control the speed along the path automatically but without changing the path to ensure that axis limits are not violated Lookahead calculations are appropriate for any execution of a programmed path where throughput has been limited by the need to keep execution slow throughout the path because of the inability to anticipate the few sections where slow execution is required The lookahead function s ability to anticipate these problem areas permits much faster execution through most of the path dramatically increasing throughput Because of the nature of the lookahead calculations trajectory calculations are done well in advance of the actual move execution and moves are kept within machine limits by the automatic adjustment of move speeds and times they are not appropriate for some applications Any application requiring quick reaction to external conditions should not use lookahead In addition any application requiring precise synchronization to external motion such as those using PMAC s external time base feature should not use lookahead When the lookahead function is enabled Turbo PMAC will scan ahead in the programmed trajectories looking for potential violations of its position velocity and acceleration limits If it se
214. ys used to write to variables IF 19 EQ 0 GOTO N9410 S not passed IF 8 EQ 0 GOTO N9410 E not passed Invalid S argument IF 19 GE 1 AND 19 LE 33 GOTO 9402 1 33 is OK Parametric Programming 155 PMAC NC Pro2 Software Reference Manual IF 19 GE 100 AND 19 LE 199 GOTO 9402 100 199 is OK IF 19 GE 500 AND 19 LE 599 GOTO 9402 500 599 is OK GOTO 9420 ERROR N9402 Invalid E argument IF 8 GE 1 AND 8 LE 33 GoTo 9404 1 33 is OK IF 8 GE 100 AND 8 LE 199 GOTO 9404 100 199 is OK IF 8 GE 500 AND 8 LE 599 GOTO 9404 500 599 is OK GOTO 9420 ERROR N9404 IF 19 GE 8 GOTO N9420 ERROR IF S gt E WHILE 19 LE 8 DO1 19 22 Assign V to variables S thru E 19 1941 Increment destination END1 GOTO 9499 successful return Alarms follow N9410 3000 941 N9420 3000 942 N9499 M99 o Missing argument Variable range definition error Program 094 Main program that demonstrates variable initialization G65 P9400 S500 E589 Global variables are undefined G65 P9400 S590 E599 V0 0 set 590 599 to 0 0 G65 P9400 S500 E600 Generates an alarm M30 o Drilling Custom Bolt Hole Patterns Purpose This example shows how to program a routine to drill and tap a custom bolt hole pattern Here the bolt hole pattern is

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