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UNIDEX 600 Series PROGRAMMING MANUAL

1. JUMP LP jump to somewhere in your program To respond to axis or programming errors the FAULTMASK and INTERRUPT 5 masks must be set to program the desired fault condition as well as the CNC fault See the U631 U600 User s Manual for additional information on setting FAULT and INTERRUPT masks Version 1 2 Aerotech Inc 4 23 Extended Commands U600 Series Programming Manual DR500 Input 0 ae O Normally open F momentary switch J11 Pin 16 O or J10 Pin 31 Common J10 Pin 50 or J11 Pin 50 Figure 4 1 U600 User Interrupt 4 4 5 Conditional Looping It is desirable in many applications to have a group of program blocks repeatedly executed until a specific condition becomes true The WHILE DO ENDWHILE construct provided by the UNIDEX 631 U600 CNC programming language permits such a function to be implemented easily As can be seen from the syntax diagram below the program block which contains the WHILE command must also specify a conditional expression to be evaluated and the keyword DO The entire construct must be terminated using the ENDWHILE keyword During execution the CNC Processor evaluates the conditional expression specified If TRUE it executes the group of program blocks immediately following this block When the ENDWHILE keyword is encountered program flow returns and evaluates the conditional expression again This will be performed repeatedly until the conditi
2. Version 1 2 Aerotech Inc C 19 ERROR CODES U600 Series Programming Manual You omitted an END statement Missing ENDIF Statement An ENDIF was found without a corresponding IF statement Missing ENDRPT statement An ENDRPT was found without a corresponding RPT statement Missing ENDWHILE Statement An ENDWHILE was found without a corresponding WHILE statement Missing equal You did not equate the expression to anything Missing File Pointer variable No variable was specified for the file pointer Missing identifier You did not specify an identifier Missing Left Bracket A left bracket was found without a terminating right bracket Missing Left Parenthesis A right parenthesis was found without an opening left parenthesis Missing Program You did not specify a program name Missing Right Bracket A right bracket was found without an opening left bracket Missing Right Parenthesis A left parenthesis was found without a terminating right parenthesis Missing RPT Statement C 20 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES An ENDRPT statement was not preceded by a RPT statement Missing THEN An IF statement was not followed by a THEN statement Missing variable You did not specify a variable MR Mcode associate failure An error occurred while reading the M code data Nesting too deep Nesting may not exceed twenty levels No error No error has occurred No Linear Feedrat
3. AEROTECH Ww UNIDEX 600 Series PROGRAMMING MANUAL P N EDU152 AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 U S A 412 963 7470 Fax 412 963 7459 UNIDEX 631 and UNIDEX 600 are products of Aerotech Inc Operating System 2 OS 2 is a registered trademark of International Business Machines Inc The UNIDEX 600 Series Programming Manual Revision History Rev 1 0 May 1995 Rev 1 0a August 1995 Rev 1 1 June 5 1996 Rev 1 2 December 23 1996 U600 Series Programming Manual Table of Contents TABLE OF CONTENTS CHAPTER1 SYMBOLS amp AXIS DESIGNATORS 1 1 1 1 Special SyMBOIS EE OE EE EE 1 1 1 1 1 Comment Operator i e sesse se ee ee ee ee ee ee ee ee 1 1 1 1 2 Block Delete Character fisiese esse ese RA ee GR Re ee 1 1 1 1 3 Start Extended Command Block iss esse ee ee ee ee 1 1 1 1 4 End Extended Command Block iese sesse ee ee Re ee 1 2 11 2 Array Indicesi JSE EE DE EG Se Ee EE DE Ge ge GESE 1 2 1 2 Special Characters iss ees SEGE RE ese eg Be Deeg Ee ER Re Pe opse de es 1 3 1 2 1 Line Numbers NXXXX oo ee i ee ee ee ee RA ee ee ed ee 1 3 12 2 Lanear Feedrate 2B ices sie ER Ee ER EN ee ON Ge ee Ee Oe Ee GE E eike 1 4 12 3 Feedrate Limiting nsss ces cose stapes seeds eani EE TIRE e 1 5 1 2 3 1 Notes on the Feedrates Display Screen esse 1 6 1 2 4 Rotary Feedrat Bi iese dh nerona eea Ge se ee RE ee ee 1 7 12 5 Spindle Feedrat Sosire t
4. FILEREAD can be used to read the text files not written by FILEWRITE The values in the file can be integer or floating point format and must be separated by one or more spaces 4 9 4 File Close Command FILECLOSE The FILECLOSE command closes the file that the user opened Var is the filenumber assigned to the file that the user would like to close SYNTAX FILECLOSE var EXAMPLE Refer to FILEWRITE command for an example 4 9 5 File Reset Command FILERESET The FILERESET command resets the file pointer within the data file to the start of the file for reading or writing Var is the filenumber assigned to the file that you would like to reset SYNTAX FILERESET var EXAMPLE Refer to FILEWRITE command for an example In mode 2 a file can be reset but this has no effect All data written in mode 2 is always appended to the end of a file 4 54 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 9 6 File Write Command FILEWRITE The FILEWRITE command permits the user to write up to 30 values to a specified data file followed by a new line Var is the filenumber associated with the file to which the user is going to write Data is the information to be written to the file and must be a list of variables The FILEWRITE command writes 7 digits past the decimal point for each value Each value is separated by a space The records written are always padded out to a
5. SYNTAX G43 ToolRadius EXAMPLE G70 G43 RO 1 3Sets the new tool radius to 1 10 of an inch G71 G43 RO 1 Sets the new tool radius to 1 millimeter A G44 must be executed before a G43 5 2 8 5 Set Cutter Compensation Axes G44 By default the axis pair to be used for cutter compensation is determined by evaluating the options selected from the Cutterl and Cutter2 Menus on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual The G44 command overrides those defaults This command defines a new axis pair to be used for cutter compensation so long as the user specify two axis names and none of the following are true SYNTAX G44XY or G44 ZX or G44 XZ The order of the axis specified is very important it must match the order specified by the circular plane specification The first axis in the G44 command must also be the first axis specified in the G17 G18 or G19 command The same thing applies to the second axis WARNING EXAMPLE G44 X Y Designates that axis_01 and axis_02 X Y are to the used for ICRC G44 Designates that default axes specified in the CNC configuration screen are used for ICRC G44 by itself causes the cutter axes from the setup menu to be activated 5 Version 1 2 Aerotech Inc 2 35 G Codes U600 Series Programming Manual 2 8 6 Disable Polar or Cylindrical Coordinate Transformation G45 The G45 command disables the polar or cylindrical coordinate transformation SYNTAX
6. The default value of this parameter is 32 767 producing a 10 volt current command signal which would command the maximum current from the drive module IAVGLIMIT This parameter detects an over current condition based upon on the setting of the IAVGTIME parameter The value specified in the IAVGTIME parameter determines what time period to average the instantaneous current An RMS current limit fault occurs if the RMS average exceeds the limit set by this parameter As with the IMAX parameter the range of this parameter is 0 to 32 767 where 10 volts is represented by the value 32 767 Determine the maximum input command voltage that your amplifier requires to produce the maximum desired motor current drive module max input voltage Parameter Value 0 32767 The default value of this parameter is 32 767 producing a 10 volt current command signal which would command the maximum current from the drive module IAVGTIME This parameter defines the time period over which the system will average the instantaneous current The IAVG limit parameter is dependent on the setting of this parameter to detect an over current condition The unit of measure for this parameter is milliseconds and can range from 10 to 4 000 msec The default is 10 msec POSERRLIMIT This parameter determines the maximum position error that can occur on an axis before it generates a position error limit fault The unit of measure for this parameter is mach
7. duration of move Where the sum in the numerator is computed for all axes involved in the move and X Y etc are the individual velocities of each axis involved in the move However if the axes to be are rotary axes zero to 360 degrees then the E word is used instead The same formula for the F word above applies to the E word A non rotary axis is often called a linear axis 1 4 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 2 3 Feedrate Limiting Contoured moves will never exceed certain maximum feedrates that are specified by the programmer The controller guarantees that the limit will not be exceeded by scaling down the velocity of the move to the highest speed that does not violate any limit There are a number of different limits that can exist They are listed below 1 Normalcy speed limit See B axis parameters screen invoked under the CNC Initialization menu item 2 Rapid traverse axis speed Machine Parameters Screen 3 Maximum F feedrate CNC Initialization Screen 4 Programmed E feedrate Set in a CNC line with an E word If multiple limits are violated in one move the move will be scaled down until none of the limits are violated The four limits listed above are discussed further in the following paragraphs The Normalcy Speed limit applies only when normalcy is active refer to Chapter 2 Normalcy Mode and is applied only to the normalcy axis In some cases th
8. 0 Causes the output to go remain low 1 Causes the output to go remain high The pulse output occurs at a fixed incremental distance dist If dist is positive no sign or the bit pattern is run in a forward direction If dist is negative the bit pattern is run in reverse Syntax for this mode is PSOF 4 dist axis1 axis2 axis3 5 5 1 6 Mode Argument 5 Mode argument 5 activates the output firing pulse train and locks the position counters onto the specified axes e g X Y Z Up to three axes may be locked on simultaneously The output firing pattern is determined by bit mapping as established by the PSOM command The bit values serve the following function 0 Causes no output 1 Causes the output to be a single pulse train defined by the PSOP command The pulse output occurs at a fixed incremental distance dist If dist is positive no sign or the bit pattern is run in a forward direction If dist is negative the bit pattern is run in reverse Syntax for this mode is PSOF 5 dist axis1 axis2 axis3 The dist argument assumes a positive distance if no sign is specified 5 5 2 PSOF Arguments The arguments used by the PSOF command vary based on the mode that is being used refer to Section 5 5 1 Mode Arguments for PSOF Some forms of the PSOF mode command have no additional arguments The following sections give a summary of all argum
9. Affected Variables VARI 2 75 Stack Pointer gt 0 0 GLOBALOO 0 0 125 2 LOCALOO 10 69 Figure 4 3 Push Global Example Version 1 2 Aerotech Inc 4 39 Extended Commands U600 Series Programming Manual POP LOCAL00 User Stack Affected Variables VARI 2 75 GLOBALOO 0 0 Stack Pointer gt 125 2 LOCALOO 0 0 POP GLOBALOO User Stack Affected Variables VARI 2 75 GLOBALOO 125 2 LOCALOO 0 0 Stack Pointer gt Figure 4 4 Push Local Example 4 40 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 8 Miscellaneous Extended Commands 4 8 1 The Autofocus Command AFCO The autofocus command allows the user to position an axis in relation to an optimum point determined by feedback from an analog input device This device produces an analog voltage proportional to the position error This error is scaled to the maximum speed specified with 10 volts representing maximum speed and commands the specified axis to move in the direction relative to the zero point of the autofocus device The offset allows the user to specify a non zero voltage point where the optimum position has been reached The AFCO command may be disabled by specifying a speed of zero The deadband is a positive voltage value centered around the offset voltage where no motion command is generated For example if the of
10. An invalid axis was specified or the axis is not enabled Mask Not Specified Version 1 2 Aerotech Inc C 35 ERROR CODES U600 Series Programming Manual No axis was specified for the G56 command or assigned as the spindle axis Normalcy Speed exceeded The maximum speed of the tool while maintaining normalcy to the cutting surface has been exceeded The speed at which this error message is generated is determined by the value entered in the B Axis initialization dialog box You must lower the programmed vectorial feedrate Pendant Data An invalid command was received from the teach pendant Be sure that it is properly installed and configured Program terminated with Cutter Compensation Active You tried to define the cutter compensation radius or axis while cutter compensation was active Deactivate cutter compensation with the G40 command first PSO Configuration You have not properly configured the PSO card with the PSOC 4 command There are three groups of 8 I O signals Each group may be an input or an output You specify the number of groups that are to be configured as inputs and the rest must be configured as outputs The two parameters must add up to three i e all three groups must be assigned as inputs or outputs PSO invalid PSO Bit You must specify an I O bit in the range of O thru 23 and the bit must have been configured as an input PSO Length You have specified more data than the PSO card is c
11. INDEX X 50 300 WARNING Version 1 2 Aerotech Inc 4 59 Extended Commands U600 Series Programming Manual 4 11 3 Oscillate Command OSC The OSCillate command causes a specified axis to oscillate cycle a specified distance at the specified velocity The sign or of the distance determines the initial direction of the move and is in user units The feedrate is in user units per second After this command is executed the next command in the user s program immediately begins To halt the axis a zero feedrate or distance can be specified in a subsequent use of this command SYNTAX OSC axis dist feed Where axis is the axis to ascillate dist is the distance of the moves sign determines initial direction feed is the velocity the axis will move 4 11 4 MOVETO Statement MOVETO The MOVETO statement initiates the move of an axis to a specified absolute position at a specific speed then continuing with the next program line without waiting for the move to finish The position is specified in user units velocity is specified in user units sec The axis may be a soft or hard axis name SYNTAX MOVETO axis position speed EXAMPLE MOVETO X 50 300 4 60 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 11 5 STRM Command This statement begins motion on a single axis without stopping at any given target position The motion is asynchronous to
12. The conversion factor for fixture offset 2 is zero check axis parameters User Units on SafeZone Axis are Zero Check Axis Parameters Line ld CNC d Program d The conversion factor for the axis defined as the safezone axis is zero User Units on ToolX are Zero Check Axis Parameters Line ld CNC d Program d The conversion factor for the X plane axis is zero Waiting on a Connection with Host s The connection to the host has not yet been established While Pointer Compiler Error Internal error Wrong number of parameters An incorrect number of parameters were specified for the command C 30 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Axis Processor Error Codes The following is a listing of axis parameter error codes for the axis processor board When an error occurs the operator will see a CNC fault condition displayed on the screen with a CNC number indicated by it API Probe overtravel limit The analog values obtained by the API probe have exceeded the values set within the API probe configuration screen Verify the values are within range and adjust the values within the API probe configuration screen as required Axis Disabled The specified axis is disabled Bad Cutter Comp Mask The same axis has been specified for the cutter axis and one of the cutter compensation axis both cutter compensation axis are designated as the same axis or one of the axis are not vali
13. The number of static variables available for use is defined within the Variable Allocation Group box of the CNC Initialization Screen refer to the UNIDEX 631 U600 User s Manual It should be noted that this number is applicable to all CNC engines which are active at any given time SYNTAX STATICxx where xx refers to the variable number EXAMPLE DVAR VAR1 Define the variable VAR1 VARI STATICOO Read the value of the static variable 00 STATIC69 5 assign the value 5 to the static variable 69 Upon CNC initialization all static CNC variables are set to zero The value of all GET static CNC variables are lost upon loading a new program and executing it from the RUN menu of the CNC application Variables of this type are used for communication with other parts programs executed with the CALL and EXECUTE command discussed in Section 4 4 There may be a maximum of 1 000 static variables 1 12 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 4 5 System Variables The UNIDEX 631 U600 CNC provides the ability to access information about the environment in which the program is executing This information is provided via a set of read only variables which are pre defined for use in any parts program Due to the similarity in syntax specific examples will not be shown for each variable In all cases the following usage is applicable VARI SystemVariable 1 4 5 1 CNC Number CNC
14. The programmer must ensure that the file is not already open when using a FILEOPEN in modes 0 or 2 If the file is currently open the results are unpredictable If no directory is specified in the filename the U31 programs directory is assumed IMPORTANT 4 9 2 FILEEOF Command FEOF The FEOF command determines whether the end of stream file has been reached Once end of file is reached FEOF returns 1 unless the FILERESET command is executed From the syntax below fp is a variable holding file index from FILEOPEN Result is variable holding the return value from the command FEOF The FEOF function returns a non zero value if not at end of file and returns 1 if at end of file SYNTAX FEOF fp result EXAMPLE Refer to FILEWRITE command for an example Version 1 2 Aerotech Inc 4 53 Extended Commands U600 Series Programming Manual GE 4 9 3 File Read Command FILEREAD The FILEREAD command permits the user to read a line of selected data from the user data file into CNC variables Looking at the syntax diagram below varl is the filenumber associated with file that the user is reading from Var2 is the variable that will hold the first value on the line read from the file Var3 thru var30 are the optional variables that will hold the other values on the line read from the file SYNTAX FILEREAD varl var2 var3 var30 EXAMPLE Refer to FILEWRITE command for an example
15. can range from 2 to 27 1 machine steps This argument is used only in mode PSOT 6 Programming an output bit to a logical 1 state results in the corresponding pin being pulled to ground A programmed 0 state results in a high impedance state on the corresponding output pin During a reset all outputs go to the high impedance state All input lines are pulled to 5V by a 10K resistor EXAMPLE PSOT 0 0 1 1 1 2 1 3 1 Sets digital output lines OUTO OUT3 high PSOT 1 4AB9 Sets output lines to 0100 1010 1011 1001 1 high 0 low PSOT 2 0 2 5 Sets DACO AOUT1 to 2 5 V PSOT 4 0 3 7 125 Sets DACO AOUT1 for velocity ramping AOUTI ranges proportionally from 3 V to 7 V as velocity ranges from 0 to 125 machine steps ms PSOP 5 sToggle mode laser firing array 0 300 Laser off for 300 machine steps array 1 700 Laser on for 700 machine steps PSOD 1 array 0 2 Incremental firing distance with 2 elements VO and V1 PSOF 3 X Y Enable firing track vector velocity in the X Y plane Motion commands post processing etc VV V Version 1 1 Aerotech Inc 5 21 Optional PSO Commands U600 Series Programming Manual 5 22 Aerotech Inc Version 1 1 U600 Series Programming Manual Axis Parameters APPENDIX A AXIS PARAMETERS In This Section Deseripiion EE EE ER A 1 Description The following section provides a quick reference of axis parameters used by
16. the normalcy axis speed In these cases a fault message will be generated Normalcy Speed Exceeded The normalcy axis accleration and deceleration will be forced based on the acceleration and deceleration of the linear axis No acceleration deceleration limits are applied Normalcy has no effect on the GO moves WARNING The rotary axis cannot be moved explicitly with G1 G2 G3 while normalcy mode is in G21 G22 5 Version 1 2 Aerotech Inc 2 23 G Codes U600 Series Programming Manual MARAL MARAL 2 6 1 Disable Normalcy Mode G20 This command disables the mode of operation in which the cutting tool is automatically kept perpendicular to the part being cut normalcy mode Please refer to the Normalcy Mode Overview for a general description of the implementation of this feature on the UNIDEX 631 U600 CNC SYNTAX G20 EXAMPLE G20 Disable the normalcy mode This is the default operational mode of the controller 2 6 2 Activate Normalcy Mode Left G21 This command activates the mode of operation in which the cutting tool is automatically kept perpendicular to the part being cut normalcy mode In this mode the normalcy alignment move will always occur in a clockwise direction This may lead to unexpected results on inside corners refer to Figure 2 12 Rotates 45 Rotates 315 Figure 2 12 Normalcy Left Please refer to the Normalcy Mode Overview for a general description of the implementatio
17. ASIN 4 13 Computes the angle whose sine value is the operand ATAN 4 13 Computes the angle whose tangent value is the operand Version 1 2 Aerotech Inc 4 1 Extended Commands U600 Series Programming Manual Table 4 1 Extended Command Summary Con t Extended Command Page Description CLOSECDW Close the Custom Display Window Call a subroutine and return upon completion CLLS Call a library subroutine and return when done CONFIGM Configures master slave relationship of axis Produces the cosine of the specified angle DATA Enable data collection DENT Define entry point DEFINE Define a symbol DISPLAY Display item within the Custom Display Window DVAR Define variable ENDM Ends the motion on a single axis True if the value of the first number equals the second number EXECUTE Execute a DOS or OS 2 program and return completion code FEDM Adds additional movement to slave FEOF Determines whether end of file has been reached FILECLOSE Closes the user data file FILEOPEN Opens the user data file for reading or writing FILEREAD Reads the data selected within the file FILERESET 4 54 Resets the pointer within the data file to the start of the file for reading or writing FILEWRITE Writes the information into the selected data file Retrieves fraction of a floating point number FREE Deallocates memory that was previously allocated to a cam table GE 4 16 True if the value of the first number exceeds or is equal to the value of the se
18. DATA STOP Stop acquiring data DATA CLOSE End the data collection mode DATA OPEN X 10 Initialize data collection mode U3 I PARTOI DATAFILE PLT Acquisitions occur for the X axis sat a rate of 0 010 seconds every 10 msec All data acquired will sbe placed into the file DATAFILE PLT in the NU31VPARTO1 directory DATA OPEN X 10 Initialize data collection mode PARTOI DATAFILE PLT Acquisitions will occur for the X jaxis at a rate of 0 010 seconds every 10 milliseconds All data jacguired will be placed into the file DATAFILE PLT in PARTOI sub directory This path is srelative to the location from which the CNC was invoked Version 1 2 Aerotech Inc 4 47 Extended Commands U600 Series Programming Manual 4 8 5 Reading Axis Parameters GETPARM This command reads the current value of any axis parameter Any axis parameter which may be viewed using the STAT command of the ZSID debug960 utility program may also be accessed using this command Please refer to the documentation provided with this utility program for a list of all valid axis parameters refer to Appendix A Axis Parameters The GETPARM command reguires several parameters The first of these is a list of axes to which this command applies These axes should be specified using the naming convention currently active HARDNAMES SOFTNAMES This list may contain any number of axes but all axes mentioned must be associated with this CNC The second pa
19. GLOBALOO Read the value of global variable 00 GLOBAL99 5 sassign the value of global variable 99 to 5_ There may be a maximum of 1 000 global variables Even if the save globals option is selected and if the GLBALIAS INI file indicates a default value see section 1 4 3 then the default value will be assigned to the variable Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 4 3 Using the Global Alias File Global alias files allow the user to provide an alternate name for pre defined global variables to a variable name chosen by the user that has meaning in the context of its usage The default keyword allows the user to set non zero default values upon CNC initialization for global variables An optional EDIT keyword allows the user to edit the value of the global variable at run time If this keyword is specified an optional comment text string displayed in the global variable edit window may also be specified The EDIT keyword allows a valid range for the variable to be set by the MIN and MAX keywords This prevents the user from entering a bad value Figure 1 1 shows an example of how to accomplish alternate naming of pre defined variables Variables given an alias can still be refered to by the standard means i e MASTER_CORRECTION is identical to GLOBALO Global Alias INI Sample File GLBALIAS IND 0 MASTER CORRECTION Basic alias definition for GLOBALO
20. Optional PSO Commands U600 Series Programming Manual 5 9 2 PSOT Arguments The arguments used by the PSOT command vary based on the mode that is being used refer to Section 5 9 1 Mode Arguments for PSOT The following sections give a summary of all arguments used by the PSOT mode command 5 9 2 1 bit Argument The bit argument specifies an individual bit number that corresponds to one of the 24 digital outputs This argument is only used by the command PSOT 0 5 9 2 2 state Argument The state argument specifies the digital state O low 1 high of the previous output line specified by the bit argument This argument is used by the PSOT O and PSOT 1 commands Multiple groups of bit numbers and states may be specified 5 9 2 3 states Argument The states argument specifies a single hexadecimal or decimal number that defines the desired output states of the digital outputs For example the programming command PSOT 1 A3C1 would set the output bits as follows 10100011 1100 0001 1010 A 0011 3 1100 C and 0001 1 The states argument may also be in decimal format 41921 5 9 2 4 dac Argument The dac argument specifies which of the four digital to analog converters 0 to 3 you want to set This argument is only used by commands PSOT 2 PSOT 4 and PSOT 6 5 9 2 5 voltage Argument The voltage argument defines the desired output voltage 10 0 to 10 0 volts of the specifi
21. 1 and 3 have not been implemented at this time 5 SYNTAX PSOR mode 5 8 1 MODE Arguments For PSOR The mode argument defines one of three possible configurations 0 1 or 3 for the position counters There are no additional arguments for this command The following sections describe these modes 5 8 1 1 Mode Argument 0 Mode argument 0 clears all previous real time control data from the counter Syntax for this mode is PSOR 0 5 8 1 2 Mode Argument 1 Mode argument 1 stops the position counter from recording new data and retains current data under operator command Syntax for this mode is PSOR 1 5 8 1 3 Mode Argument 3 Mode argument 3 stops the position counter from recording new data and returns the counter to zero Syntax for this mode is PSOR 3 Version 1 1 Aerotech Inc 5 17 Optional PSO Commands U600 Series Programming Manual GE 5 9 DigitalV Analog Output Command PSOT The PSOT command is used to set clear digital output lines and or set the desired voltage 10 0 V to 10 0 V of the analog outputs SYNTAX PSOT mode bit state states dac voltage dac v0 vmax velocity dac v0 vmax position 5 9 1 MODE Arguments For PSOT The mode argument defines one of six possible configurations 0 1 2 4 6 or 8 for setting digital and analog outputs The following sections describe these modes 5 9 1 1 Mode Argument 0 This mode is used to set ind
22. 2 39 Custom Display Window 4 28 4 29 4 32 4 33 Custom Display Window Commands 4 28 Custom Display Window Close 4 29 Custom Display Window Open 4 28 Cutter Compensation Axes Set 2 35 Cutter Compensation Example 2 34 Cutter compensation mode 2 29 Cutter Compensation Radius Set 2 35 Cutter Compensation Effect 2 34 Cutter Radius Compensation Intersectional 2 1 2 28 Cutter Pull Down Menu 2 35 Cutter2 Pull Down Menu 2 35 Cutting Cycle Thread 2 19 Cutting Tool Number 1 19 Cutting Tool Orientation 2 22 Cutting Tool Radius 2 28 CW Boundaries 2 26 CW Limit Switch A 11 CW Motion 2 8 2 16 CWEOT Parameter A 15 Cycle 4 60 Cycle Start Command 3 4 Cycle Start Control 3 3 Cycle Start Button 2 19 Cycle Thread Cutting 2 19 Cycle Threading 2 18 Aerotech Inc iii Manual Index Cycles Measuring Probe 4 49 D DATA 4 44 Data Acquisition 4 44 Data Acquisition Dialog Box 4 45 4 46 Data Collection Control 4 44 4 47 Data Collection Mode 4 46 Deactivate CDW Log File 4 33 Deactivate Cutter Compensation 2 30 Deactivating Tools 1 19 Debugging A 6 DECEL Parameter A 7 A 10 A 11 Decel Rate Parameter 2 48 2 49 Decel Time Parameter 2 44 2 49 DECELERATE Parameter A 8 Deceleration by Force 2 14 Deceleration Rate Set 2 48 DECELMODE Parameter A 7 DecelRate Parameter 2 42 DecelTime Parameter 2 42 DEFINE 4 5 Define a Safe Zone 2 26 Define Array 4 7 Define
23. A 15 Safe Zones Enable 2 26 SafeZone CCW Parameter 2 26 SafeZone CW Parameter 2 26 SAFEZONECCW Parameter A 5 A 6 SAFEZONECW Parameter A 5 A 6 A 15 SafeZoneMode Parameter 2 26 SAFEZONEMODE Parameter A 5 A 6 A 15 Select Plane 2 21 Select Plane 2 1 2 21 Selecting Threading Axes 2 18 Semicolon 1 1 3 15 Semicolon Special Symbol 3 5 Servo Spindle Axes 3 3 Set Acceleration Rate 2 47 Set Acceleration Time 2 43 Set Cutter Compensation Axes 2 35 Version 1 2 Aerotech Inc xi Manual Index Set Cutter Compensation Radius 2 35 Spindle Feedrate Override Enable 3 4 Set Deceleration Rate 2 48 Spindle Feedrate Override Lock 3 4 Set Fixture Offset 2 2 40 Spindle Feedrate Override Unlock 3 4 Set Profile Time 2 45 Spindle Movement Stop 3 3 SETPARM 4 50 Spindle Off 3 3 SETPARM Command 4 50 Spindle Off Re orient 3 3 Setting Acceleration Rates 2 50 2 51 Spindle On Clockwise 3 3 Setting Fixture Offsets 2 39 Spindle On Counterclockwise 3 3 Shift Left 4 15 Spindle Pull Down Menu 2 64 Shift Right 4 15 Spindle rotary axes speed 1 7 SHL 4 15 Spindle Speed 2 19 2 61 2 63 2 64 3 3 SHR 4 15 Spindle Speed S 1 7 Simulated Axis A 6 Spindle Speed Override 2 19 Simulation Mode A 6 Spindle Speed Parameter 3 3 SIMULATION Parameter A 6 Spindle Speed Programming 2 63 2 64 Simultaneous Parameter Monitoring 2 41 Spindle Velocity 2 19 SIN 4 13 Spline Move 2 17 Sine 4 13 Splined Moti
24. F100 the value is specified by a literal value 1 6 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 2 4 Rotary Feedrate E The keyword E is used to specify a rotary vector feedrate Note that this has no relation to the Spindle rotary axis speed which is set with the S word The units of the E word are always RPM and unlike the F word the units are not affected by the G70 G71 or G93 G94 G95 settings The E word is only used in the G1 G2 G3 G12 G13 G codes moves Note that the E word retains its value until overwritten by a subsequent program block Therefore all G1 G2 G3 moves need not explicitly specify an E feedrate An axis is designated as rotary from within the Machine Parameters Set up Screen using the Linear or Rotary parameter For additional information on the usage of this parameter please refer to the UNIDEX 631 U600 User s Manual This E word is always used when motion is to be performed on rotary axes only However if both linear and rotary axes are to be moved within the same program block the current Dominant Feed G98 G99 operational mode must be evaluated to determine which feedrate will apply There must be an E feedrate specified for the Spindle Reorient M19 The E word is also used as a limit on rotary axis motion Refer to the notes on limiting under the F word documentation for more details SYNTAX E Variable if the feedrate is specified wi
25. G30 splinning active define CNC_THREADCUTTING 0x40000000 define CNC IMEDIATE GCODE 0x80000000 Version 1 2 Aerotech Inc Symbols amp Axis Designators U600 Series Programming Manual Table 1 2 CNC status word 2 define CNC2_ACCEL_RATE define CNC2_DECEL_RATE define CNC2_MASTER_HOLD define CNC2_VARIABLES_ALLOCATED define CNC2_ALLOCATED define CNC2_OPTIONAL_STOP_HOLDING define CNC2_NORMALCY_MOVE define CNC2_CLEANUP define CNC2_REQUEST_PROGRAM_LOAD define CNC2_G9 define CNC2_DISPLAY_CDW_TEXT define CNC2 CDW OPENED define CNC2 CDW RECORD ON define CNC2 REOUEST CDW RECORD ON define CNC2 MOO HOLDING define CNC2 SPLINE CALCULATED define CNC2_INTERRUPT_PENDING define CNC2 OUEUE ALLOCATED define CNC2 REOUEST TWORD define CNC2 ON ERROR ACTIVE define CNC2 ON ERROR POSTED define CNC2 OUEUE EMPTY HOLDING define CNC2 REOUEST FILE OPEN define CNC2 REOUEST FILE CLOSE define CNC2 REOUEST FILE RESET define CNC2 REOUEST FILE READ define CNC2 REOUEST FILE WRITE define CNC2 REOUEST CALLBACK CNC status word 3 define CNC3 ON ERROR RUNNING define CNC3 MONITOR SPEED define CNC3 LAST MONITOR SPD VALID define CNC3 REOUEST CDW CLOSE define CNC2 REOUEST PROGRAM EXECUTE 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000
26. G45 EXAMPLE See example under the G46 command 2 8 7 Enable Polar Coordinate Transformation G46 The G46 command enables a transformation from X Y cartesian axis plane into a polar coordinate system The polar coordinate system is comprised of a linear positioning device holding the tool and a rotary device that holds the part centered about its axis of rotation Parts programming is done using the G1 G2 G3 commands acting upon virtual no D A or feedback device defined X and Y axis The X Y axis to be transformed is defined with G44 command GET Cutter compensation may be used in the G46 mode SYNTAX G46 linear axis rotary axis The example on the following page is an example of a 4 inch mm square part with rounded corners 1 0 inch mm radius centered at the X Y origin Contact with the part will occur at X 2 0 Y 0 0 The rotary axis in the polar coordinate system is C and the linear axis is RAD EXAMPLE l G90 F100 E10 Absolute mode G9 G1 X2 0 Y0 0 Move X and Y virtual axis to edge of part G9 G1 RAD C Align tool to part Positions are machine dependent G44 X Y Specify the X Y plane G46 RAD C Enable polar coordinates on RAD and C axis G91 G1 Y1 0 G3 X 1 0 Y1 0 I 1 0 JO G1 X 2 0 G3 X 1 0 Y 1 0 IO J 1 0 G1 Y 2 0 G3 X1 0 Y 1 0 11 0 JO G1 X2 0 G3 X1 0 Y1 0 IO J1 0 G9 G1 Y1 0 Back at starting point G9 G1 X 1 0 Move off of the part G45 _ Disable polar coordinate transformation 2 36 Aerotech Inc Vers
27. However the G8 and G9 settings only apply to the block that they appear G8 and G9 have no effect on GO moves the controller always decelerates smoothly to 0 in between GO moves EXAMPLE G91 G68 Relative coordinates linear accel decel G1 X10 F10 G1 X10 F10 G8 G1 X10 F10 G9 G1 X10 F10 G8 G9 X Velocity Figure 2 3 G8 and G9 Velocity Profile Version 1 2 Aerotech Inc 2 11 G Codes U600 Series Programming Manual 2 4 1 Instantaneous Acceleration G8 This command causes the axis to accelerate to the new velocity instantaneously Figure 2 4 shown below displays the velocity profile with G8 Without this command acceleration is performed based upon the current settings of the Accel Mode and Ramp Type operational modes SYNTAX G8 EXAMPLE G90 G1 G8 X1 F100 G90 G1 X1 F100 Velocity 100 Time Figure 2 4 Velocity Profile With G8 Forced instantaneous acceleration even when a G8 is not active can occur under some circumstances If a move in G8 mode is feedheld the deceleration to zero is instantaneous The same applies to MFO adjustments during a G8 mode move Corners are the most common case Examine the following code fragment where X and Z are linear axes G90 GO X0 Z0 Goto 0 0 use absolute coordinates from now on G1 X100 ZO F100 X at 100 units sec Z does not move G1 X100 Z100 F141 4 X at 100 units sec Z at 100 units sec The controller will
28. In general user defined M functions are permitted to read and write the state of user I O All M codes operate in one of two ways Functions which do not return a value may be invoked simply by specifying the M keyword and the number of the function to be executed M functions which return information must be followed by a and the name of the variable which is to receive the data returned Examples of these two forms are shown below MO or M200 VARI1 3 3 Assigning Virtual I O The UNIDEX 631 U600 CNC M functions may be configured by you Functions of this type are limited to performing operations on various input and output devices present in the system The user defined I O system provided by the CNC gives a generic interface to all I O through the use of M functions These M functions operate on a region of memory which mirrors the state of all I O present in the system This area of memory is constantly updated to ensure that it reflects the current state of all system inputs and outputs In the context of the UNIDEX 631 U600 CNC this system of memory mapped I O is referred to as virtual I O Each memory location which holds the mirror image of the actual I O is called a virtual I O bit The process which monitors these bits is referred to as the modscan thread The system uses the file MODSCAN_INI in the U31 directory to determine the type of VO devices which are present in the system If this file does not exist the modscan t
29. Inc C 11 ERROR CODES U600 Series Programming Manual Less than two axes have been assigned for ICRC control Invalid DISPLAY return specifier The variable specified to return the value from the user is not valid Invalid EXECUTE return code variable specification The variable specified to hold the return code from the EXE program to execute is not valid Invalid EXECUTE syntax The syntax for the execute command is EXECUTE path filename exe var1 The first character following the execute command path or filename must be an alphabetic character so that it is recognized as a valid path or filename Invalid expression The indicated expression is not allowed Invalid Extended Command The command specified within the parenthesis is not a valid extended command Invalid Feedrate Type Non Motion G Code d Line ld CNC d Program d The feedrate was not a variable math_pointer or a literal Invalid field The field is not valid Invalid FILECLOSE file pointer returned from CNC There are too many user files open or an internal error has occurred corrupting the file pointer Invalid FILECLOSE syntax The FILECLOSE command was not specified properly Invalid FILEOPEN syntax C 12 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES The FILEOPEN command was not specified properly Invalid FILEREAD file pointer returned from CNC There are too many user files open or an internal e
30. Input ALBUMENE si se SR Se di SEE seges 5 4 5 3 2 6 output Argument oes eee ee ee ee ee ee ee 5 5 Position Synchronized Output Firing Distance Entry PSOD 5 6 5 4 1 MODE Arguments For PSOD uw eee see ese es se ee ee see 5 6 5 4 1 1 Mode Argument iese sees see se ee ee ee Se ee ee 5 6 5 4 1 2 Mode Argument 1 se se se se ee ee ee ee ee 5 6 5 4 1 3 Mode Argument 2 esse sees see se ee ee ee Se Se ee 5 6 342 PSOD Arguments iis EE ie AE ESEG PRE Een Re bee Pe ke cp SEE RR ES EE be ee 5 7 5 4 2 1 distance Argument iese ese ee ee Se Se ee SA Re ee 5 7 5 4 2 2 arraylx Argument esse ee ee ee ee ee ee ee 5 7 AAK BRATBUMERE os ees eg ccs i n SEIRE EE n 5 7 Enable Disable Position Synchronized Output Firing PSOF 5 9 5 5 1 MODE Arguments For PSOF ees sees sees sees se ee se ee se ese ee 5 9 5 5 1 1 Mode Argument 0 ses se se ee ee ee ee ee 5 9 5 5 1 2 Mode Argument leion see se ee ee ee Se Se ee 5 9 5 5 1 3 Mode argument 2 0 ieee ee Ge Ge ee ee ee ee 5 9 5 5 1 4 Mode Argument 3 esse sees see se ee ee ee Se Se ee 5 9 5 5 1 5 Mode Argument Ad esse se se ee ee ee ee 5 10 5 5 1 6 Mode Argument 5 esse see see se ee ee ee ee ee 5 10 322 PSOF Argument i ss eie Ee soes ese ese eg eek SEGE Se ge Ke ee SR de 5 10 5 5 2 1 num ArSUMENE ee see see se ee ee ee Ge Se Re Se Re ee 5 10 3 5 2 2 GXis ATSUMENL siisii 5 11 5023 dist Argument iss Es
31. Invalid PSOP Syntax The syntax is incorrect Invalid PSOR Syntax The syntax is incorrect Invalid PSOT Syntax The syntax is incorrect Invalid PSOC 4 Configuration last two numbers must add up to 3 The I O bits were not configured properly See manual for valid options Invalid PSOC Input The specified input is not valid Is it configured as an input by the PSOC 4 command Invalid PSOC Level The valid levels are 0 1 or x don t care Invalid PSOC type must be 0 1 2 or 3 These are the only valid forms of the PSOC command Invalid PSOD type must be 0 1 or 2 These are the only valid forms of the PSOD command Invalid PSOF type must be 0 1 2 3 4 or 5 These are the only valid forms of the PSOF command Invalid PSOM type must be 0 The PSOM 1 command is not supported on UNIDEX 600 631 Invalid PSOP type must be 0 1 2 3 4 or 5 Version 1 2 Aerotech Inc C 17 ERROR CODES U600 Series Programming Manual These are the only valid PSOP commands Invalid PSOR type must be 0 1 or 3 These are the only valid PSOR commands Invalid PSOT type must be 0 1 2 3 4 or 6 These are the only valid PSOT commands Invalid Radius specifier on G43 The tool diameter may be set to zero Invalid Radius Specifier on G96 The distance specified from the tool tip to the center of the spindle axis is invalid Invalid relational operator The indicated operator is not a valid relational operator Invalid SETPARM axis mask The
32. Keyword CLOSE 4 46 Keyword Do 4 24 Keyword E 2 67 Keyword ENDWHILE 4 24 Keyword F 2 8 2 10 2 17 2 61 2 68 Keyword GLOBAL 3 11 Keyword OPEN 4 44 4 45 Keyword P 2 26 Keyword PLC 3 6 3 9 3 10 Keyword R 2 63 Keyword S 2 64 3 3 Keyword SF 2 63 Keyword START 4 45 4 46 Keyword STOP 4 46 Keyword T 1 19 Keyword THEN 4 19 Keyword XYCOM 3 6 3 13 3 14 Keyword F 2 8 Keyword Feedrate 1 4 1 7 Keyword Spindle Speed 1 7 Keyword Tool Word 1 19 Keywords I J K 1 8 Keywords I J K 2 69 2 70 Keywords I J K 2 21 KI Parameter A 2 KP Parameter A 2 L Label Define 4 8 Labels 4 5 Laser Pulse Output Definition 5 2 LE 4 16 Lead off move 2 32 Lead on move 2 32 Left Parenthesis 4 8 Left Path Compensation 2 31 Less Than 4 16 Less Than or Equal To 4 16 Library Subroutine 4 37 Line Numbers 1 3 Linear Acceleration 2 46 2 49 Linear Acceleration Mode 2 46 Linear Axes 1 7 2 67 2 68 Linear Axes Feedrate 2 19 Linear Axes Move 2 19 Linear Axis 1 4 2 61 Linear Contouring 2 8 Linear Feedrate Dominant 2 68 Linear Interpolation 2 8 2 9 Linear move 2 5 Linear Move 2 21 Linear parameter 1 7 Linear Parameter 2 67 2 68 Linear Ramping A 7 Linear Threads 2 18 Linear Trajectory 2 42 Linear vs Sinusoidal Option 2 42 Local variables 1 10 Locate Axis s 4 35 Locate Part in Space 4 49 Lock Spindle Feedrate Override
33. The only valid PSOM commands are PSOM 0 thru PSOM 1 Invalid PSOP Type The only valid PSOP commands are PSOP 0 thru PSOP 5 C 34 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Invalid PSOR Type The only valid PSOR commands are PSOR 0 PSOR 1 and PSOR 3 Invalid PSOT Type The only valid PSOT commands are PSOT O thru PSOT 2 PSOT 4 PSOT 6 and PSOT 8 Invalid Queue Programmed Type You have specified an invalid program command type Invalid Return From Subroutine You have specified a return from subroutine without a call to a subroutine Invalid Spindle Axis The specified axis may not be used as the spindle axis by the M19 command It is either an invalid axis or not active Invalid Stack Type While evaluating an expression an invalid mathematical operation was found or you attempted to PUSH a value onto the user stack that was neither a variable or a literal Invalid Threading Command No Spindle Specified There is no spindle axis active Either it has not been assigned or an invalid axis has been assigned IO Failure An error has occurred while executing an M code feedback or an invalid probe channel was specified Look Ahead Failure You have attempted to execute a G2 G3 arc after a G41 G42 ICRC enable command with axis other than those defined as the ICRC axis Verify the axis commanded to move and your ICRC axis assignments within the parameter setup screens Mask Not Associated
34. of the specified radius according to the following relationship rotation_position Y_axis_commanded_position 360 2 PI current_radius Only G1 G2 G3 commands and cutter compensation generated motion are valid under this mode of operation GO commands or any other type of axis motion should not be attempted when the cylindrical coordinate transformation is active Figure 2 22 is an illustration of the relationship between the X Y rotational and optional infeed axis Circumferential Y axis Rotational Axis X Axis Optional Infeed Axis Figure 2 22 X Y Rotational and Optional Infeed Axis ea ea Version 1 2 Aerotech Inc 2 37 G Codes U600 Series Programming Manual SYNTAX G47 G47 Rotary_Axis R Current_Radius The example program below illustrates the commands required to enable and disable cylindrical coordinate transformation The axis designations used in this example are consistent with Figure 2 22 EXAMPLE G44 XY sset X Y plane for G47 G47 C R2 0 enable cylindrical coordinates G9 G1 X2 0 Y2 0 perform axis motion G1 G2 G3 motion commands Gas disable cylindrical coordinates 2 38 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 9 Fixture Offset G53 G54 G55 The fixture offset feature provides you the ability to program part dimensions relative to a fixed point in space not knowing the absolute coordinates of that point Dimensional distance
35. operation in binary The conversion to and from binary is performed automatically 4 3 3 1 Negation NOT This operation produces the one s complement of the binary value of its operand The result has all bits in the opposite state of the operand EXAMPLE VARI NOT 65535 VARI NOT VAR2 4 3 3 2 And AND This operation produces the logical AND of the two operands specified Therefore if corresponding bits in both operands are set the corresponding bit in the result will be also set Otherwise that bit will be cleared EXAMPLE VARI VARI AND 63 VARI VARI AND VAR2 The fractional portion of VARI is discarded before the AND operation 4 3 3 3 Or OR This operation produces the logical OR of the two operands specified Therefore if either of the operands has a particular bit set that bit will also be set in the result EXAMPLE VARI VARI OR 32 VARI VARI OR VAR2 The fractional portion of VARI is discarded before the OR operation 4 3 3 4 Exclusive Or XOR This operation produces the exclusive or logical XOR of the two operands provided The result produced is Operand1 with the bits changed which were specified in Operand2 EXAMPLE VARI VARI XOR 65535 VARI VARI XOR VAR2 The fractional portion of VARI is discarded before the XOR operation 4 14 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 3 3 5 Shift Left SHL This operation performs a logical bin
36. point in space The exact location of this point is determined by the home type machine parameter that typically uses a reference switch and the marker pulse from the optical encoder providing a highly repeatable reference Once this command has been issued parts program execution is suspended until all axes specified have reached their respective hardware home positions As each axis reaches this position all position registers associated with that axis are set to zero SYNTAX HOME lt axis name gt lt axis name gt EXAMPLE HOME X Y The X and Y axes are sent home simultaneously REF Axis_01 Axis_02 _ Initiate a homing sequence simultaneously on Axis_01 and Axis 02 The type of homing sequence performed is specified using the Home Type entry field of the Machine Parameter Menu 5 The HOME and REF commands may be used interchangeably The user cannot home a virtual axis the axis will move indefinitly Version 1 2 Aerotech Inc 4 35 Extended Commands U600 Series Programming Manual GE 4 6 5 Slew Command SLEW The SLEW command allows the user to position the axis manually through the use of a RS 232 serial trackball or mouse U631 or an analog joystick U600 On the U631 the port number represents the serial port on the axis processor board that connects to the trackball and or mouse 0 3 The mouse and trackball must be connected to the desired serial port on the U631 axis processor bo
37. the actual states of the PSO inputs do not match the desired states specified in the in_map argument then the PSO outputs are set according to out map This argument only used in mode 3 of the PSOC command 5 3 2 5 input Argument The input argument is the number of bytes assigned as inputs on the I O bus An assignment of 0 indicates that none of the lines will be configured as inputs and bits 0 23 will all be configured as outputs An assignment of 1 indicates that bits 0 7 will be configured as inputs 2 indicates bits 0 15 will be configured as inputs and 3 indicates bits 0 23 will be configured as inputs This argument only used in mode 4 of the PSOC command 5 4 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 3 2 6 output Argument The output argument is the number of bytes assigned as outputs on the I O bus An assignment of 0 indicates that none of the lines will be configured as outputs and bits 0 23 will all be configured as inputs An assignment of 1 indicates that bits 16 23 will be configured as outputs 2 indicates bits 8 23 will be configured as outputs and 3 indicates bits 0 23 will be configured as outputs This argument only used in mode 4 of the PSOC command Each bit of the in map and out map bitmap arguments is configured using a 0 oy 669 or x A 0 indicates a low input output a
38. 0x00004000 0x00008000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x 10000000 0x20000000 0x40000000 0x80000000 0x00000001 0x00000002 CNCSTAT1 CNCSTAT2 and CNCSTATS3 Variables Cont d rate based acceleration mode rate based deceleration mode ored hold input CNC variables allocated CNC memory allocated optional stop holding doing normalcy move cleanup in progress request program load G9 mode of last motion block request program execution new text line to be displayed CDW Opened CDW record on request CDW record on ee spline coefficients calculated interrupt pending continuous block mode requeseting TWORD information on error routine active on error posted to cncslice holding because queue is empty requesting file open requesting file close requesting file reset requesting file read requesting file write requesting a call back statment recompute ON ERROR running monitor speed on 0x00000004 0x00000008 request CDW close define CNC3 REOUEST DATACOLLECT OPEN 0x0040 request data collection window to open define CNC3 REOUEST DATACOLLECT CLOSE 0x0080 request data collection window to close define CNC3 DATACOLLECT OPEN 0x0100 data
39. 1 10 Feedrate Override Lock M48 This command disables usage of the feedrate override controls located within the CNC Manual Data Input and Run Mode screens Refer to the UNIDEX 631 U600 User s Manual 3 1 11 Feedrate Override Unlock M49 This command enables usage of the feedrate override controls located within the CNC Manual Data Input and Run Mode screens Refer to the UNIDEX 631 U600 User s Manual It does not require that the M48 command had been previously executed 3 1 12 Spindle Feedrate Override Lock M50 This command disables usage of the spindle feedrate override controls located within the CNC Manual Data Input and Run Mode screens Refer to the UNIDEX 631 U600 User s Manual 3 1 13 Spindle Feedrate Override Unlock M51 This command enables usage of the spindle feedrate override controls located within the CNC Manual Data Input and Run Mode screens Refer to the UNIDEX 631 U600 User s Manual It does not require that the M50 command had been previously executed 3 4 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 3 2 M code Programming M codes perform miscellaneous I O functions from within parts programs See the WTCH command for information on controlling a virtual I O point based upon an axis position a The UNIDEX 631 U600 CNC provides several pre defined functions see the preceding section for a description of the pre defined M codes and permits you to define others
40. 1 9 Restart Program Execution M47 ooo eee eee see se ee ee ee 3 4 3 1 10 Feedrate Override Lock M48 000 ee cee ee ee se ee ee 3 4 3 1 11 Feedrate Override Unlock M49 cee see se ee ee 3 4 3 1 12 Spindle Feedrate Override Lock M50 eee se see see 3 4 3 1 13 Spindle Feedrate Override Unlock M51 oo eee 3 4 Version 1 2 Aerotech Inc v Table of Contents U600 Series Programming Manual 3 2 3 3 3 4 3X CHAPTER 4 4 1 4 2 4 3 M code Programming 0 cece cee see se ee ee ee Ge Se Ge Re GR RA Re Gee ee 3 5 Assienmne Virtual VO sees ede ere e oge Ee poeseh cesar Eed e sg ee Ee ees 3 5 3 3 1 The MODSCANLINI File se see see see ee ee ee ge ee ee 3 8 3 3 2 Programmable Logic Controllers PLC i iese see se se ee 3 9 3 3 3 Associating Virtual I O with PLC VO ese se see ee 3 10 3 34 PCDIO Digital VO Cards oo eee cee cee ee ee ee 3 11 3 3 4 1 Define PCDIO I O Board sees see eee see ee 3 11 3 3 5 XYCOM Digital VO Cards XYCOM eee eens 3 13 3 3 6 Define XYCOM I O Board oo eee ee ee ee Ge Se ee 3 13 3 3 7 Associating Virtual I O with Xycom VO sees ses see 3 14 3 3 8 The MCODEX INI File iese eee ee se se ee ee Ge ee 3 15 3 3 9 Binary Input M code Initialization 00 see see se ee ee 3 18 3 3 10 Binary Output M code Initialization 20 0 3 20 3 3 11 Register Input M code Initialization eee 3 22 3 3 12 Register Output M code Initialization ee eee 3 23 Automatic
41. 100 X100 Y10 Y20 P2 Enable a safe zone in which the X axis is not spermitted outside the area defined as 3100 100 and the Y axis is not allowed _ outside 10 20 Although multiple axes may be used in the specification of the safe zone for the P1 and P2 types each axis is evaluated individually See Figure 2 14 Therefore if a P1 safe zone is used to specify a multi dimensional area in which a set of axes may not travel you may not command motion through that area refer to Figure 2 14 2 26 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes Unrestricted Motion P1 Mode EE Unrestricted Motion P2 Mode Figure 2 14 Unrestricted Safe Zones Safe zone boundaries are evaluated only when computing the target position of any motion command Therefore if an axis is within the restricted area when a safe Zone is enabled a safe zone fault is not generated until the first motion is commanded Furthermore if the target position of that first motion command is outside the restricted area the move will execute normally In order for the safe zone feature to operate as described the SafeZone fault must be enabled for that axis Refer to the UNIDEX 631 U600 User s Manual for more information on fault handling The safe zone parameters are interpreted as relative displacements if the CNC is in the G90 mode when the G36 command is executed 2 7 2 Disable Saf
42. 16 register inputs with PLC 7 register 42001 starting with virtual I O point 256 RO PLC 3 43001 272 16 Associate 16 register outputs with PLC 3 register BI PLC 1 40001 0 8 Associate 128 binary inputs 8 16 at PLC 1 register _ 343001 and virtual output 272 For binary inputs and outputs the starting virtual I O number must be divisible by 16 Size indicates the of consecutive PLC registers and must not exceed the number of virtual I O points available Binary inputs may also be associated with Oxxxx and 1xxxx PLC registers A maximum of 512 discrete inputs 512 discrete outputs 128 register inputs and 128 register outputs can be defined within the MODSCAN_INI file The keyword GLOBAL may also be used to reference the global data being transferred to from the PLC This keyword should be inserted just following the PLC number specification 3 3 4 PCDIO Digital I O Cards To specify the existence of a PCDIO digitial I O card in the system you must place the keyword PCDIO along with several other parameters at the beginning of a line in the modscan ini file 3 3 4 1 Define PCDIO I O Board To specify a PCDIO Card in the Modscan ini you must configure the PCDIO cards base address and how the IO Ports are configured See the Industrial Computer Source Model PCDIO Series Product Manual for information reguarding address setup and port configurations ea Version 1 2 Aerotech Inc 3 11
43. 2 1 INT 1 7 2 INT 1 2 2 INT 1 7 4 3 1 9 Fractional FRAC The FRAC operator retrieves the fractional portion of a floating point number The sign of the result is the same as that of the operator EXAMPLE VARI FRAC VAR2 VARI FRAC 6 789 4 3 1 10 Square Root SQRT The SQRT operator produces the square root of its operand This operand must be a positive number EXAMPLE VARI SQRT VAR VARI SQRT 2 0 Version 1 2 Aerotech Inc Extended Commands U600 Series Programming Manual ee 4 3 1 11 Precedence 0 The operator specifies the order in which an expression should be evaluated Expression evaluation always begins at the innermost level and processing progresses outward If no precedence operators are included then expression evaluation is done according to operator function precedence Refer to Table 4 2 for list they are shown in decending order Table 4 2 Precedence of expressions HIGHEST CNC NUM NOT ABS COS SIN CNC TMP TAN ACOS ASIN ATAN CNC STAT CNC POSITIONS INT FRAC SQRT CNC MODE MEDIUM N AND SHL SHR LOWEST OR XOR If all expressions have the same precedence then evaluation occurs from left to right EXAMPLE If VAR2 is 2 then VARI 2 VAR2 1 sets VAR 6 VARI 2 VAR2 1 sets VARI 5 4 12 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 3 2 Trigonometric Operator
44. 2 19 Threading Axes Designations 2 18 Threading Cycle 2 18 Threads in definition 2 18 Threads Linear 2 18 Threads Tapered 2 18 ThreadX Axis 2 18 ThreadY Axis 2 18 2 64 Time Based Parameter 2 43 2 44 2 46 Time Based Parameters 2 46 Time Based Parameter 2 46 Time Dwell 2 10 Time based Linear Ramping A 7 A 8 Time based Ramping A 7 Time based Sinusoidal Ramping A 8 Timer General Purpose A 2 Time vs Rate Based Option 2 42 Time vs rate Based Parameter 2 42 Toggle Mode for Outputs 5 15 Tool Deactivation 1 19 Tool Diameter Entry Field 2 35 Tool Differentiating 1 19 Tool File 1 19 Tool Orientation 2 22 Tool Path Programming 2 28 Tool Radius Parameter 2 35 Tool Records 1 19 Tool Word 1 19 Tool Actual Radius 1 20 Tool Boring Bar Number 1 20 Tool Holder Number 1 20 Tool Inspection Station 1 21 Tool Inspection Station Probe Set Data 1 21 Tool Location 1 19 Tool Nominal Radius 1 20 Tool Number Passes 1 20 Tool Orientation 1 20 Tool System Entry Date 1 20 Tool System Entry Time 1 21 Tool Tip 2 22 Tool Type 1 19 Tool X Axis Offset 1 20 Tool Z Axis Offset 1 20 Tools with Different Diameters 2 28 Torque Command A 6 Torque Command Data 4 44 Torque used as Feedback A 6 Torque Enabling and Disabling A 3 Torque Steady A 6 Touch Probe Measuring Digital 4 49 Touch Probe Read Cycle 4 49 Tracking Axes Specifying 5 2 Tracking Control Re
45. 3 4 Lock Feedrate Override 3 4 Log File 4 32 4 33 Logical Operators 4 14 Aerotech Inc vii Manual Index Loop Conditional 4 24 4 25 Mode 0 4 57 Loop Repeat 4 21 Mode 1 4 57 Loop While 3 4 4 25 Mode 2 4 57 LT 4 16 Mode of Operation Disabled 2 24 Mode Activate Normalcy Right 2 25 M Mode Incremental Distance 2 39 2 40 Mode Linear Acceleration 2 46 MO 3 3 Mode Normalcy 2 1 2 22 M01 3 3 Mode Normalcy Disabled 2 24 M03 3 3 Mode Normalcy Left 2 24 M04 3 3 Mode Splining 2 17 MOS 3 3 Modicon Programmable Logic Controllers 3 6 M19 3 3 Modify Variables 4 6 M30 3 4 Modifying Axis Parameters 4 50 M47 3 4 Modscan Thread 3 5 3 10 3 14 M48 3 4 MODSCAN INI file 3 9 MA9 3 4 MODSCAN INI File 3 11 3 13 M50 3 4 Modulus 4 10 M51 3 4 Monitor axis speed command 4 50 Machine Parameter Pull Down Menu 4 35 4 41 4 MONSPD command 4 50 42 Motion Cycle Automated 2 18 Machine Parameter Set up Screen 1 4 2 67 2 68 Motion Status 1 14 Machine Parameters Set up Screen 1 7 Motion CCW 2 9 2 16 Machine Position Registers 2 39 2 40 2 58 Motion Circular 1 8 Main Menu A 2 A 10 Motion Coordinated 2 42 Main Program File 4 43 Motion CW 2 8 2 16 Manual Feedrate Override 2 7 Motion smooth 2 17 Master Axis A 12 Motion Spline 2 17 Master Position A 11 Motor Brake Activation of A 3 Master Position Nonzero A 12 Motor Torque Enabling and Disabli
46. 46 2 49 Acceleration Sinusoidal 2 43 2 46 2 49 Acceleration Deceleration 2 1 2 42 AccelMode Parameter 2 46 ACCELMODE Parameter A 7 AccelRate Parameter 2 42 ACCELRATE Parameter A 7 AccelTime Parameter 2 42 Accuracy A 3 A 9 ACOS 4 13 Activate CDW Log File 4 32 Activate Cutter Compensation Right 2 33 Activate ICRC Left 2 31 Activate Normalcy Mode Left 2 24 Activate Normalcy Mode Right 2 25 Activate Right Cutter Compensation 2 33 Activated Feedhold 2 19 Active Level Parameter 4 49 Active Fixture Offsets 2 39 Actual Position Data 4 44 Addition 4 10 AFFGAIN Parameter A 3 Algorithm Splined 2 45 Algorithm splining 2 17 Allow Parameter Monitoring 2 41 Allow Safe Zone 2 26 2 27 Analog Output Control Using PSOT Command 5 2 Analog Digital Output Command PSOT 5 18 And 4 14 AND 4 14 Application Program A 2 A 3 Arc Angle 2 59 2 60 2 61 Arc Generation 2 8 2 16 2 21 Arc Radius 2 8 2 59 2 60 2 61 Arccosine 4 13 Arcsine 4 13 Arctangent 4 13 Array Element 4 7 Array Elements 1 2 Array Index 4 7 Array Indices 1 2 Array Size 4 7 Arrays User 4 7 ASIN 4 13 Assign Symbolic Name 4 5 Asynchronous Commands 4 1 4 59 ATAN 4 13 Autofocus command 4 41 Automated Motion 2 18 Autorun mode 1 22 Autorun ini file 1 22 Aux Output Enable A 11 AUX Parameter A 3 Auxiliary Output A 11 AUXMASK Parameter A 3 A 10 AUXOFFSET Parameter A 11 Averaging Instantaneous Current A 4 AVGV
47. 5 Inputs 3 7 Outputs 3 7 Virtual I O Bit 3 10 Virtual I O Bits 3 14 Virtual I O Number 3 11 Virtual I O Point Parameter 3 14 Virtual I O Point Range 3 14 Virtual I O Points 3 15 Virtual I O vs M Functions 3 1 3 15 Virtual I O vs PLC I O 3 10 Virtual I O vs Xycom I O 3 1 3 14 VME Address Parameter 3 13 VME Backplane 3 13 W WAIT command 4 51 Wait for Cycle Start 3 4 Warranty Policy 2 1 WATCH statement 4 52 WHILE 4 24 While Loop 4 25 While Loop Nested 4 25 While Loops 3 4 While Do Endwhile 4 24 Window Item Placing 4 29 WTCH statement 4 52 X XOR 4 14 XPlane Axis 2 22 XYCOM 3 13 XYCOM Base Address 3 13 XYCOM Card Number 3 14 Xycom Digital I O Bits 3 14 XYCOM Digital I O Cards 3 1 3 13 Xycom I O vs Virtual I O 3 1 3 14 Y YPlane Axis 2 22 XIV Aerotech Inc Version 1 2 READER S COMMENTS AEROTECH UNIDEX U600 Series Programming Manual P N EDU 152 December 1996 Please answer the questions below and add any suggestions for improving this document Is the information Adequate to the subject Well organized Clearly presented Well illustrated Would you like to see more illustrations Would you like to see more text How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Your name Your title Company name Address Re
48. 7 CNC Intercommunication CNC parameters setup 1 22 Global variables 1 22 CNC Manual Data Input Screen 3 4 CNC Number 1 13 CNC Parameters Plane Selection Menu 1 8 2 21 CNC Preset command 1 13 CNC Processor 4 24 CNC Run Mode Screen 3 4 4 28 4 29 CNC Run Screen 3 3 CNC Time 1 13 Coefficients Spline 2 17 Combine Parts Programs 4 43 Command Set Extended 4 1 Command Cycle Start 3 4 Command GETPARM 4 48 Command SETPARM 4 50 Command STAT 4 48 Commanded Position Data 4 44 Commands 5 2 Comment Operator 1 1 Comments 3 5 Compensation for Backlash A 3 Completed Touch Probe Cycle 4 49 Condition Branch on Errors 4 22 Conditional Expression 4 17 Conditional Looping 4 24 4 25 Conditional Statement 4 19 4 20 Conditional Tracking 5 2 5 3 CONFIGM command 4 57 Constant Acceleration vs 1 Cosine 2 42 Constant Lead Thread Cutting 2 18 2 19 Constant Surface Speed Spindle Programming 2 63 Contoured moves 1 5 2 5 Contouring Linear 2 8 Control button Cycle Start 2 19 Control Cycle Start 3 3 Control Data Collection 4 44 4 47 Control Optional Stop 3 3 Controller Programmable Logic 1 14 1 17 Coordinated Motion 2 42 Coordinates Absolute 2 18 2 39 2 56 2 57 COS 4 13 Cosine 4 13 Counter Data resetting 5 3 retaining 5 3 Counter clockwise Boundary of the Safe Zone A 6 Counterclockwise Spindle 3 3 Creating a Numbering Scheme 1 3 Currently Active Fixture Offset
49. 8 Version 1 2 Aerotech Inc 2 63 G Codes U600 Series Programming Manual MARAL EXAMPLE G96 R1 0 SF40 Places the spindle axis into constant surface speed mode The tool is currently located 1 0 sunit in mm from the center point of the spindle The spindle speed will be smaintained such that 40 0 units in mm of the part will pass below the tool each minute M03 Turn on the spindle This is not the default operational mode of the CNC An axis must be designated as the spindle axis via the Spindle Menu on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual The axis which is perpendicular to the spindle must be defined as the axis chosen as the ThreadY axis on the CNC Initialization screen 2 13 5 Direct RPM Spindle Programming G97 The G97 command specifies that the spindle is to be controlled by you via the S keyword While operating in this mode the units associated with this keyword are revolutions per minute Once turned on M03 the spindle speed responds immediately to changes in the value of this keyword SYNTAX G97 EXAMPLE S100 Command the spindle to rotate at 100 revolutions per minute This is the default operational mode of the CNC An axis must be designated as the spindle axis via the Spindle Menu on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual The axis which is perpendicular to the spindle is defined
50. A 10 Faults Used to Disable Axis A 9 FBWINDOW Parameter A 5 Feature Enable Safe Zone 2 26 FEDM command 4 58 4 59 Feed Per Min Feedrate Programming 2 60 Feed Per Spindle Rev Feedrate Programming 2 61 Feed Rate Override A 8 FEEDBACK Fault A 5 Feedback Resolution A 9 Feedhold Condition 2 19 Feedhold Activated 2 19 Feedrate 1 7 2 59 2 60 Feedrate limiting 1 5 Feedrate Mode Programming 2 59 2 60 2 61 Feedrate Override Lock 3 4 Feedrate Override Unlock 3 4 Feedrate Override Disable 3 4 Feedrate Override Enable 3 4 Feedrate Fast 2 7 Feedrate Linear Axes 2 19 Feedrate Linear Dominant 2 68 Feedrate Rapid 2 7 Feedrate S 3 3 Feedrate Vectorial 2 8 2 10 FEEDRATEMODE Parameter A 8 Feedrates Setting 2 50 2 51 FEOF command 4 53 Field Service Policy 2 1 File Close Command 4 54 File Open Command 4 53 File Operation Commands 4 1 4 53 File Read Command 4 53 4 54 File Reset Command 4 54 File Write Command 4 55 File MCODEx INI 3 15 File MODSCAN INI 3 9 3 11 3 13 FILENAME 3 26 Filenames 1 9 Firing Distance calculations using multiple axes 5 8 maximum 5 7 Firing Distance Commmand 5 6 Firing Distance Entry 5 2 Fixture Offset 2 39 Fixture Offset Example 2 40 Fixture Offset 1 2 39 Fixture Offset 2 Setting 2 40 Fixture Offset Canceled 2 39 Fixture Offset New 2 40 Fixture Offset Old 2 40 Fixture Offsets 2 40 Floating Point 4 15 4 50 Floating
51. Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 9 File Operation Commands File operation commands permit the user to read and write data from various data files selected The user can open a file reset the file pointer to the beginning of the file and read or write the data desired A file number is assigned to the file once it is opened This file number is required for all reading writing resetting the file pointer and closing of files The user can read and write up to 30 values per line from and to the selected data file 4 9 1 File Open Command FILEOPEN The FILEOPEN command opens a user data file for reading or writing As can be seen from the syntax diagram below filespec is the name of the file to be opened The program directory will be assumed by default if a path is not specified Var is the file number assigned to the file selected by the user If the filename begins with a numeral an absolute filepath must be specified so that the filespec will not be interpreted as a numeric parameter Mode refers to the mode of file access Mode 0 opens a new file even if an old one exists In mode 0 the user can read or write the file Mode 1 opens an existing file for reading only Mode 2 opens an existing file only for appending records to the end of the file Mode 0 is the default SYNTAX FILEOPEN filespec var mode EXAMPLE Refer to FILEWRITE command for an example
52. ENDM command ends motion on a single axis If there is currently no motion it has no effect It is the functional opposite of the STRM command The ENDM command exhibits the same decel behavior as a GJ or GO The ENDM command is synchronous meaning the CNC will wait until the motion is actually stopped before proceeding to the next CNC program step SYNTAX ENDM axisspec EXAMPLE 4 6 2 Free FREE The FREE statement will deallocate the memory that was previously alllocated to a cam table The memory is on the U600 U631 motion card SYNTAX FREE table_number EXAMPLE FREE 1 4 6 3 Handwheel Command HAND The HANDwheel command permits the user to manually position an axis with a handwheel having a standard quadrature encoder output or with any other device having the same The handwheel is connected to the U600 U631 through a spare encoder channel input so X4 multiplication will be done on the handwheel quadrature signal producing four times the number of counts per revolution specified by the manufacturer Some handwheels actually produce four counts per step of the handwheel Large values for the distance parameter will produce jerky motion possibly causing one of the axis traps to disable the axis Disabling the VFF and AFFGAIN parameters will provide smoother handwheel operation see the SETPARM command The encoder channel parameter may specify any of the 16 possible encoder channel inputs 1 through 16 channels 5 through 16
53. G code for F word meaning All the following text applies only when the F word is a feedrate any of its other uses when used with G codes refer to Chapter 3 under the documentation of the specific G code being used An axis is designated as linear or rotary from within the Machine Parameters Set up GET Screen using the Linear or Rotary parameter For details on the usage of these parameters please refer to the UNIDEX 631 U600 User s Manual The F word is always used when motion is to be performed on a linear axis However if both linear and rotary axes are to be moved within the same program block the current Dominant Feed G98 G99 operational mode must be evaluated to determine which feedrate will apply The F word retains its value until overwritten by a subsequent program block Therefore all G1 G2 G3 moves need not specify an F feedrate explicitly During GO moves each axis will follow its own rapid feedrate as specified in the Machine Parameters Screen Some axes may complete their move before other axes depending on the targets and specified rapid feedrates In G1 G2 and G3 moves all of the speeds of each axis must be coordinated so that all the axes complete their move at the same time This is called a contoured move In a contoured move the programmer specifies only one feedrate the vector feedrate which the move follows This is called the F word square root of X X Y Y F word een enn nnn EE EE nanan EE GE GE
54. G70 G1 X4 0 Y3 0 F50 A straight line will be produced from the current position to the X 4 0 Y 3 0 coordinate position at a feedrate of 50 inches sper minute The acceleration deceleration type used is defined by the current operational mode of the Ramp Type and Accel Mode G code groups 2 3 3 Circular Interpolation CW Motion G2 The G2 command causes an arc to be generated by the coordinated motion of two axes When viewing the axes plane from the negative direction of a perpendicular axis per the right hand rule the arc direction is clockwise CW Refer to G code summary for motion details The arc is assumed to start at the current position and end at the position specified in the parts program block You must describe the radius of the arc by specifying the offsets to the centerpoint of the circle This is done using the I J K keywords where I J K are associated with the X Y Z plane axes as specified in the G17 code respectively The offsets are always measured relative to the current position regardless of the G90 G91 setting The order in which X Y I and J appear on the line is irrelevant The controller checks the current ending and center points for validity The distance between the center and current position must be equal to the distance between the ending position and the center point within 15 If this condition is not true the user will get a Radius Error CNC fault The axes which are affected by
55. G84 Parts Rotation Example Version 1 2 Aerotech Inc 2 55 G Codes U600 Series Programming Manual RBAL 2 12 6 Absolute Dimension Programming Mode Distance G90 Prior to the execution of motion commands the UNIDEX 631 U600 CNC must be told whether programmed dimensional data is to be interpreted as absolute coordinates or as an offset from the current axis position The G90 command specifies that all positions should be interpreted as absolute coordinates SYNTAX G90 EXAMPLE Assume the axes start at 0 0 Figure 2 26 illustrates the results of this example G90 Set absolute programming mode F100 Establish feedrate for subsequent moves G1 X10 0 Y10 0 Move X and Y axes to absolute coordinate 10 10 G1 X15 0 Y25 0 Move X and Y axes to absolute coordinate 15 25 G1 X15 0 Y10 0 _3Move X and Y axes to absolute coordinate 15 10 25 20 y 15 10 5 0 0 10 20 30 40 X Figure 2 26 Absolute Mode Programming The default mode of operation is established using the G codes Menu in the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual 2 56 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 12 7 Incremental Position Programming Distance G91 Prior to the execution of motion commands the UNIDEX 631 U600 CNC must be told whether programmed dimensional data is to be interpreted as absolute coordinates or as an offset from the current axis position The G91 command specifi
56. GLOBAL Glob Example PLC 1 GLOBAL 2 Plc PLC Number 1 7 Glob Global Data byte to which this applies Xycom is not applicable in this command format z Version 1 2 Aerotech Inc 3 23 M Codes U600 Series Programming Manual lt OPTIONS gt The available options for initializing register outputs are described below in the order in which they must appear Options may be left out in which case the default values will be used lt FB feedback_device gt This option specifies a feedback to be associated with the register output The feedback_device must be one of the following formats PLC Register PLC Global VIRTUAL or XYCOM Using this option causes the register output to be set until the feedback device responds When this occurs the register output is reset The default is no associated feedback device An additional option is available after a feedback designation This can only be used if the lt FB gt option is specified lt FLT fault_device gt This option specifies a fault feedback to be associated with the register output The fault_device must be one of the following formats PLC Register PLC Global VIRTUAL or XYCOM The default is no associated fault device This can only be used if the lt FB gt option is specified lt BEFORE AFTER gt This option specifies whether the register output is set before or after the completion of the program block The default is BEFORE EXAMPLE M1100 RO
57. Machine N10 Home X Y Move X and Y axes to hardware home 0 0 0 0 N20 G90 F100 Use absolute distance mode and set feedrate 0 0 0 0 N30 G1 X10 Y10 Move the X and Y axes 10 10 10 10 10 N40 G92 Set software home 0 0 10 10 N50 G54 X5 Y3 Activate fixture offset 1 at 5 3 5 3 10 10 N60 G1 X10 Y15 Move the X axis 10 0 and Y axis 15 0 10 15 25 28 N70 G53 De activate fixture offsets 15 18 25 28 N80 G55 X 10 Y5 Activate fixture offset 2 at 10 5 25 13 25 28 N90 G1 X10 Y15 Move to absolute position 10 15 10 15 10 30 N100 G53 De activate fixture offsets 0 20 10 30 N110 G54 X5 Y5 Re activate fixture offset 1 at 5 5 5 15 10 30 N120 G1 X5 Y5 Move to absolute position 5 5 5 9 20 20 N130 G55 X10 Y10 De activate fixture offset 1 and activate fixture offset 2 0 0 20 20 N140 G1 X 10 Y 10 Move to absolute position 10 10 10 10 10 10 N150 G53 De activate all fixture offsets 0 0 10 10 2 40 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes When the fixture offsets were activated N50 N80 and N110 the value of the fixture offset was subtracted from the value of the preset registers for those axes 5 When the fixture offsets were deactivated N70 N100 and N150 the offset currently being used was added into the value of the preset registers for those axes When changing from fixture offset 1 being active to fixture offset 2 being active the values for fixture offset 1 were a
58. Master Position A 12 CAM Table Offset to Master Position A 12 CAM Table Slave Position A 12 CAM Tables A 12 Camming general 4 56 CAMOFFSET 4 58 CAMOFFSET Parameter A 12 Cancel Fixture Offset 2 39 Cancel Parameter Monitoring 2 41 Card Number XYCOM 3 14 ii Aerotech Inc Version 1 2 Version 1 2 U600 Series Programming Manual Index CCW Boundaries 2 26 CCW Limit Switch A 11 CCW Motion 2 9 2 16 CCWEOT Parameter A 15 CDW 4 28 CDW Log File 4 32 4 33 CDW Log File Deactivate 4 33 Changing Axis Parameters 4 50 Changing Output State on an Axis Fault A 3 Channel Number Parameter 4 49 Character strings 1 9 Circle Center Points 1 8 Circle Centerpoint Relative Position 1 8 Circle Radius 2 8 Circles 2 8 2 16 Circular Axes 2 67 2 68 Circular Axis 1 4 Circular Interpoaltion 2 31 Circular Interpolation 1 8 2 8 2 9 2 16 2 21 2 33 2 59 2 60 2 61 Circular Interpolation Inverse 2 70 Circular Interpolation Normal 2 69 Circular Motion 1 8 Circular move 2 5 Circular moves 2 23 Circular Parameter 2 67 2 68 CLLS 4 26 CLOCK Parameter A 2 Clockwise Boundary of the Safe Zone A 5 Clockwise Spindle 3 3 Close Custom Display Window 4 29 CLOSECDW 4 29 CLS 4 26 CNC Initialization Screen 1 10 1 12 2 4 2 35 2 42 2 43 2 44 2 47 2 48 2 50 2 51 2 56 2 57 2 64 CNC Initialization Set up Menu 1 21 CNC Initialization Set up Screen 1
59. No parallel axis was specified in the setup parameters Version 1 2 Aerotech Inc C 7 ERROR CODES U600 Series Programming Manual G33 Parallel Max Speed is Zero Check CNC Parameters Line ld CNC d Program d The maximum speed for the ThreadX axis is zero G33 Parallel User Units are Zero Check Machine Parameters Line ld CNC d Program d The conversion factor is zero for the axis assigned as the parallel axis within the setup parameters G33 Perpendicular Axis Not Specified Check CNC Parameters Line ld CNC d Program d No perpendicular axis was specified in the setup parameters G33 Perpendicular Max Speed is Zero Check CNC Parameters Line ld CNC d Program d The maximum speed for the ThreadY axis is zero G33 Perpendicular User Units are Zero Check Machine Parameters Line old CNC d Program d The conversion factor is zero for the axis assigned as the perpendicular axis within the setup parameters Get CNC d Status Error ret d Completion d An error occurred while reading the CNC status from the axis card GETPARM Parameter not readable The parameter specified to read the value of in the GETPARM command is not recognized Global Variable Designation Out of Range Global variables are limited to 1000 Halt CNC Failure on CNC d An error occurred while trying to stop the current CNC program Halt Error CNC d Program d ret d completion d C 8 Aerotech I
60. PLC 1 40100 M1100 writes a WORD PLC 1 register 40100 M1110 RO PLC 2 GLOBAL 5 M1110 writes a WORD to PLC 2 GLOBAL 5 M1120 RO VIRTUAL 3 M1120 writes a WORD to VIRTUAL OUTPUT REGISTER 3 3 24 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 34 Automatically Initializing Virtual VO To automatically initialize virtual I O create an ASCII text file in the name of VIRT INI in the U31 INI subdirectory The format is Virtual_I O_Num Value repeating on as many lines as required to initialize the I O points Figure 3 3 shows a sample ASCII text file 01 21 41 Figure 3 3 VIRT INI File This sets virtual outputs 0 2 4 to a logic 1 3 5 The FAULTMSG INI File The FAULTMSG INI file allows text to be associated with an error condition for any of the virtual I O points This text will be displayed in the fault window when the designated T O error occurs Using the mouse and clicking on the message in the error window will open a help window displaying more information about the error If a filename is specified for that bit in the faultmsg ini file The general format of the FAULTMSG INI is as follows SYNTAX VO TYPE BIT FAULT LEVEL ERROR TEXT FILENAME Where VO TYPE specifies the type of I O and register number if applicable VO TYPE may be e PLC is 1 7 e RI 4xxxx 4xxxx is a valid PLC register number e RO4xxxx 4xxxx is a valid PLC register number e BI no parameter e BO
61. Programming Manual Preface PREFACE This section gives you an overview of topics covered in each of the sections of this manual as well as conventions used in this manual This manual contains information on the following topics CHAPTER 1 SYMBOLS amp AXIS DESIGNATORS Chapter 1 contains information on symbols and axis designators This information relates to the identification and use of comment operators utilized by the UNIDEX 600 series CHAPTER 2 G CODES Chapter 2 supplies information that defines the various G codes supported by the UNIDEX 631 U600 CNC and describes their specific mode of operation The G codes are divided into several different functional groups CHAPTER 3 M CODES Chapter 3 covers information describing the pre defined M codes for UNIDEX 63 1 U600 and their use in performing miscellaneous I O functions from within the parts program CHAPTER 4 EXTENDED COMMANDS Chapter 4 contains information that discusses a set of commands that allow the user to control program flow and perform other miscellaneous functions along with the G codes and M codes CHAPTER 5 OPTIONAL PSO COMMANDS Chapter 5 contains information discussing optional Position Synchronized Output PSO commands that may be used to synchronize control with motion most commonly used with laser firing Detailed explanations of the functions of each PSO command are given in Chapter 5 APPENDIX A AXIS PARAMETERS Appendix A briefly describes the fu
62. Update Rate G130 The G130 command causes the U600 to update the servo loop 4000 times sec every 25 msec This includes sampling the encoder feedback and calculating a new I command for the motor When switching from 1K to 4K update G131 to G130 the user must adjust the gains as shown below Kp Kp 4 PGAIN PGAIN 4 K K The default mode of operation on power up may be set in the CNC Initialization screen for each CNC under the G codes pull down menu 2 15 4 1 Kilo Hertz Servo Update Rate G131 The G131 command sets the U600 to update the servo loop 1000 times sec every 1msec The normal process of sampling the encoder feedback and updating the current commands 4000 times per second will be reduced When switching from 4K to 1K the user must adjust the gains as shown below Kp Kp 4 PGAIN PGAIN 4 Ki Ki The default mode of operation on power up may be set in the CNC Initialization screen for each CNC under the G codes pull down menu G Codes Version 1 2 Aerotech Inc 2 71 G Codes U600 Series Programming Manual 2 72 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes CHAPTER 3 M CODES In This Section Descriptions oe o EE sete ees nese teste 3 1 e M code ProgrammINg esse se se se ee ee RA Re ee 3 5 N Vinel O nee ee ene eee 3 5 of The MODSEAN INNES se erotics 3 8 e Programmable Logic Controllers iese ses see see 3 9 e PCDIO Digital VO Ca
63. Version 1 2 U600 Series Programming Manual Extended Commands 4 4 Commands which Affect Program Flow As mentioned above some of the extended commands supported by the UNIDEX 631 U600 CNC provide the ability to define variables while others permit operations on those variables The commands described in this section use the variables described above to modify the flow of parts program execution When analyzing the examples found within this section please refer to the descriptions of the variables found in the previous sections Throughout the discussion below the terms expression and conditional expression will be found The term expression refers to a series of mathematical computations which yields a single numerical result Therefore expressions can be as simple as the evaluation of a variable or as complex as the solution to an equation Any of the mathematical operators described in Section 4 3 may be used to form an expression The term conditional expression refers to an expression that evaluates to one of two values TRUE 1 and FALSE 0 This is most often the result of the comparison of two expressions This comparison may be done using any of the relational operators described in Section 4 3 4 Version 1 2 Aerotech Inc Extended Commands U600 Series Programming Manual 4 4 1 Jump to a User Defined Entry Block JUMP This command alters the flow of program execution Instead of proceeding with the next sequ
64. a G40 without a lead off move the program will throw a fault indicating this SYNTAX G40 EXAMPLE G40 G1 X1 Y1 F100 Deactivate the cutter radius compensation jand remove the offset during the end move Please refer to the comprehensive example immediately following the G42 command The G40 mode is the default 2 30 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 8 2 Activate ICRC Right G41 G41 activates ICRC to the right of the programmed tool path relative to the direction of tool motion see Figure 2 18 The center of the tool nose will then be kept on a line normal to the programmed path until ICRC is de activated The movement generated by a G41 differs based on whether it appears on its own line or on the same line as motion refer to Figure 2 19 An error is reported if the first motion block following ICRC activation commands circular interpolation on an axis that cutter compensation has been activated Tool ne ool Radius 7 Actual path I l I Work piece l l l l l l y Figure 2 18 Path Compensation Right Please refer to the Intersectional Cutter Radius Compensation Overview for a general description of the implementation of this feature on the UNIDEX 631 U600 SYNTAX G41 Lead In Move EXAMPLE G41 X2 Y2 F100 Activate the cutter radius compensation right Refer to the comprehensive example immediately following the G42 command The G40 m
65. are located on the encoder expansion cards 1 through 3 respectively It may also specify the commanded positions of axes through 16 by designating an encoder channel of 17 through 32 respectively Specify encoder channel zero 0 or distance of zero 0 to disable the handwheel command for a particular axis Multiple hand commands may be executed sequentially to permit simultaneous multi axis positioning 4 34 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands SYNTAX HAND encoder_ch axis dist_per_encoder_count Where encoder_ch specifies the encoder channel the handwheel is connected to 0 32 axis is the axis to be positioned by the handwheel dist_per_encoder_count is the distance the axis will move for each count of the handwheel DVAR RESPONSE Hand 3 X 01 Position X axis via handwheel on encoder channel 3 Hand 4 Y 1 Position Y axis via handwheel on encoder channel 4 Display Press OK when finished positioning RESPONSE Hand 0 Y 1 Disable Y positioning Hand 0 X 01 Disable X positioning 4 6 4 Home HOME REF The HOME and REF commands accept parameters that specify which axes are to be affected Using an axis name in the parameter list designates that this axis is to move to its hardware reference point This command causes the specified axes to initiate a homing sequence These commands provide the ability to locate an axis or set of axes at a known
66. be assigned to a CNC before they may be used Check the parameter setup mode to be sure all axis are assigned properly B Axis Must be a Rotary Axis Check Machine Parameters Line ld CNC d The axis assigned within the setup parameters as the B axis is not defined as a rotary axis B Axis Not Selected Check CNC Parameters Line ld CNC d Program d No axis has been designated as the B axis within the setup parameters B Axis User Units are Zero Check Axis Parameters Line ld CNC d The conversion factor is zero for the axis assigned as the B axis within the setup parameters B Axis X Plane Axis Not Selected Check CNC Parameters Line ld CNC d No axis has been assigned to the X plane for the B axis within the setup parameters C 2 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES B Axis Y Plane Axis Not Selected Check CNC Parameters Line ld CNC d No axis has been designated as the Y plane of the B axis Cannot use HardCoded Axis Names When Softnames are Selected Select Hardcoded axis programming mode or specify the axis by their Softnames CNC d Program d ret d completion d Program Line ld An error occurred while transferring a CNC command block to the axis card CNC d Execute Immediate Error ret d compl d An error occurred while executing the CNC command line CNC d Specified Axis Mask lx Actual Axis Mask lx The axis were re assigned in the para
67. bit 432 goes low jump to label handler ONERRGOTO handler G50 jump to label handler when variable GLOBALSO is non zero Any of these above examples can have a priority assigned to them For example GET ONERRGOTO handler V432 LO P100 same as above with highest priorit To clear an onerrgoto definition remove the onerrgoto definition ONERRGOTO CLEAR clear monitoring of CNC and axis faults ONERRGOTO CLEAR V432 clear monitoring of virtual bit 432 ONERRGOTO CLEAR G50 clear monitoring of GLOBALSO variable To prioritize an existing onerrgoto definition to the default of 50 ONERRGOTO ENABLE enable monitoring of CNC and axis faults ONERRGOTO ENABLE V432 enable monitoring of virtual bit 432 ONERRGOTO ENABLE G50 enable monitoring of variable GLOBALSO Any of these above examples can have a non default priority assigned to them For GET example ONERRGOTO ENABLE V432 P100 same as above with highest priority or temporarily disable monitoring of the condition without removing the onerrgoto defintion so it may be later re enabled by setting the priority to 0 then resetting the priority to its original desired value 4 22 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands The syntax of the ONERRGOTO depends on the condition the user wants the jump to occur The user can specify an interupt on a fault an IO bit value change and a global variable change The first parameter must be either ENA
68. bracket Version 1 2 Aerotech Inc 1 1 Symbols amp Axis Designators U600 Series Programming Manual GE 1 1 4 End Extended Command Block When used as the last character of a program block the character designates the end of an extended non RS 274 a command block As mentioned above several of these commands may span multiple command blocks and therefore the end extended command block operator is needed to terminate the block 1 1 5 Array Indices As described below the UNIDEX 631 U600 supports operations on arrays or groups of CNC variables To specify an array element you must specify an index to the desired element This is done by using the and characters to delimit the index Refer to Chapter 4 Extended Commands for explanation on defining arrays using the DVAR command However global variables may be addressed as arrays without any special declaration The first element of an array is indexed as 0 for example if the array MyArray is defined to contain 10 elements the sixth element of the array would be designated as follows MyArray 5 A check of the index validity is not performed If the index is outside the range defined for that array as defined in the DV AR command the syntax will specify other variables and this may lead to unexpected results No math is allowed within the subscripts However variables may be used even with array indices But the array references can only be tw
69. collection has been opened define CNC3 DATACOLLECT START 0x0200 data collection is active define CNC3_CDW_IRQ PENDING 0x400 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 4 5 6 CNC Operational Mode The system variables CNCMODEI1 CNCMODE2 CNCMODE3 and CNCMODEF4 are used to show information regarding the current operational mode of the CNC This modal information such as G70 G71 and G90 G91 is stored as a 32 bit word in which each bit reflects a different piece of information A one in a corresponding bit shows the condition is active Inactive conditions are represented by a zero These variables can be used to communicate the status of a CNC process to another CNC engine via global variables or to other equipment in the system such as a remote host or a programmable logic controller Table 1 3 defines the CNCMODE1 and CNCMODE2 variables Table 1 3 CNCMODE1 and CNCMODE2 Variables CNC Mode 1 bits defined define CNC_MODE_G90 0x00000001 absolute if set define CNC_MODE_G91 0x00000002 incremental if set define CNC_MODE_G70 0x00000004 English if set define CNC_MODE_G71 0x00000008 Metric if set define CNC_MODE_G41 0x00000010 Cutter Comp Left define CNC_MODE_G42 0x00000020 Cutter comp Right define CNC_MODE_G54 0x00000040 fixture offsets 1 define CNC_MODE_G55 0x000
70. defines an area in which the axis may enter and a two defines an area in which the axis may not exit A safe zone fault occurs each time the associated axis moves into or out of an area that violates an active safe zone The user may also specify safe zone parameters from within a parts program SIMULATION To facilitate easy debugging of parts programs this parameter allows you to place an axis into a simulation mode While in this mode the motor s torque remains steady but no motion occurs While executing a parts program on a simulated axis the Axis processor performs all calculations normally but the torque command never reaches the motor Instead the torque serves as the feedback for this axis effectively creating a system free from velocity error All other features such as data acquisition continue to function normally Setting this parameter to zero disables the simulation mode while a one enables it The default is to disable the simulation mode A 6 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters ACCEL This parameter controls the time needed to accelerate to a new velocity while the ACCELMODE parameter specifies time based ramping The units for this parameter are in milliseconds and can range between 0 and 100 000 The default value is for 0 msec Acceleration refers to any increase in velocity 5 The user may also specify acceleration mode parameters from within a parts pr
71. error occurred while reading the M code data Check the syntax for the M code Restore Token Error A token could not be placed back into the command queue probably due to one having already been restored Return d CompletionCode d An error occurred while retrieving the data for the file requested to be opened closed read written or reset by the axis processor or an error reading or setting the T word data from the tool file C 22 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Rotary feedrate must be a literal on M05 M19 Line old CNC d Program d Rotary feedrate is not a literal Rotary Feedrate on B Axis Move must be a Literal Line ld CNC d Program d The rotary feedrate on B axis move must be a literal Rotary Feedrate on B Axis Move must be between 0 0 and lf Check E Feedrate Line ld CNC d Program d The feedrate is not greater than zero and less than or equal to the maximum speed assigned to the B axis Rotary Feedrate on B Axis Move must be between 0 0 and lf Check Axis Parameters Line ld CNC d Program d Rotary feedrate is not greater than zero and less than the maximum B axis speed Rotary Maximum Feedrate on B Axis Move is Zero Check Axis Parameters Line ld CNC d Program d Maximum feedrate for the B axis is zero RPT memory allocation error Internal error RPT pointer error Internal error Run Thread Activation Failure on CNC
72. example if circular interpolation is being performed on the X and Y axes the feedrate would be set as follows _ SquareRoot R Theta Z a7 j of minutes to complete move where R is the arc radius Theta is the arc angle in radians Z is the move distance for the Z axis a is the move distance for the a axis SYNTAX G94 EXAMPLE G94 Set normal feedrate mode G70 F100 Establish feedrate of 100 0 inches per minute G71 F500 Establish feedrate of 500 millimeters per minute This is the default operational mode of the controller G94 has no effect on the speed of the rotary axes E feedrate The E feedrate is always in units of RPM 2 60 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 13 3 Feed Per Spindle Revolution Feedrate Programming G95 The UNIDEX 631 U600 CNC permits the actual velocity of the spindle axis to control the velocity command of a linear axis If the spindle speed varies during the machining process the speed of the associated linear axis will vary also The G95 command specifies that the speed of the spindle is to be used to determine the desired velocity of the other axes in motion The feedrate keyword F contains the vectorial distance which the slave axes are to be moved for each revolution of the spindle axis This feedrate can be calculated as follows SquareRoot X Y a of spindle revs to complete move where X is the move distance
73. fixed length with spaces SYNTAX FILEWRITE Var data EXAMPLE DVAR fil varl var2 var3 var4 var5 declare the variables FILEOPEN test dat fil open the file varl 5 var2 4 var3 3 2 var4 6 var5 9 FILEWRITE fil var var2 var3 var4 var5 write to the file var1 9 var2 6 var3 3 2 var4 4 var5 5 FILEWRITE fil varl var2 var3 var4 var5 write to it some more file pointer is now at end of file FILERESET fil sreset file pointer back to start FILECLOSE FILEOPEN test dat fil 1 open read only OPENCDW open the customer display window FILEREAD fil varl var2 var3 var4 var5 sread the first line of data DISPLAY varl var2 var3 var4 var5 display the first line of data FILEREAD fil varl var2 var3 var4 var5 sread the second line of data DISPLAY varl var2 var3 var4 var5 display the second line of data IF FILEEOF 0 THEN if at end of file FILERESET fil sreset to start ENDIF FILEREAD fil varl var2 var3 var4 var5 sreread first line of file DISPLAY varl var2 var3 var4 var5 sredisplay first line of file also CLOSECDW close the customer display window FILECLOSE fil _ close it Version 1 2 Aerotech Inc 4 55 Extended Commands U600 Series Programming Manual 4 10 Master slave Motion Commands These CNC commands allow the CNC programmer to command master slave motion Master slave motion is the most general form of motion allowing the user to comm
74. following points in the table will be offset accordingly x s is effectively added to all slave position table coordinates An important note is that the program can resynch to a new table while the slave is already synched to a current table without desynching in between with SYNC mode 0 s Version 1 2 Aerotech Inc 4 57 Extended Commands U600 Series Programming Manual However modes 1 and 2 provide no protection for any jump in slave commanded positions that may be caused by the potentially different values in the two tables The tables are switched instantaneously without any decel or acel Mode 3 is very different from modes 1 and 2 In mode 3 the slave values are interpreted as axis velocities not axis positions The table then controls slave velocity based on a master position MAXCAMACCEL Mode 3 offers acceleration deceleration protection that can be used when synching on the fly without desynching in between with SYNC mode O s If this parameter is non zero the slave axis will not exceed this acceleration while camming This parameter is not used in modes 1 and 2 To deactivate this feature set the parameter value to 0 CAMOFFSET This parameter is added to the master position before doing the table lookup For example if the table covers master positions from 0 to 360 degrees the actual master position is 2 degrees and CAMOFFSET is 3 degrees then CNC will use the value of 5 degrees as the master po
75. for the X linear axis Y is the move distance for the Y linear axis When performing circular interpolation on two axes the sum of the squares for those axes is replaced by the product of the arc radius and the arc angle squared For example if circular interpolation is being performed on the X and Y axes the feedrate would be set as follows p SquareRoot R Theta 472 4a7 of spindle revs to complete move where R is the arc radius Theta is the arc angle in radians Z is the move distance for the Z axis a is the move distance for the a axis The portion of this vectorial distance attributed to each axis is proportional to the percentage of the total vectorial move distance attributed to this axis user units rev Actual feedrate in user units is ipm mmpm i s rev m n G95 has no effect on the speed of the rotary axes E feedrate The E feedrate is always in units of RPM 5 Whne in this mode the programmed feedrate F word has no effect since the linear feedrate is controlled by the spindle 5 Version 1 2 Aerotech Inc 2 61 G Codes GE U600 Series Programming Manual SYNTAX G95 EXAMPLE G95 G70 G1 X10 F1 0 G71 G1 Y6 0 FO 5 G70 G1 X2 0 Y4 0 F2 235 Set feed per spindle revolution feedrate programming The linear axis X is to be moved 10 inches jat a speed of one inch per spindle revolution Therefore this move will be completed in 10 spindle rev
76. four CNCs to allow the user to run multiple CNCs simultaneously For example the user can have an I O scanning program running on CNC number 1 a program executing on CNC number 3 while executing manual mode commands on CNC number 4 The only restriction is each CNC must have exclusive control of the axes it owns In other words if CNC number is controling axes X and Y no other CNC can access data from or run motion on axes X and Y However there are exceptions and they are discussed in the following sections 1 6 1 CNC Intercommunication Global Variables Each CNC runs its program independently from the other CNCs Each CNC has its own local and static variables that no other CNC can change or reference However CNCs do share global variables Any CNC can set or retrieve the value of any global variable at any time Therefore global variables can be used to communicate information between the CNCs For example CNC number 2 could be executing a forever loop waiting for the value of GLOBAL to be 1 where it would shut down all drives Then if at any time another CNC sets the value of GLOBALI to 1 CNC number 2 will shut down all the drives 1 6 2 CNC Intercommunication CNC Parameters Setup Another way to communicate between the CNCs is through axis parameters A CNC can perform a SETPARAM or GETPARAM extended command on any axis as long as one of the CNCs owns that axis Each CNC is initialized and assigned axes through
77. freight or authorize the product s to be shipped back as is at the buyer s expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as is at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the follo
78. may easily be changed Alternatively the UNIDEX 631 U600 CNC has a pre defined set of axis names which may be used These names are called hard names due to the fact that they may not be changed by you The set of hard names used by the UNIDEX 631 U600 is defined as follows MRAAL Version 1 2 Aerotech Inc 4 4 Extended Commands GE U600 Series Programming Manual Table 4 3 Hard Axis Names HardName Axis Number HardName Axis Number X Y Z 1 3 X y Z 10 12 U V W 4 6 u V W 13 15 A B C 7 9 a 16 The HARDNAMES command specifies that these pre defined names are to be used as opposed to the names specified in the Machine Parameter Menu The SOFTNAMES command has the opposite effect These commands are modal This mode is retained until changed even between invocations of the CNC G92 Axis_01 0 Axis_02 0 Axis_03 0 Use softnames to clear the preset registers SYNTAX HARDNAMES or SOFTNAMES EXAMPLE HARDNAMES Permit specification of HARD axis names G92 X0 YO Z0 Use the pre defined axis names to clear the preset registers SOFTNAMES Permit specification of SOFT axis names These commands must occupy a program block of their own As mentioned this command is modal The specified operational mode is retained across CNC invocations 4 42 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 8 3 Joining Parts Programs INCLUDE This command provides
79. not decelerate in between the two moves no G9 specified so the X axis will be traveling at 100 unit min at the instant the second move begins This means that the Z axis must also be 100 units min at that instant in order for the two motions to finish at the same time In the last instant the end of the first move the Z axis was not moving This results in an instantaneous velocity change infinite acceleration of the velocity command of the Z axis 2 12 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes There are only two sensible alternatives here 1 Slow down to a stop in between the moves this violates the speed behavior specified by the user 2 Ramp the Z axis up as quickly as possible starting at the beginning of the second move this violates the position contour specified by the user It is by no means clear which of these solutions is preferable it depends on the application So the U31 controller leaves it up to the user to decide If solution 1 is desired the user must place a G9 in the first G1 block shown above Solution 2 can be accomplished with an axis parameter especially provided for this situation VELTIMECONST When this constant is non zero a low pass filter removes high frequency components is applied to the velocity command The constant is approximately proportional to the number of milliseconds that the filter will spread out an instantaneous velocity change It is stron
80. not to reverse the direction of the motor on a properly phased servo loop This parameter is typically set to 1 when a Unidex 31 U631 system is upgraded to a Unidex 600 Range 0 1 Default 0 EXTR2DSCL EXtend R D SCaLing This parameter is used in conjunction with other parameters to increase the range of the PGAIN parameter since the minimum value of the PGAIN is 1 This parameter is used to scale the R D channel and the resolver feedback resolution of the velocity loop In addition the parameters for the encoder lines rev mm rev or in rev KP KI and the PGAIN must all be increased proportionally by the value of this parameter to complete the scaling of the gains For example if the range of the PGAIN parameter is inadequate increase the EXTR2DSCL parameter to an arbitray value such as 128 Now increase the encoder lines rev parameter within the CONFIG screen proportionally by 128 ie enter a value 128 times greater The mm rev and in rev parameters must also be increased proportionally by 128 ie enter a value 128 times greater The KP KI and PGAIN parameter must also be increased proportionally by 128 ie enter a value 128 times greater than each of the current values This will allow a more reasonable range for the PGAIN parameter while maintaining the proper values for the other servo loop parameters Range 1 65536 Default 0 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters HO
81. of the first thirty two bit firing pattern 5 6 2 t size Argument The size argument specifies the total number of bytes i e groups of 8 bits including arraylx that make up the desired output firing bit map pattern If size is positive no sign or then the bit pattern continues from the most significant bit of the 32 bit starting bit pattern specified in arraylx to the least significant bit and then continues forward to the next sequential element of arraylxtl always starting at the most significant bit for size bytes If size is negative then the bit pattern continues from the least significant bit of the 32 bit starting bit pattern specified in array x to the most significant bit and then continue in reverse to the previous variable number array x 1 always starting at the least significant bit for size bytes This argument can range from 2 to 255 An array element holds the equivalent of four bytes of information or 32 bits of firing points Refer to Figure 5 1 Motion commands post processing etc Motion controller pre processing PSOM 0 array 3 1 128 Define output firing pattern array 31 thru array 0 PSOF 5 500 X Activate output firing pulse train lock onto axis X and run bit pattern in the reverse direction Motion commands post processing etc EXAMPLE Motion controller pre processing PSOM 0 arr
82. on a DFLS Statement The user stack has exceeded its limit while defining a library subroutine due to a programming error or a large amount of stack usage C 24 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Stack Overflow The user stack has exceeded its limit due to a programming error such as a recursive subroutine CALL a GOTO RETURN from a subroutine etc or exceeding the nesting limits of UNIDEX 600 631 Syntax error The format for the command is incorrect T Word d Info from s An error occurred reading an entry from the tool file The number of values read do not match the variables requested in a READFILE statement There were more less variables in the data file than specified in the READFILE statement THEN without a corresponding IF A THEN statement was encountered without a corresponding IF statement Too many After M codes User specified too many M codes to execute after the program block Too many Before M codes User specified too many M codes to execute before the program block Too many digits Too many digits were specified Too many subscripts You have exceeded the number of subscripts allowed by UNIDEX 600 631 Too Many Syntax errors You have too many programming errors Too many user files open Version 1 2 Aerotech Inc C 25 ERROR CODES U600 Series Programming Manual You may not open more than 16 user files at a time Tool File name invalid check
83. or sinusoidal 1 cosine The following chart serves as an aid in setting this parameter The default for this parameter is for a time based linear ramp 0 Linear Ramping Time Based 1 Sinusoidal Ramping Time Based 2 Linear Ramping Rate Based 3 Sinusoidal Ramping Rate Based The user may also specify deceleration mode parameters from within a parts program FEEDRATEMODE This parameter determines if the axis is subject to feedrate override control Setting this parameter to zero disables the feedrate override control while a value of one makes the axis subject to feedrate override The default value is zero 0 ACCELRATE This parameter sets the rate of acceleration while the ACCELMODE parameter specifies rate based ramping The units for this parameter are machine counts per second squared This parameter has a valid range of 1 to 10 000 000 The default value is 1 000 000 1 count msec2 The user may also specify acceleration parameters from within a parts program DECELRATE This parameter sets the rate of deceleration while the DECELMODE parameter specifies rate based ramping The units for this parameter are machine counts per second squared This parameter can range from 1 to 10 000 000 The default value is 1 000 000 1 count msec2 The user may also specify deceleration parameters from within a parts program A 8 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters
84. point constants 1 8 Flow Parts Program 3 1 Following Error Minimizing A 2 Force Deceleration 2 14 Format Objects 4 5 FRAC 4 11 Fraction 4 11 FREE command 4 34 GO 1 5 2 7 G01 2 8 G02 2 8 2 16 G03 2 9 2 16 G04 2 10 G110 2 69 G111 2 70 G130 2 71 G131 2 71 G17 2 21 G18 2 21 G19 2 21 G20 2 24 G21 2 24 G22 2 25 G30 2 17 G33 2 18 G36 2 26 G37 2 27 G40 2 30 G41 2 31 G42 2 33 G43 2 35 G44 2 35 G45 command 2 36 G46 command 2 36 G47 command 2 37 G51 4 49 Aerotech Inc v Manual Index G53 2 39 Helical Interpolation 2 9 G54 2 39 Hexidecimal integers 1 9 G55 2 40 Holding Areas Temporary A 1 G56 2 41 HOME 4 35 G57 2 41 Home Hardware Position A 5 A 6 G60 2 43 Home Feedrate A 9 G61 2 44 Home Limit and Marker Pulse Minimum Distance G62 2 45 Between A 9 G63 2 46 Home Limit Switch A 11 G64 2 46 Home Limits Switch A 9 G65 2 47 Home Marker Pulse A 9 G66 2 48 Home Position A 9 A 15 G67 2 49 Home Hardware 4 35 G68 2 49 Home Position 2 58 G70 2 50 HOME_SWITCH_TOLERANCE Fault A 9 G71 2 51 HOMESWITCHTOL Parameter A 8 G8 2 12 Homing Process Completion of A 15 G9 2 14 Homing Sequence Accuracy A 9 G90 2 56 Host 1 14 1 17 G91 2 57 G92 2 58 I G93 2 59 G94 2 60 I J K 1 8 G96 2 63 VO 3 5 G97 2 64 I O Bit Vitrual 3 10 G98 2 67 VO Points Virtual 3 15 G99 2 68 VO TYPE 3 25 G Code Description 2 1 IAVGLIMIT
85. stat d ret d n Memory could not be allocated for the CNC queue Close unnecessary windows or add more memory to your system Allocate CNCStack Error CNC d Program d Memory could not be allocated for the CNC s user program stack Close unnecessary windows or add more memory to your system Allocate CNCVariable Error CNC d Program d Memory could not be allocated for the CNC s user variables Close unnecessary windows or add more memory to your system Allocate Variables CNC d Program d ret d completion d Memory could not be allocated for CNC variables Close unnecessary windows or add more memory to your system Allocation error allocating structures for IF statement compilation Memory could not be allocated for IF structures Close unnecessary windows or add more memory to your system Version 1 2 Aerotech Inc C 1 ERROR CODES U600 Series Programming Manual Allocation error allocating structures for WHILE statement compilation Memory could not be allocated for WHILE structures Close unnecessary windows or add more memory to your system Anchor Block Initialize Failure CNC d Internal error possibly due to insufficient memory Attempt to read beyond end of line during READFILE More data was expected Be sure the file data agrees with the data expected Attempted to open too many source files s There were more than 4 nested include files Axis not assigned to this CNC Axis must
86. subroutine 4 8 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands Also subroutines do not have a separate variable set they use the same local variables as the program that called it SYNTAX DFS lt subroutine name gt lt program block gt lt program block gt EXAMPLE DFS MOVEHOME Define the subroutine movehome G90 GO X0 YO Move to absolute location 0 0 but note that G90 is mode of operation upon completion of the subroutine M1000 Set output to show were home G04 FI Wait 1 sec for other equipment to see output _ End the subroutine This command must occupy its own block within a program A Subroutines may call other subroutines the maximum level of calling depth allowed is 20 Version 1 2 Aerotech Inc 4 9 Extended Commands U600 Series Programming Manual 4 3 Programming Operators The UNIDEX 631 U600 CNC supports a number of arithmetic trigonometric logical and relational operators that permit the user to perform various calculations during program execution Each of these operators will be discussed in the following sections 4 3 1 Arithmetic Operators The arithmetic operators supported by the UNIDEX 631 U600 permit the user to perform calculations during program execution The following sections give examples of their usage 4 3 1 1 Addition The operator produces the sum of the two operands specified EXAMPLE VAR
87. such as a MO then the cutter compensation will pick back up once it locates a move after the intervening statement This can have disastrous results if it is unintentional as shown in Figure 2 16 Note that moves of axes not involving a cutter comp designated axis can be placed in between with no effect When running in mirror mode see G83 note that cutter compensation left becomes cutter compensation right and visa versa ics arms ioe aes Work piece Expected path Actual path Figure 2 16 Cutter Compensation with Intervening Statements Version 1 2 Aerotech Inc 2 29 G Codes U600 Series Programming Manual MARAL S 2 8 1 Deactivate Cutter Compensation ICRC G40 The G40 mode exits cutter compensation mode and generates a lead off move How the lead off move is accomplished depends on whether the G40 is on its own line or is on a line with a move If the G40 is on a line with a G1 motion command then a leadoff motion is accomplished within the G1 move but if the G40 is on its own line the controller simply sets the PRESET positions equal to the MACHINE positions no movement is generated where the direction of the leadoff is perpendicular to the direction of the move Refer to 1 and 2 in Figure 2 17 G91 40X1 Y 1 G91 G40 onits own line X1 Y 1 Programmed path Bt HE Ee Actual path Figure 2 17 Lead Off Moves If the user ends the program without
88. the CNC General Parameters option Refer to the UNIDEX 631 U600 User s Manual for initializing and assigning CNC axes 1 6 3 Autorun Mode Autorun ini Normal CNC execution of a program begins when the user selects and runs a program from the Run screen However using the AUTORUN INI file programs can be run and sequenced automatically For example the user may specify that CNC 2 always run a forever loop program that monitors particular safety conditions Refer to the comments in the AUTORUN SAM file for additional examples and explanations 1 22 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators AUTORUN INI RECORD SYNTAX cnc number filename run mode 5 Each record starts a run screen with the given program on the given CNC The records are read sequentially after a CNC s run screen closes the next record calling out that CNC will be executed The records for each CNC are handled independantly launching of a particular CNC s records does not wait for the completion of any other CNCs records There are two special flag values that can be specifed instead of a cnc number Special flags are executed ONLY AFTER ALL CNCS ARE DONE WITH ALL PRECEDING RECORDS A flag of 0 ends mainmenu a flag of 100 or greater rewinds the file and repeats it It will be repeated x 100 times where x is the flag value The program and run mode are igno
89. the CNC program execution that is the motion is begun and the next CNC statement is immediatly executed The speed parameter is in unusual units user units per second The STRM command accelerates instantaneously jumping up to the commanded velocity Use the ENDM command to end motion on an axis that had a STRM executed on it SYNTAX STRM lt axis name gt lt constant gt lt varI gt Where axis name axis to feed in on the slave constant direction to go 1 is positive 1 negative varl speed to feed at in user units per second or degrees per second for rotational axes Version 1 2 Aerotech Inc 4 61 Extended Commands U600 Series Programming Manual 4 62 Aerotech Inc Version 1 2 U600 Series Programming Manual CHAPTER 5 OPTIONAL PSO COMMANDS Optional PSO Commands In This Section si Introduction ER ee eee Sea OO EO 5 1 of Bro sramman ps Eommands EE A cee eee eee 5 2 e Conditional Tracking Based on Input States iese ee ese se se ee 5 3 e Position Synchronized Output Firing Distance Entry sesse sesse ee 5 6 e Enable Disable Position Synchronized Output Firing sesse esse se se ee 5 9 e Position Synchronized Output Using Bit Mapping esse eee 5 12 e Position Synchronized Output Pulse Configuration esse ses eee 5 14 e Position Synchronized Output with Real time Control 5 16 e Digital Analog Output Command eee se see se ee SA RA Ge ee se 5 18 5 1 Introduct
90. the UNIDEX 631 U600 POS This parameter specifies the observed position for a selected axis in machine steps taking into account any correction steps specified by an axis correction table This parameter is a 32 bit signed integer having a range of approximately 2 1m 2 1 Upon initialization the system sets the current observed position equal to the POS parameter value This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter 5 RAWPOS Same as POS except it does not reflect any axis correction changes This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter 5 ECHO This parameter allows you to set a dummy parameter It has no effect on the operation of the controller but may be used to test communications with the axis processor or as a temporary holding area This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter 5 Version 1 2 Aerotech Inc A 1 Axis Parameters U600 Series Programming Manual CLOCK This parameter allows you to set the starting count of the clock which has one millisecond resolution The clock starts counting from the specified time This is available for application programs that require a general purpose timer Use of this param
91. the pulse trail in tenths of milliseconds This argument only used with commands PSOP 1 and PSOP2 5 7 2 4 r Argument The r argument specifies a ramp up down time in tenths of milliseconds This argument is used only with command PSOP 2 This argument allows the pulse width and therefore the power output of the laser to vary i e increment then decrement from r tenths of milliseconds to w the full pulse width in increments of r tenths of milliseconds and then back again This feature is useful in applications involving laser drilling In such applications a pulse train that begins with small width pulses low power and gradually increases to continuous constant width output pulses full power for example may be preferred over a steady pulse train of full power pulses Version 1 1 Aerotech Inc 5 15 Optional PSO Commands U600 Series Programming Manual S 5 7 2 5 g Argument The g argument specifies the pulse gap interval between ramps in tenths of milliseconds These gaps can be variable width based on the pulse train width w g 0 or fixed width g gt 0 This argument is only used with command PSOP 2 5 7 2 6 array x Argument The array x argument specifies the UNIDEX 31 array element that contains the off on pulse train timing characteristic data in tenths of milliseconds The specified variable contains the number of oe tenths of milliseconds the second sequent
92. the velocity command See G8 and G9 for details 2 11 1 Set Acceleration Time G60 When performing acceleration and deceleration using the time based G67 parameters the UNIDEX 631 U600 CNC uses the Accel Time parameter specified within the Accel Decel Control Group Box found on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual for more information The G60 command overrides the default acceleration time parameter for this CNC Subsequent motion commands accelerate to the commanded velocity within the specified time period This time period is specified in seconds with a resolution of 0 001 seconds 1 millisecond SYNTAX G60 FAccelTime EXAMPLE G60 FO 5 Sets new acceleration time to 1 2 sec 500 msec The parameter may be set regardless of the current setting of the Ramp Type G code group However the effect of this parameter will be apparent only when operating in a time based G67 acceleration mode a WARNING Version 1 2 Aerotech Inc 2 43 G Codes U600 Series Programming Manual ET 2 11 2 Set Deceleration Time G61 When accelerating or decelerating using the time based G67 parameters the UNIDEX 631 U600 CNC uses the Decel Time parameter specified within the Accel Decel Control Group Box found on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual for more information The G61 command overrides the default deceleration time parameter for this CN
93. to Set Probe Offset Data in CNC od ret d CompletionCode d Unable to set T word data Unable to Set T Word d data The X axis cutter is undefined Unable to Set T Word d data Cutter Y Axis Undefined CNC d The Y axis cutter is undefined Unable to start the run background thread on CNC d The background process required for the run mode could not be started This may be due to insufficient system resources close unnecessary windows or add more memory to your system Unable to write WRITEFILE data to disk The file is not open the command parameters could not be parsed or an unknown variable was found Undefined identifier This identifier has not been defined Unexpected end of file The end of the file was reached before all data was found Unexpected Right Bracket A right bracket has been found without a preceding left bracket Unexpected token A command or parameter was encountered when one was not expected Verify the command syntax Unimplemented feature This feature has not been implemented Unimplemented G Code Version 1 2 Aerotech Inc C 29 ERROR CODES U600 Series Programming Manual This G code has no implementation User Units on Fixture Offset 1 are Zero Check Axis Parameters Line old CNC d Program d The conversion factor for fixture offset 1 is zero check axis parameters User Units on Fixture Offset 2 are Zero Check Axis Parameters Line old CNC d Program d
94. to designate an I O group Once this type of I O group has been defined the individual XYCOM bits must be associated with specific virtual I O bits The following describes how this is accomplished The keyword XYCOM is used to specify that a particular set of Binary Inputs Outputs is associated with a XYCOM card The next parameter specifies the card number This XYCOM card number must be pre defined using the XYCOM command described previously You must specify the starting bit number on the Xycom Card which is associated with a group This bit number must be less than 32 and evenly divisible by 8 The starting virtual I O point parameter specified next must also be evenly divisible be 8 The valid range for virtual I O points is currently 0 511 The final parameter size specifies the number of 8 bit groups which are to be included in this group This value has a valid range of 1 4 SYNTAX BIIBO XYCOM lt gt lt StartXycomBit gt lt StartVirtIO gt lt size gt EXAMPLE BI XYCOM 1002 The following assigns XYCOM Bits 0 15 as virtual inputs 0 15 BI gt Binary Inputs associated with XYCOM Board 1 Starting XYCOM Bit Number 0 Starting Virtual Input Number 0 2 Bytes Virtual Inputs 16 Bits BO XYCOM 1 16 0 2 The following assigns XYCOM Bits 16 31 jas virtual outputs 0 15 BO gt Binary Outputs associated with sXYCOM Board 1 Starting XYCOM Bit Number 16 Starting Virtual Output Number 0 _ 2 Bytes Virtua
95. 0 Dwell N A G8 2 12 Instantaneous Acceleration N G9 2 14 Force Deceleration to Zero Velocity N G12 2 16 CW Circular Interpolation Motion Y G13 2 16 CCW Circular Interpolation Motion Y G17 2 21 X Y Plane Selection Set 1 Plane Select Y G18 2 21 Z X Plane Selection Set 1 Plane Select Y G19 2 21 Y Z Plane Selection Set 1 Plane Select Y G20 2 24 Disable Normalcy Mode Normalcy Y G21 2 24 Normalcy On Left Normalcy Y G22 2 25 Normalcy On Right Normalcy G30 2 17 Spline Move Y G33 2 18 Thread Cutting Y G36 2 26 Enable Safe Zones SafeZones Y G37 2 27 Disable Safe Zones SafeZones Y G40 2 30 Disable Cutter Compensation ICRC Y G41 2 31 Enable Cutter Compensation Right ICRC Y G42 2 33 Enable Cutter Compensation Left ICRC Y G43 2 35 Set Cutter Compensation Radius Y 2 2 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes Table 2 1 G code Summary Con t G code Page Description Group Modal G44 2 35 Set Cutter Compensation Axes Y G45 2 36 Disable Polar Cylindrical Coordinates G46 2 36 Activate Polar Coordinates G47 2 37 Activate Cylindrical Coordinates G53 2 39 Cancel Fixture Offset FixtureOffset Y G54 2 39 Set Fixture Offset 1 FixtureOffset Y G55 2 40 Set Fixture Offset 2 FixtureOffset Y G56 2 41 Enable Parameter Monitoring Y G57 2 41 Disable Parameter Monitoring Y G60 2 43 Set Acceleration Time Y G61 2 44 Set Deceleration Time Y G62 2 45 Set Profile Time G63 2 46 Sinusoidal Acceleration M
96. 0 Y1 0 Z1 0 11 0 G2 X1 0 Y1 0 11 0 J0 0 G1 Z1 0 G18 G1 G2 X1 0 Y1 0 Z1 0 11 0 G2 X1 0 Z1 0 11 0 K0 0 G1 Y1 0 Version 1 2 Aerotech Inc 2 21 G Codes U600 Series Programming Manual 2 6 Normalcy Mode G20 G21 G22 Certain types of cutting tools require that they be oriented perpendicular normal to the part being cut Such tools are typically mounted to a rotary axis so that the orientation of the tool may be changed as the position of the part changes Figure 2 11 below shows the required orientation of such a cutting tool with respect to the part being cut j rt s Denotes Tool Orientation Solid line is the part Figure 2 11 Tool Orientation Although maintaining this perpendicularity is possible using conventional G code programming it would be very cumbersome The moves would have to be broken up into small segments and extensive calculations would be required to calculate the appropriate rotary move distances and feedrates The UNIDEX 631 U600 CNC provides a feature which alleviates the parts programmer from this duty The operational mode which provides this feature is referred to as the Normalcy mode of operation since it is necessary to keep the tip of the tool normal to the surface of the part being cut In order to operate in this mode several pieces of information must be supplied by the operator This includes the axis to which the cutting tool is attached B Axis and the axes which m
97. 00 Series Programming Manual Extended Commands 4 4 2 Conditional Statement IF THEN ELSE ENDIF This construct permits you to execute a group of program blocks only if a specified condition is true It also provides the capability of executing an alternative group of program blocks if the condition is determined to be false As can be seen from the syntax diagram below the program block containing the IF command must also contain a conditional expression and the keyword THEN Following this program block are the blocks which are to be executed when the conditional expression evaluates to TRUE followed by a program block containing ENDIF as the terminator for the IF block If an action is to be performed when the expression evaluates to FALSE the group of blocks associated with a TRUE condition is terminated by the ELSE reserved word Also in this case the ENDIF reserved word is used to terminate the entire construct SYNTAX JF lt conditional expression gt THEN lt program block gt lt program block gt ENDIF or IF lt conditional expression gt THEN lt program block gt lt program block gt ELSE lt program block gt lt program block gt ENDIF Version 1 2 Aerotech Inc 4 19 Extended Commands U600 Series Programming Manual EXAMPLE DVAR VAR1 Define a variable named VARI IF CNCNUM EO 1 THEN sIf CNC 1 is executing this program VARI 1 set VARI to the value of 1 ELSE Otherwise VARI 2 s
98. 00080 fixture offsets 2 define CNC MODE G0 0x00000100 GO active define CNC MODE GI 0x00000200 G1 active define CNC_MODE_G2 0x00000400 G2 active define CNC_MODE_G3 0x00000800 G3 active define CNC_MODE_G4 0x00001000 G4 active define CNC_MODE_G8 0x00002000 G8 active define CNC_MODE_G9 0x00004000 G9 active define CNC_MODE_G93 0x00008000 inverse feedrate define CNC_MODE_G94 0x00010000 normal feedrate define CNC_MODE_G95 0x00020000 G95 active define CNC_MODE_G96 0x00040000 G96 active define CNC_MODE_G97 0x00080000 G97 active define CNC_MODE_G40 0x00100000 G40 active define CNC_MODE_G30 0x00200000 G30 active define CNC_MODE_G101 0x00400000 Manual Mode define CNC_MODE_G102 0x00800000 Auto Mode define CNC_MODE_G110 0x01000000 normal g2 and g3 if set define CNC_MODE_G111 0x02000000 Reverse g2 and g3 if set define CNC_MODE_G67 0x04000000 accel decel time mode define CNC_MODE_G68 0x08000000 accel decel rate mode define CNC_MODE_G21 0x10000000 Normalcy On Left oo define CNC_MODE_G22 0x20000000 Normalcy On Right y define CNC_MODE_G56 0x40000000 Monitor parm mode Version 1 2 Aerotech Inc Symbols amp Axis Designators U600 Series Programming Manual Table 1 3 CNCMODE1 and CNCMODE2
99. 1 Mode Argument iii ese ee se ee Se RA ee ee 5 17 5 8 1 2 Mode Argument Loe se ee ee ee ee ee 5 17 5 8 1 3 Mode Argument 3 esse esse ee se Se Se RA ed ee 5 17 Digital Analog Output Command PSOT 0 ee se see se se ee 5 18 5 9 1 MODE Arguments For PSOT oo sees sees see ese esse ee ee ee 5 18 5 9 1 1 Mode Argument 0 00 see see se ee ee ee ee ee 5 18 5 9 1 2 Mode Argument Looe se Se Se ee ee ee 5 18 5 9 1 3 Mode Argument 2 esse sees see see se ee ee ee ee ee 5 18 5 9 1 4 Mode Argument Ad esse ee se se Ge Ge ee ee 5 18 5 9 1 5 Mode Argument 6 00 ees see see se ee ee ee ee ee 5 19 5 9 1 6 Mode Argument 8 se ee se se Se RA Ge ee 5 19 5 9 1 7 on_time Argument iese sesse se ee ee ee ee 5 19 5 9 1 8 off_time Argument eee ee eee esse cee ee Gee ee 5 19 5 9 1 9 min_off_time Argument sesse esse se ee ee ee ee 5 19 5 9 1 10 vel Argument esse ee se Se Se RA Ge ee ee ee 5 19 5 9 2 PSOT Argument iese see ee ee e e ee ee ee ee ee 5 20 5 9 2 1 bit Argument ESE EG rssi eg ER ESE SEGE RE 5 20 392 state Ateument ss ss ee gee EE Bede ge coves 5 20 5 9 2 3 states Argument ee se se ee Ge SA ee ee ee ee 5 20 5 9 2 4 dacf Argument se se se cee ee ee ee se ee ee 5 20 5 9 2 5 voltage ATQUMENL eee ee se see ee ee ee Gee ee 5 20 39 26 VO ALBUMEN bess EES ER GE SE E EE GER ees 5 20 5 9 2 7 vmax ATQUMEN oe eee se se se Se Se Gee Gee ee ee 5 21 5 9 2 8 velocity Argument ee se se
100. 123451 The following examples are all valid and represent the value 1 75 e 1 750 e 00175e e 175e 1 8 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 3 2 Character Strings The Character strings supported by the U631 U600 must be less than 40 characters in length Some extended commands accept character strings Character strings are always surrounded by double quotes 5 Example This is a string 1 3 3 Filenames Some extended commands accept filenames as parameters The total length of the string must be less than 40 characters The path and type can be provided in the filename Example C U31 Programs data dat Do not surround filenames with double quotes FS 1 3 4 Hexadecimal Integers A hexidecimal number specification up to 8 digits long may be specified by preceeding the number with the sign Example varl 1AFO 1 4 Variables Variables or variable names can be used anywhere floating point constants are used The types of variables used are local static global and system Variable names must be less than 20 characters in length and the value of a variable is resolved at run time when a particular CNC command using that variable is executed All variables are double precision and have a range of 1 7 E 308 1 7x 10 through 1 7 x 10 8 with 15 digit accuracy Each element of an array counts as one varia
101. 3 synch the table up To choose the correct mode for synching up the programmer must be cognizant of a number of complex details of the camming process as described below Modes 1 and 2 differ only in the behavior of the slave axis immediately upon synching up as described in the following paragraph Note that mode 2 may cause slave axis motion in addition to the motion dictated by the camming Using the following example suppose that at the moment of synching the master is currently at position m and the slave at ngo position x Further suppose that the table specifies that at master position m the slave o should be at position s Mode 2 will direct the slave to move from position x to position s as the table synchs up This mode 2 move is initiated simultaneously with the initiation of the camming move Therefore immediately after synching the total motion will be a sum of the motion directed by the camming and the motion directed by the mode 2 synch At some later point in time the mode 2 sync move will be complete and the total motion will be determined by the camming The mode 2 move is performed at the speed specified by the SYNCSPEED axis parameter and it is subject to normal acceleration and deceleration as dictated by the ACEL and DECEL axis parameters Mode 1 will not cause any automatic movement of the slave Instead the table is reinterpreted to mean that at master position m the slave must be at position x All
102. 5 14 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 7 1 5 Mode Argument 4 Mode argument 4 sets the width w of a single pulse output in microseconds with a minimum value of 1 microsecond Syntax for this mode is PSOP 4 w 5 7 1 6 Mode Argument 5 Mode argument 5 sets output toggle mode For example if the pulse output is configured to occur at a fixed incremental distance of 500 machine steps PSOD 0 500 then each 500 step motion is considered to be an event After the first 500 steps the pulse output is enabled After the second 500 steps the pulse output is disabled i e odd numbered events enable the pulse output and even numbered events disabled the pulse output Syntax for this mode is PSOP 5 5 7 2 PSOP Arguments The arguments used by the PSOP command vary based on the mode that is being used refer to Section 5 7 1 Mode Arguments for PSOP Some forms of the PSOP mode command have no additional arguments The following sections give a summary of all arguments used by the PSOP mode command 5 7 2 1 l Argument The 1 argument specifies the pulse lead in tenths of milliseconds This argument only used with commands PSOP 1 and PSOP 2 5 7 2 2 w Argument The w argument specifies a pulse width in tenths of milliseconds This argument is only used with commands PSOP 0 through PSOP 2 and PSOP4 5 7 2 3 t Argument The t argument specifies
103. 600 Series Programming Manual Preface All reserved words i e axis names commands etc may not be used as variables labels or soft axis names Although every effort has been made to ensure consistency subtle differences may exist between the illustrations in this manual and the component and or software screens that they represent V VV Version 1 2 Aerotech Inc xvii Preface U600 SeriesProgramming Manual xviii Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators CHAPTER 1 SYMBOLS amp AXIS DESIGNATORS In This Section o Specials yD Sees EE 1 1 ef Spesiall haraeters eee te ee eee ees 1 3 Oe Parameters lypes ese ceae eres 1 8 ey V anlaDles EE EE 1 9 se foolWord corre sete erect en EE een 1 19 ee Multiple CNES ere EE EEA e EEA 1 22 1 1 Special Symbols Some symbols used with the UNIDEX 631 U600 are reserved symbols that have special purposes Their function is to allow the user when programming to insert comments about a particular program block These comments are ignored during program execution They also permit the user to omit specific program blocks Besides allowing the user to ignore or omit program syntax special symbols will permit the user to extend program blocks 1 1 1 Comment Operator The UNIDEX 631 U600 CNC interprets the percent sign and the semicolon symbols as the start of a comment All text following these characters on the same line w
104. 7 ELSE 4 19 Enable a Safe Zone 2 26 Enable Feedrate Override 3 4 Enable Parameter Monitoring 2 41 Enable Safe Zone 2 26 2 27 Enable Safe Zones 2 26 Enable Spindle Feedrate Override 3 4 Enable Disable Position Synchronized Output Firing PSOF Command 5 9 End Extended Command Block 1 2 ENDIF 4 19 ENDM command 4 34 4 57 ENDWHILE 4 24 English Units 2 50 2 51 Entering Softnames 1 3 Entry Block User Defined 4 18 Entry Field Axis Name 4 41 Entry Field Home Type 4 35 Entry Field Tool Diameter 2 35 Entry Point Define 4 8 Entry Point Jump 4 18 EQ 4 15 Equal To 4 15 Error Tracking Position A 10 Error ICRC Activate Left 2 31 Error Right Cutter Compensation Activate 2 33 ERROR_TEXT 3 25 Errors A 4 A 5 A 9 Exclusive Or 4 14 EXECUTE 4 27 Execute OS 2 Program 4 27 iv Aerotech Inc Version 1 2 Version 1 2 U600 Series Programming Manual Index Execution Stop 3 3 Exponentiation 4 11 Expression 4 17 Expression Evaluation 4 12 Extended Command Block End 1 2 Extended Command Block Start 1 1 Extended Command Set 4 1 F F 1 4 F word 1 5 1 7 2 5 Fast Feedrate 2 7 Fault Bit Mask A 9 Fault Condition A 3 Fault Handling 2 26 FAULT Parameter A 9 Fault Safe Zone 2 26 FAULT_LEVEL 3 25 FAULTMASK Parameter A 3 A 9 A 10 A 11 FAULTMSG INI file 3 25 Faults A 4 A 5 A 6 A 9 A 10 A 11 Faults that Turn Off Axis Aux Outputs
105. 74 BO XYCOM 2 30 LI M1075 BO XYCOM 2 31 LI M1080 BO XYCOM 2 16 LO Mxxxx Binary Output XYCOM board 1 Bit x M1081 BO XYCOM 2 17 LO z Logic Level 0 M1082 BO XYCOM 2 18 LO M1083 BO XYCOM 2 19 LO M1084 BO XYCOM 2 20 LO M1085 BO XYCOM 2 21 LO M1086 BO XYCOM 2 22 LO M1087 BO XYCOM 2 23 LO M1088 BO XYCOM 2 24 LO M1089 BO XYCOM 2 25 LO M1090 BO XYCOM 2 26 LO M1091 BO XYCOM 2 27 LO M1092 BO XYCOM 2 28 LO M1093 BO XYCOM 2 29 LO M1094 BO XYCOM 2 30 LO M1095 BO XYCOM 2 31 LO Mxxxx Binary Input PCDIO board 1 Bit x M3000 BI PCDIO 1 0 M3001 BI PCDIO 1 1 M3002 BI PCDIO 1 2 M3003 BI PCDIO 1 3 M3004 BI PCDIO 1 4 M3005 BI PCDIO 1 5 M3006 BI PCDIO 16 M3007 BI PCDIO 1 7 3 16 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes M3008 BI PCDIO 1 8 M3009 BI PCDIO 1 9 M3010 BI PCDIO 1 10 M3011 BI PCDIO 1 11 M3012 BI PCDIO 1 12 M3013 BI PCDIO 1 13 M3014 BI PCDIO 1 14 M3015 BI PCDIO 1 15 sLogic Level 1 M3050 BO PCDIO 1 16 L1 M3051 BO PCDIO 1 17 L1 M3052 BO PCDIO 1 18 L1 M3053 BO PCDIO 1 19 L1 M3054 BO PCDIO 1 20 L1 M3055 BO PCDIO 1 21 L1 M3056 BO PCDIO 1 22 L1 M3057 BO PCDIO 1 23 L1 sLogic Level 0 M3060 BO PCDIO 1 16 LO M3061 BO PCDIO 1 17 LO M3062 BO PCDIO 1 18 LO M3063 BO PCDIO 1 19 LO M3064 BO PCDIO 1 20 LO M3065 BO PCDIO 1 21 LO M3066 BO PCDIO 1 22 LO M3067 BO PCDIO 1 23 LO To use U600 onboard inputs use the following format M4000 BI virtual 0 M4000 to read Bit 0 T
106. 8 Miscellaneous Extended Commands iese sesse esse ee ee ee ee ee 4 41 4 8 1 The Autofocus Command AFCO ee ee se ee ee ee 4 41 4 8 2 Axis Naming HARDNAMES SOFTNAMES esse 4 41 4 8 3 Joining Parts Programs INCLUDE eee 4 43 4 8 4 Data Collection Control DATA oe ee se se ee 4 44 4 8 5 Reading Axis Parameters GETPARM n se 4 48 4 8 6 Initialize Touch Probe G51 oo ee ee ee ee ee ee Se ee 4 49 4 8 7 Modifying Axis Parameters SETPARM nsss 4 50 4 8 8 Monitor Axis Speed MONSPD 00 ee ee ee ee ee ee 4 50 4 8 9 Wait Statement WATT ese ee se see Ge Ge RA Re ee ee ee 4 51 4 8 10 The WTCH Statement WTCH 1 00 sees sees see se ee ee 4 52 4 9 File Operation CommandS eee cee cee ee ee ee ee ee Ge ee ee 4 53 4 9 1 File Open Command FILEOPEN 0 eee ese see ee ee ee 4 53 4 9 2 FILEEOF Command FEOF sesse sees se esse ese ese ee ee ee ee ee 4 53 4 9 3 File Read Command FILEREAD iese esse ese ese see ee ee ee 4 54 4 94 File Close Command FILECLOSE iese ese ee see se ee ee 4 54 4 9 5 File Reset Command FILERESET 0 0 0 see se ee se ee sees 4 54 4 9 6 File Write Command FILEWRITE 0 eee 4 55 Version 1 2 Aerotech Inc vil Table of Contents U600 Series Programming Manual 4 10 4 11 CHAPTER 5 5 1 5 2 5 3 5 4 5 5 5 6 Master slave Motion Commands ssseseseeeseereesesrseresrsrrerrsreeresreersse 4 56 4 10 1 CONFIGM Command CONFIGM s s
107. BLE CLEAR or a program label If it is a program label the statement defines and activates an ONERRGOTO condition If it is CLEAR it removes the ONERRGOTO monitoring state If it is ENABLE it defines the priority of an existing active ONERRGOTO condition The in the syntax indicates a number must be supplied there The P parameter is optional and can be added to any one of the syntax selections The V L P and G parameters are optional and can appear in any order after the keyword EXAMPLE User interrupt ONERRGOTO example program ERR_GO PGM Note this program will run by itself as shown DVAR INT BIT ONERRGOTO ERR LBL VO L1 goto line labeled err_lbl when input 0 goes LOW do whatever in your program such as DENT LP DISPLAY Doing something here JUMP LP M02 program end DENT ERR_LBL DISPLAY Entering interrupt handler now do what you want here then Note M1963 must be defined in your mcode1 ini file as follows M1963 BI VIRTUAL 0 which defines M1963 to read input bit 0 M1963 INT_BIT get interrupt I O bit state WHILE INT_BIT EQ 1 DO M1963 INT_BIT E G4F 5 switch bounce delay ENDWHILE ONERRGOTO CLEAR VO clear interrupt condition REQUIRED INT_BIT CNCFAULT read the cnc fault ONERRGOTO ERR LBL VO L1 senable interrupt to occur again DISPLAY Leaving interrupt handler
108. C Subsequent motion commands decelerate to the zero velocity within the specified time period This time period is specified in seconds with a resolution of 0 001 seconds 1 millisecond SYNTAX G61 FDecelTime EXAMPLE G61 FO 25 Sets new deceleration time to 1 4 sec 250 msec The parameter may be set regardless of the current setting of the Ramp Type G code group However the effect of this parameter will be apparent only when operating in the time based G67 acceleration mode 2 44 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 11 3 Set Profile Time G62 When processing any motion command the UNIDEX 631 U600 CNC calculates the desired position of each axis at equally spaced intervals in time It then applies a splining algorithm on those points to provide a smooth transition between points The G62 command changes the time interval at which these points are calculated By default this interval is ten milliseconds 10 msec This default is sufficient for the vast majority of users However you have the capability of changing this if necessary For example if you have all four CNC s executing parts programs simultaneously and each program is composed of many motion blocks which are short in duration the axis processor card may run out of processor band width In which case the G62 command would be used to increase the amount of time between points thereby decreasing the number of p
109. CNC Parameters The tool file name specified in the parameter setup menu is invalid Verify the name and path Tool X Assignment Missing CNC d Program d Line ld No axis is assigned to the X tool ToolX Not Selected Check CNC Parameters Line ld CNC d Program d No axis has been defined for the X plane axis Unable to Allocate Local Variable Memory Space on CNC d Out of memory add more memory to your system Unable to Allocate Memory Space for Global Variables Out of memory add more memory to your system Unable to Allocate Memory Space on CNC d Program d Variable d n Out of memory add more memory to your system Unable to calculate speed for move The actual speed after calculation was zero You have a programming error your axis are not configured properly or the proper dominant feedrate mode is not active Unable to calculate vector speed no axis associated with this CNC No axis have been assigned to this CNC within the parameter setup menu Unable to Display Message on Display Menu CNC d An error occurred displaying the message on the customer display window Unable to get FILECLOSE data from CNC An error occurred while retrieving the file close data from the axis processor board Unable to Get Filename for Recording CDW Messages CNC d C 26 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES An error occurred retrieving the filename for the Customer Display Window
110. C_SINGLE_STEP_MODE 0x00000040 single step mode define CNC_SINGLE_STEP_HOLDING 0x00000080 single step holding define CNC_HOLDING 0x00000100 hold mode define CNC_HOLDING_NOW 0x00000200 holding now define CNC FEEDRATE LOCK 0x00000400 feedrate lock define CNC SPINDLE FEEDRATE LOCK 0x00000800 spindle feedrate lock define CNC_MANUAL_MODE 0x00001000 Spindle direction is negative define CNC_HOLD_INPUT 0x00002000 hold input active define CNC_ESTOP_INPUT 0x00004000 manual mode selected define CNC_FAULT 0x00008000 CNC fault define CNC_SPINDLE_NEGATIVE 0x00010000 Linear accel decel mode define CNC INTERRUPT ENABLE 0x00020000 CNC interrupts enabled define CNC INTERRUPT FEEDHOLD 0x00040000 interrupt feedhold active define CNC BLOCK DELETE ENABLE 0x00080000 block delete enabled define CNC_OPTIONAL_STOP_ENABLE 0x00100000 optional stop enabled define CNC_DEBUG_MODE 0x00200000 Debug mode define CNC_NEW_LINE 0x00400000 when a new line is executed define CNC_HOME_MOTION 0x00800000 home motion define CNC_IMEDIATE_MCODE 0x01000000 immediate mcode execution active define CNC_GO_MOTION 0x02000000 GO motion define CNC PROBE ENABLE 0x04000000 Probe is enabled define CNC CANCEL MOVE Ox08000000 define CNC RETURN MOVE Ox10000000 define CNC_SPLINE_MOVE 0x20000000
111. DECEL ACCELMODE and DECELMODE Reference G10 command for same on Axis Plane 2 Typically moves of this type are used for such operations as moving a tool to the workpiece or moving a finished part out to the unloader To keep machining time to a minimum these moves need to be performed as quickly as possible It should be noted that although multi axis moves of this type begin at the same time all axes may not finish at the same time each axis may have a different rapid traverse feedrate associated with it along with a different target displacement Refer to the UNIDEX 631 U600 User s Manual for a detailed description of the rapid feedrate machine parameter SYNTAX GO axis name and move distance axis name and move distance EXAMPLE G0 G90 X10 Moves to X10 using rapid traverse feedrate G0 G91 X5 Y10 X5 0 and Y 10 0 using rapid traverse feedrate The GO feedrate is limited to 100 MFO maximum Version 1 2 Aerotech Inc 2 7 G Codes U600 Series Programming Manual 2 3 2 Linear Interpolation Motion G1 The G1 command specifies synchronized linear contouring at the commanded vectorial feedrate F This differs from a GO type move in that all axes commanded to move begin and end at the same time The resulting motion is a straight line from the current position to the position specified in the parts program block Refer to G code summary and F word documentation for motion details SYNTAX Gl EXAMPLE G17 G90
112. DON command Subsequent messages displayed within the CDW will no longer be placed into the log file SYNTAX RECORDOFF EXAMPLE OPENCDW Activate the Custom Display Window RECORDON DISPLAY DAT Causes all data displayed in CDW to be logged to file sDISPLAY DAT found in the U31 PROGRAMS directory DISPLAY This is a Test This message will be logged to the file RECORDOFF Close the log file RECORDON U3I PARTOI DISPLAY DAT Causes all new data displayed in CDW to be logged to file sDISPLAY DAT found in the U31 PARTO1 directory DISPLAY Some Text This message will be logged to the file RECORDOFF Close the log file RECORDON PARTOI DISPLAY DAT Causes all data displayed in CDW to be logged to file sDISPLAY DAT found in the PARTO1 sub directory of the directory from which the CNC was invoked DISPLAY Some Text This message will be logged to the file RECORDOFF Close the log file CLOSECDW _ De activate Custom Display Window This command has no effect if the Custom Display Window log file is currently not open 5 If program execution ends without executing this command or is terminated by the operator the log file closes automatically Version 1 2 Aerotech Inc 4 33 Extended Commands U600 Series Programming Manual 4 6 Synchronous Motion Commands In a synchronous motion the CNC program suspends execution until the motion indicated by the command is complete 4 6 1 ENDM Command ENDM The
113. DY 1 WAIT DRIVE ENABLED Z 4 8 10 The WTCH Statement WTCH The WTCH statement controls the specified virtual IO bit setting it to a logic 1 if the axis position is in the specified position range otherwise setting it to 0 The position range is specified in user units as a low and a high absolute position The watches are active until they are cleared or the program is aborted All the WTCH statements may be cleared by using the WTCH statement and specifying the virtual IO as 1 WTCH statements may not be selectively cleared When clearing the watches the axis and range values are ignored but must be specified After watch statements are cleared the specified I O bit will remain as it was last set it is not cleared Variables may be used to specify ranges these variables are evaluated when the GET statment is executed However once evaluated the values the U600 U631 watches do not change even if the variables values have changed When the program is aborted all watchs become inactive If the specified range is very small lower upper and the axis crosses thru the E range quickly the watch may never set the bit because the axis enters and exits the range before the position monitoring gets a chance to see it SYNTAX WTCH axis low_pos high_pos virtual IO EXAMPLE WTCH X 10 60 9 set virtual bit 9 when in range WTCH X 10 60 1 clear ALL active WTCH statements 4 52
114. Data Collection Control DATA The UNIDEX 631 U600 CNC is equipped with a data acquisition feature used to record a variety of information relevant to the performance of a particular axis The type of data recorded is the commanded position actual position actual velocity torque command etc The DATA command controls the operation of this function within the executing parts program The command parameters allow operations such as entering exiting the data collection mode and starting stopping data acquisition to be performed The collected data is stored in a file which can be displayed using the PLOTDATA diagnostic utility refer the UNIDEX 631 U600 User s Manual for more information The first parameter to this command is a keyword that specifies the particular action which is to be performed All acceptable values for this parameter have been described below OPEN This keyword enters the data collection mode and requires three additional parameters The first parameter is a list of axes for which data should be collected These axes should be specified using the naming convention currently active HARDNAMES SOFTNAMES The second parameter to this command is the rate at which the sampling is to be performed This rate is specified in milli seconds 1 msec The last parameter specifies the name of the file in which the data acquired is to be saved This filename specified may be any valid OS 2 file name 80 chars max and may use
115. E 1 22 1 6 1 CNC Intercommunication Global Variables 1 22 1 6 2 CNC Intercommunication CNC Parameters Setup 1 22 1 6 3 Autorun Mode Autorun ini iese ees see ee AR Re GE 1 22 Version 1 2 Aerotech Inc iii Table of Contents U600 Series Programming Manual CHAPTER 2 2 1 22 2 3 24 2 5 2 6 2 7 2 8 2 9 2 10 2 11 BT ele ele EA AE IE EE OE RE EE 2 1 Introduction to G code MOHON ee ee ees se ee se AR Re RR Ge ee 2 5 Motion G odes is EER EER ees A nie 2 7 2 3 1 Point to point Positioning at a Rapid Feedrate Motion GOS EE EE Riba heii Ha 2 7 2 3 2 Linear Interpolation Motion RE ER EE N 2 8 2 3 3 Circular Interpolation CW Motion G2 esse esse esse ee ee 2 8 2 3 4 Circular Interpolation CCW Motion G3 eee 2 9 2 3 5 Dwell G4 eA eater A init ae Ga RI N 2 10 G8 and GO OVErVieW ee erne ER Re GR RA ee Re ee ee RR ee Ge ee 2 11 2 4 1 Instantaneous Acceleration GB sickle bail a Ase 2 12 2 4 2 Force Deceleration GI OE EE N EN 2 14 2 4 3 Circular Interpolation CW Motion G12 sees esse ee see 2 16 2 4 4 Circular Interpolation CCW on Axis Plane 2 G13 2 16 2435 Spline Move G30 isrener is 2 17 2 4 6 Constant Lead Thread Cutting G33 eee 2 18 Plane Selection Codes Es ee RA Ai wie 2 21 2 5 1 Plane Selection Codes Set 1 G17 G18 G19 ee 2 21 Normalcy Mode G20 G21 G22 esse se es ee GR ee ee GR Re e
116. EL Parameter Read Only A 2 AVGVELTIME Parameter A 2 Axes locking position counters 5 11 Aerotech Inc i Manual Index Axes Plane Designation 2 21 Axes Planes 2 21 Axes Tool Path 1 20 Axes Circular 2 67 2 68 Axes Linear 2 67 2 68 Axes Performance 4 44 Axes Slave 2 61 Axis Acceleration 2 42 Axis Average Velocity A 2 Axis Deceleration 2 42 Axis Deceleration to 0 Halt A 10 Axis Designations 1 3 4 41 Axis Fault Screen A 10 Axis Fault Changing Output State A 3 Axis Faults Clearing A 9 Axis Faults Viewing A 9 Axis Motion Disabled 2 41 Axis Motion Terminated 2 41 Axis Naming 4 41 Axis Outputs A 10 Axis Outputs Faults that Turn Off A 10 Axis Parameter Modification 4 50 Axis Parameter Reading 4 48 Axis Parameter Value 4 48 Axis Parameters Valid 2 41 Axis Position A 1 Axis Processor A 5 A 6 A 9 Axis Processor Card 2 45 4 35 A 2 A 9 Axis Processor I O Lines Active States A 11 Axis Processor Testing Communications with A 1 Axis Safe Zone Enabling and Disabling A 6 Axis Simulation Mode A 6 Axis Specification 2 41 Axis Status Screen A 10 Axis Abort Mode A 11 Axis B 2 22 Axis Causing to Halt A 10 Axis Clockwise Boundary of the Safe Zone A 5 Axis Counter clockwise Boundary of the Safe Zone A 6 Axis Current Absolute Position of A 15 Axis Enabling and Disabling Motor Torque of A 3 Axis Establishing an Auxiliary Outp
117. Entry Point 4 8 Define Subroutine 4 8 Define Symbolic Constant 4 5 Define User Variable 4 6 Defining User Arrays 4 7 Definition of Objects 4 5 Delay 2 10 DENT 4 8 Designating a Threading Axes 2 18 Designations Axis 4 41 Detected Probe Input 4 49 DFS 4 8 Digital I O Cards XYCOM 3 1 3 13 Digital Output Control Using PSOT Command 5 2 Digital Touch Probe Measuring 4 49 Digital Analog Output Control Command PSOT 5 18 Dimension Offset 2 57 Dimensions Safe Zones 2 27 Direct RPM Spindle Programming Spindle Speed 2 64 Disable Feedrate Override 3 4 Disable Normalcy Mode 2 24 Disable Parameter Monitoring 2 41 Disable Safe Zones 2 27 Disable Axis Motion 2 41 Disable Spindle Feedrate Override 3 4 Disabled Mode of Operation 2 24 DISABLEMASK Parameter A 9 Discontinue Cutter Compensation 2 30 DISPLAY 4 29 Distance Programming 2 57 Distance Programming Mode 2 56 Distance Incremental 2 57 Distance Vectorial 2 61 Distances Incremental 2 18 Distances Setting 2 50 2 51 Division 4 10 Dominant Feed Parameter 2 67 Dominant Feedrate Overview 2 65 DominantFeed Mode 1 4 Downloading Data 5 2 Drive Enable A 11 Drive Fault A 11 DRIVE Parameter A 3 Dummy Parameters A 1 DVAR 4 6 4 7 DVAR command 1 10 Dwell 2 10 E 1 7 E word 1 5 1 7 2 5 ECHO Parameter A 1 Effect of Cutter Compensation 2 34 Effect of Splining Algorithm 2 17 Element Array 4
118. First of all the controller will always truncate position values This means that the move may be as much as one count short of the desired position For example if there are 100 counts per foot and the user specifies a move of 1 inch the controller will move 8 counts not 8 333 counts Velocities will also be truncated to the nearest user unit user units can be either mm or inches per second Due to truncation the controller may not be able to satisfy the acceleration the truncated velocities and the distance exactly since the move velocity and distance were computed correctly in floating point What the controller does is satisfy both the truncated distance and velocity exactly and make up for any mismatch in the decel phase of the move Therefore the slope of the velocity during decel may vary slightly from what is expected A final consideration is for profiled or blended moves see section 2 4 7 that do not have a decel phase Here the velocity during the constant phases is reduced so that the truncated distance is satisfied Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 3 Motion G codes 2 3 1 Point to point Positioning at a Rapid Feedrate Motion GO The GO command specifies axis movement for unsynchronized point to point movement at the rapid transverse feedrate machine parameter Rapid Feedrate Acceleration and deceleration ramp time and type are specified by the axis parameters ACCEL
119. HOMESWITCHTOL To ensure the accuracy of a homing sequence there must be a minimum distance between the home limit switch and the home marker pulse Otherwise the axis processor may miss the first marker pulse and use the second marker as the home position before the home offset The required distance depends on two factors feedback resolution and home feedrate This parameter specifies the minimum distance in machine steps that must exist between the home limit and the marker pulse Failure to maintain this distance causes a HOME_SWITCH_TOLERANCE fault to occur This parameter has a valid range of 0 to 16 384 machine steps The default value is zero 0 FAULT This parameter allows you to view axis faults and clear those that no longer exist The parameter is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 When writing to this parameter the axis processor card attempts to clear all faults corresponding to the bits set in this mask Bits set to zero have no effect on the system This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter 5 FAULTMASK This parameter determines which faults the system should detect The parameter is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 Setting a bit to a one enables monitoring of t
120. I VAR2 1 0 4 3 1 2 Subtraction The operator produces the difference between the two operands specified This difference is computed by subtracting Operand2 from Operand1 EXAMPLE VARI VAR2 1 0 4 3 1 3 Multiplication The operator produces the product of two operands specified EXAMPLE VARI 2 0 VAR2 4 3 1 4 Division The operator assumes that Operand1 is the dividend and Operand2 is the divisor The result is the quotient produced when dividing these two operators EXAMPLE VARI VAR2 2 0 4 3 1 5 Modulus MOD This operator assumes that Operand1 is the dividend and Operand2 is the divisor The result is the remainder produced when dividing the following two operators For example 1 6 equals 5 6 MOD 2 EXAMPLE VARI VAR2 MOD 2 0 VARI VARI MOD VAR2 4 10 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 3 1 6 Exponentiation A The produces the value of Operand1 raised to the power of Operand2 EXAMPLE VARI 2 VAR2 VARI VARI VAR2 4 3 1 7 Absolute Value ABS This operator produces the absolute value of its only operand The result is always positive EXAMPLE VARI ABS VAR VARI ABS 2 0 4 3 1 8 Truncation INT The INT operator returns the integer portion of the number For example INT 1 9 1 Note that INT rounds up negative numbers for example INT 1 1 2 EXAMPLE VARI INT VAR2 VARI INT 1 2345 1 INT 1
121. ILERESET FILECLOSE Any DATA collection DATA Any Wait operation WAIT WTCH Any statement containing a conditional IF WHILE RPT JUMP with conditional clause Version 1 2 Aerotech Inc 2 15 G Codes U600 Series Programming Manual GE The setting of the BLOCK DELETE has no effect on this the controller sees the intervening statements regardless of whether they are inactivated by block delete or not A third exception is when normalcy is active see Section 2 4 1 and the controller is on a corner between two G codes executing a normalcy move The controller will decelerate before and accelerate after the normalcy move regardless of the G9 setting 2 4 3 Circular Interpolation CW Motion G12 The G12 command causes an arc to be generated by the coordinated motion of two axes This command is identical to a G2 except that the axis plane is set through G27 G28 and G29 instead of G17 G18 and G19 The G12 provides the programmer the ability to perform two circular motions simultaneously This is accomplished by putting a G12 or G13 on the same line as a G2 or G3 SYNTAX G12 AxisName EndPt AxisName EndPt IJK CenterPt IJK CenterPt EXAMPLE G90 G11 X2 0 Y 0 5 11 0 J 0 1 A CW arc will be produced from the current position to the 2 0 5 coordinate position the center point being 1 0 0 1 The I and J are incremental offsets from the starting position and are independent of G90 or G91 2 4 4 Circular
122. Interpolation CCW on Axis Plane 2 G13 The G13 command causes an arc to be generated by the coordinated motion of two axes This command is identical to a G2 except that the axis plane is set through G27 G28 and G29 instead of G17 G18 and G19 The G13 provides the programmer the ability to perform two circular motions simultaneously This is accomplished by putting a G13 or G12 on the same line as a G2 or G3 This command is identical to the G3 command SYNTAX G13 AxisName EndPt AxisName EndPt IJK CenterPt IJK CenterPt EXAMPLE G90 G13 X 2 0 Y 0 5 I 1 0 J 0 1 A CW arc will be produced from the current position to the 2 0 5 coordinate position the center point being 1 0 0 1 2 16 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 4 5 Spline Move G30 The G30 command provides you with an additional method of generating contoured motion When using this method you specify a set of points which must be approximately a fixed vectorial distance apart The UNIDEX 631 U600 CNC will then use a splining algorithm which provides a smooth transition from point to point to determine the desired path The following illustration Figure 2 7 demonstrates the effect of the splining algorithm on a specific set of points Unsplined Path Splined Path Figure 2 7 Effect of Splining Algorithm To use the splining feature of the UNIDEX 631 U600 CNC you must first command the CNC to ente
123. M Codes U600 Series Programming Manual Modscan ini Syntax PCDIO lt Board gt lt Addr gt lt Type gt where lt Board gt is a value 1 4 lt Addr gt is the address settings of the PCDIO card in HEX lt Type gt is the PCDIO Type 24 48 72 120 216 PCDIO PORT lt Board gt lt Port gt lt Ch A I O gt lt Ch B VO lt Ch C I O gt where lt Board gt is a value 1 4 lt Port gt is the Port value 1 9 Block of 24 Bits of data This value is dependent on the type that is set A PCDIO 24P has 1 Port a PCDIO 216P has 9 Ports lt Ch A gt lt Ch B gt lt Ch C gt is either I or O and specifies whether the given channel for the port is to be configured for Input or output EXAMPLE Configure a PCDIO 120P for 64 bits of input and 56 bits of output PCDIO 1 0000200 120 Configure Board 1 as a PCDIO 120P at address 0x200 PCDIO PORT 1 1 III Set Board 1 Port 1 Chan A C Bits 0 23 as Input PCDIO PORT 1 2 III Set Board 1 Port 2 Chan A C Bits 24 47 as Input PCDIO PORT 13 II O Set Board 1 Port 3 Chan A B Bits 48 63 as Input Set Board 1 Port 3 Chan C Bits 64 71 as Output PCDIO PORT 14000 Set Board 1 Port 4 Chan A C Bits 72 95 as Output PCDIO PORT 15000 Set Board 1 Port 5 Chan A C Bits 96 119 as Output BIPCDIO 1008 Binary Inputs associated with PCDIO Board 1 Starting Input Bit 0 Starting Virtual Input Bit 0 38 Bytes of Input 64 Bits BO PCDIO 1 4807 Binary Outputs associated wit
124. MEVELMULT This parameter is used to vary the velocity during the marker search of the home cycle if machine paramters are set for this type of home cycle After the home limit typically this is the CCW limit is encountered the motor will reverse direction and begin seeking the marker pulse In this phase of the home cycle as it seeks the marker pulse this parameter may be used to vary the velocity The value entered is interpreted as a MFO value is 1 of the home velocity specified in the machine parameters and 100 is 100 Range 1 100 Default 100 CAMADVANCE This parameter is used in the camming mode as a master offset advance that is a function of the masters velocity The units are in counts that will advance by counts per msec Range 100000000 to 100000000 Default 0 VELTIMECONST This parameter is used by the velocity filter to smooth out the velocity command The units are in msec and specify the time to reach the commanded velocity Range 0 1000 Default 0 MAXCAMACCEL This parameter determines the maximum acceleration that may occur in the velocity camming mode mode 3 The units are counts per msec Range 0 65536 Default 0 Version 1 2 Aerotech Inc A 17 Axis Parameters U600 Series Programming Manual BRAKEMASK Parameter On the U600 which has only one brake output any disabled axis with a non zero brakemask will engage the brake The brake will be dis engaged when ALL axis with their br
125. Maximum A 4 Position Following Error Minimizing A 2 Position Gain A 2 Position Programming Incremental 2 57 Position Ramping 5 19 Position Synchronized Output Firing Distance Commmand 5 6 Position Synchronized Output Pulse Configuration PSOP 5 14 Position Synchronized Output Using Bit Mapping PSOM 5 12 Position Synchronized Output with Real time Control 5 17 Position Tracking based on inputs 5 3 unconditional 5 3 Position Hardware Home 2 58 4 35 Positioning Accuracy A 3 Positioning Point to point 2 7 Precedence 4 12 Predefined Axis Names 4 41 Preset Position 2 39 Preset Position Registers 2 39 2 40 2 58 Prevent Parameter Monitoring 2 41 Probe Input 4 49 Probe Measuring Cycles 4 49 Probe Polarity 4 49 Probe Touch 4 49 Processor Card 4 35 Program Block 4 6 Program Block Activating 1 1 Program Block Deactivating 1 1 Program Execution Restart 3 4 Program Flow 4 1 4 6 4 8 Program Interrupt 3 3 Program Position Registers 2 39 Program Stop 3 3 Programmable Logic Controller 1 14 1 17 Programmable Logic Controllers 3 1 3 9 Programmed Position 2 39 Programming commands 5 2 PROGRAMMING 5 1 Programming Conventions 5 Programming Mode Absolute 2 17 2 39 2 58 Programming Mode Absolute Dimension 2 56 Programming Mode Distance 2 56 Programming Mode Incremental 2 17 Programming Mode Metric 2 51 Programming operators 4 10 Programming the Tool Path 2 28 Programming
126. NC statements are called synchronous The controller does provide asynchronous CNC motion statements that initiate a motion but then immediately continue on to the next CNC statement see INDEX or STARTM extended commands If such a statement is executed a following CNC statement is executed that tries to move an axis still moving due to the first asynchronous motion statement then that statement will wait until the first motion is complete before executing Version 1 2 Aerotech Inc 2 5 G Codes U600 Series Programming Manual If an axis to be moved in a contoured or rapid move is rotary then the controller will move to the target in the direction in which the least distance is traveled For example if B is rotary and at 0 degrees then a move to 270 degrees will cause a counterclockwise rotation of 90 degrees Not a clockwise rotation of 270 degrees If the amount to be moved is exactly 180 degrees then the motion will be clockwise There are some minor considerations due to the fact that the user specifies floating point numbers but the actual positions are integers counts Normally these are insignificant because the errors are always less than a count However it does mean that the floating point numbers reported as positions velocities will not exactly match the floating point values specified by the user The following information is provided for those wanting to know the details of the floating point to counts conversion
127. NUM This system variable contains a value corresponding to the number of the CNC engine that is executing this parts program The range of this value is from 0 through 3 that represents CNC 1 through 4 and remains constant throughout program execution 1 4 5 2 CNC Time CNCTIME This system variable always contains the number of milliseconds for which the CNC has been active Upon CNC initialization this variable is set to zero and is incremented every millisecond It may be used as a time base within individual parts programs 1 4 5 3 CNC Position Command POSITNxx The variables POSITNO1 through POSITN16 are used to access the current position command for the axes For example XXX POSITN06 this assigns the current position command for axis 6 to the variable XXX 06 is the two digit axis specifier All axis must be specified with two digits 1 4 5 4 CNC Preset Command PRESETnn The CNC variables PRESETO1 through PRESET 16 are used to access the CNC s preset position registers that may be set by the G92 software home command For example var PRESETO1 will return the preset position of the X axis into the variable var The 2 digit axis specifier O1 all axes must be specified with 2 digits Version 1 2 Aerotech Inc Symbols amp Axis Designators U600 Series Programming Manual 1 4 5 5 CNC Status Words CNCSTATx The variables CNCSTAT1 CNCSTAT2 CNCSTAT3 and CNCSTAT4 are used to access informatio
128. Parameter A 4 G Codes Pull Down Menu 2 4 2 42 2 50 2 51 2 IAVGTIME Parameter A 4 56 2 57 ICRC 1 19 2 1 2 28 GE 4 16 ICRC Activate Left 2 31 General Purpose Timer A 2 ICRC Cutter Compensation Activate Right 2 33 Generation Arc 2 8 2 16 2 21 ICRC Deactivate 2 30 Generation Circular 2 8 2 16 ICRC Tool Path 2 34 Generator Trajectory 2 42 If Then Else EndIf Statement 4 19 GETPARM 4 48 Ignoring Motion Commands A 3 GETPARM Command 4 48 IMAX Parameter A 3 A 4 GLBALIAS INI 1 11 Implement a Safe Zone 2 26 Global alias file 1 11 In Position Band A 5 Global Data 3 11 In Position Status Bit A 5 Global variables 1 10 Inch Dimension Programming Mode 2 50 Go To User Defined Entry Block 4 18 INCLUDE 4 43 Greater Than 4 16 Included Program File 4 43 Greater Than or Equal To 4 16 Incremental Distance 2 57 GT 4 16 Incremental Distance Mode 2 39 2 40 Incremental Distances 2 18 H Incremental Position Programming 2 57 Incremental Programming Mode 2 17 Halt Program 3 3 INDEX statement 4 59 Halt Spindle Movement 3 3 Index Array 4 7 HALTMASK Parameter A 10 Indexing Array Elements 1 2 HANDwheel command 4 34 Indicate Array Size 4 7 Hard Names 4 41 Initialization of the System A 1 Hardnames 1 3 Initialize Local Variable 1 12 HARDNAMES 4 41 Initializing Binary Input M Codes 3 18 Hardware Home 4 35 Initializing Binary Output M Codes 3 20 3 21 Hardware Home Position 2 58 A 5 A 6 Initializing Binary Out
129. R TSTARRAYJ 5 Define an array TSTARRAY which contains five variables These variables can sbe accessed as follows TSTARRAY O TSTARRAYTI TSTARRAY 2 TSTARRAY 3 _ TSTARRAYI4 A variable may also be used to hold the value of an array index i e TSTARRAYVARI D Each element of the array counts as one user variable Refer to section 1 1 5 in Chapter 1 for details on the limitations regarding array accessing Version 1 2 Aerotech Inc AG Extended Commands U600 Series Programming Manual 4 2 4 Define Entry Point DENT An entry point is a label within a parts program which may be referred to by other extended commands They are most often used to specify the destination for commands which modify program flow such as the JUMP command see Section 4 4 1 The DENT command defines an entry point label The name specified may then be referred to by other parts of the program SYNTAX DENT lt entry point name gt EXAMPLE DENT LABEL 1 The name LABEL may now be referenced from other slocations within the parts program All entry points are accessible from any point within the parts program The Ka UNIDEX 631 U600 CNC does not support entry points local to subroutines 4 2 5 Define Subroutine DFS A subroutine is a group of program blocks which may be referred to as one execution unit Typically this group of blocks performs some task which is to be performed multiple time
130. SE SEE EERS ESE Ka SEER GE es 5 11 Position Synchronized Output Using Bit Mapping PSOM 5 12 5 6 1 arraylxl Argument esse se es se ee ee GR ee Re ee ee ee ee ee 5 12 viii Aerotech Inc Version 1 2 U600 Series Programming Manual Delis 5 8 5 9 Version 1 2 n EE EE EE OR EE EE HERE 5 12 Position Synchronized Output Pulse Configuration PSOP 5 14 5 7 1 MODE Arguments For PSOP 00 00 eee see ese esse ee ee ee 5 14 5 7 1 1 Mode Argument 0 0 see se ee ee ee ee ee 5 14 5 7 1 2 Mode Argument Loo eee se Se Se ee ee ee 5 14 5 7 1 3 Mode Argument 2 esse see see see se ee ee ee ee ee 5 14 5 7 1 4 Mode Argument 3 iese sesse ese se See Se RA ee ee 5 14 5 7 1 5 Mode Argument Ad esse see see se ee ee ee ee ee 5 15 5 7 1 6 Mode Argument 5 iese eee se Se Se ee ee Ge ee 5 15 5 7 2 PSOP Argument Ese RES Ee Rede Ee Ge r Dee ee eek ef 5 15 3 1 21 Argument is eise ESE GESE EER ER EES OGE EER DEE GREG ae chee 5 15 DA22 WALSUMEN Ls EE ein siete EG ee eg Ee 5 15 EE URE ER EN EE EE ER 5 15 DADA FATEUMENE EES ESE EES the ee bb ee Ke eels 5 15 57 25 g Argument is EERS EE SEE GESE AE ee Ge ER Eroe iri 5 16 5 7 2 6 array x Argument esse see se see Se ee ee ee 5 16 D1 2 75 MATBUMERE AE EDGE SE EE ee Ee ge Bees 5 16 Position Synchronized Output with Real time Control PSOR 5 17 5 8 1 MODE Arguments For PSOR Q ees sees sees sees se esse ee ee ee 5 17 5 8 1
131. Units 2 50 Programming Distance 2 57 Programming Feed Per Min 2 60 Programming Feed Per Spindle Rev Feedrate 2 61 Programming Feedrate Mode 2 59 Programming M Codes 3 5 Programming Spindle Speed 2 63 2 64 Proportional Gain KP Parameter A 2 Proportional Gain of the Velocity Loop A 2 PSO Commands case sensitivity 5 1 PSO Programming commands 5 2 PSOC 5 4 PSOC Command 5 3 PSOD 5 7 PSOD Command 5 6 PSOF 5 10 x Aerotech Inc Version 1 2 U600 Series Programming Manual Index PSOF Command 5 9 PSOM Command 5 12 PSOP 5 15 PSOP Command 5 14 PSOR Command 5 17 PSOT 5 20 PSOT Command 5 18 Pulse Configuration Command PSOP 5 14 Pulse Gap Interval 5 14 Pulse Lead Time 5 14 Pulse Output absolute distances 5 6 fixed distances 5 6 incremental distances 5 6 Pulse Outputs 5 6 Pulse Ramp Up Down Time 5 14 Pulse Trail Time 5 14 Pulse Train 5 9 components 5 14 defining 5 14 Pulse Width Time 5 14 PUSH 4 37 Push Pop Example 4 38 Put Data On User Stack 4 37 R Radio Freq Tool I D No 1 19 Radius Arc 2 8 Radius Circle 2 8 Radius Cutting Tool 2 28 Ramp Type Parameter 2 46 2 47 2 48 2 49 Ramp Type Parameters 2 46 Ramping A 8 Ramping Linear A 7 Ramping Rate based A 7 Ramping Selection of A 7 Ramping Sinusoidal A 7 Ramping Time based A 7 Range Array Index 4 7 Range Virtual I O Points 3 14 Rapid Feedrate 2 7 Rapid Motion 2 12 Rate Base
132. Variables Cont d CNC Mode bits defined define CNC_MODE2_G83 0x00000001 Mirror active define CNC_MODE2_G84 0x00000002 rotate active define CNC_MODE2_G98 0x00000004 Rotary Dominant define CNC_MODE2_G99 0x00000008 Linear Dominant define CNC_MODE2_SPINDLE_SHUTDOWN 0x00000010 kill spindle when M02 define CNC_MODE2_ANALOG_MFO 0x00000020 Analog MFO active The system variables CNCMODE2 CNCMODE3 and CNCMODF4 are reserved for E future expansion 1 4 6 CNC Analog Feedback Commands With the U631 the analog inputs from the optional MATRIX eight channel analog card may be read from within a CNC program using the following commands ANALOGO ANALOGI ANALOG2 ANALOG3 ANALOG4 ANALOGS ANALOG6 ANALOG7 With the U600 the four on board analog channels may be read with the ANALOGO ANALOG3 keywords The four analog inputs on the optional encoder expansion board 1 would be read with ANALOG4 through ANALOG7 keywords Encoder expansion board 2 would be read with ANALOGS through ANALOGI1 keywords and encoder expansion board 3 would be read with ANALOG12 through ANALOG 15 keywords The U600 analog channel 0 is the MFO input if enabled through the software GET channels 2 and 3 are the X and Y pots of the optional joystick These commands may be used in the same manner that the CNCMODE CNCNUM and CNCSTATUS commands are used refer to Systems Variables Section 1 4 5 An example of the
133. _map argument 5 4 configuration of DACs toprovide position ramping 5 19 control using PSOT command 5 2 controlling states based on inputs 5 3 PSOT Command 5 18 setting output voltages of DACs using PSOT 5 18 setting states of 5 3 setting using PSOT command 5 18 Outputs OUTO OUT 15 setting states of 5 3 Outputs Binary 3 14 Over Current Operation Detection of A 4 Override Feedrate Lock 3 4 Override Spindle Speed 2 19 Overriding Feed Rate A 8 Overview Accel Decel 2 1 2 42 Overview Dominant Feedrate 2 65 Overview ICRC 2 1 2 28 Overview Normalcy Mode 2 1 2 22 P Parameter Monitoring 2 41 Parameter Monitoring Disable 2 41 Parameter Monitoring Enable 2 41 Parameter Monitoring Simultaneously 2 41 Parameter types 1 8 Parameter Accel Rate 2 47 2 49 Parameter Accel Time 2 43 2 49 Parameter AccelMode 2 46 Parameter AccelTime 2 42 Parameter Active Level 4 49 Parameter Board Number 3 13 Parameter Channel Number 4 49 Parameter Decel Rate 2 48 2 49 Parameter Decel Time 2 44 2 49 Parameter DecelTime 2 42 Parameter Dominant Feed 2 67 Parameter Ramp Type 2 46 2 47 2 48 2 49 Parameter Rate Based 2 47 2 48 Parameter SafeZone CCW 2 26 Parameter SafeZone CW 2 26 Parameter SafeZoneMode 2 26 Parameter Size 3 14 Parameter Spindle Speed 3 3 Parameter Thread Taper 2 18 Parameter Time Based 2 43 2 44 2 46 Parameter Time vs rate Based 2 42 Parameter Too
134. ake up the plane to which normalcy must be maintained XPlane YPlane A normalcy speed must also be provided refer to next paragraph for details All of these parameters may be modified within the B Axis Initialization dialog box Please refer to the UNIDEX 631 U600 User s Manual for more information on the operation of this dialog box While operating in the normalcy mode the CNC automatically maintains the relationship between the B Axis and the plane defined with the XPlane YPlane parameters Once the tool achieves normalcy during a G1 move no normalcy movement is required for the remainder of the move However at the start of a G1 move normalcy movement of the axis prior to the move may be required For example following the path of the rectangle shown in Figure 2 11 the normalcy axis must rotate 90 degrees at each corner before proceding down the next side This is called a Normalcy Alignment Move that is accomplished with the GO command and moves at the rapid traverse axis speed see Machine Parameters Screen The speed of this move is not limited by the normalcy speed limit 2 22 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes GO motion does not appear on the feedrates screen under the actuals column 5 It is important to realize that the normalcy alignment move will force the previous motion block to deccelerate to 0 prior to the normalcy move This is true even if there is no G9 on the first bl
135. akemask set are enabled Also any of these axis with the brakemask set will cause the brake to be engaged if the axis faults On the U631 it is the same as described above for U600 except each axis may have its own independantly controlled brake because it will be engaged by the axis auxillary Aux output DACOFFSET Parameter This parameter is used to null any offset in the command to the drive which is output by the axis DAC when the command should be at zero It is entered as a signed number representing the number of counts required to bring the output command to zero volts This value is added to all output DAC values For example if the DAC on an axis has a 60mV 060 volt offset 392 would be entered for this parameter Unidex 600 s 16 bit DAC has a maximum output of 10 volts therefore 060 10 2 16 392 counts of the DAC Aerotech Inc Version 1 2 U600 Series Programming Manual Warranty and Field Service APPENDIX B WARRANTY AND FIELD SERVICE In This Section o lasenProdueis sees eset E eee 2 1 ee Retutmbroeedure eee 2 1 e Returned Product Warranty Determination 2 1 e Returned Product Non warranty Determination 2 2 Rushiservice GE 2 2 e On site Warranty Repair oo eee see se see ee ee ee 2 2 e On site Non warranty Repair ees see se see see se 2 2 Aerotech Inc warrants its products to be free from defects caused by faulty materials or poor workma
136. al Time 5 2 Trajectory Generator 2 42 Trajectory Linear 2 42 Traps A 5 Trigonometric Operator 4 13 Txxxx 1 19 U JNIDEX 31 Axis Processor Card A 2 nits English 2 50 2 51 nits Metric 2 50 2 51 nits Programming Mode 2 50 2 51 nlock Spindle Feedrate Override 3 4 nlock Feedrate Override 3 4 ser Defined Entry Block Jump 4 18 ser Defined M Functions 3 5 ser Stack 4 26 4 37 4 38 ser Stack Data Placement 4 37 ser Stack Data Removal 4 38 Jser Variable 4 6 GAG 4 4 4 4 Casa V Valid Axis Parameters 2 41 Value Axis Parameter 4 48 4 50 Variable Allocation Group Box 1 10 1 12 Variable Name 4 5 Variable Usage 4 6 Variable VO V255 5 12 Variable User 4 6 Aerotech Inc xiii Manual Index Variables 1 9 3 5 4 5 Variables VO V255 5 6 size in bytes 5 12 Vectorial Distance 2 61 Vectorial Feedrate 2 8 2 10 2 17 Velocity 2 12 2 14 Velocity Command Integration A 5 Velocity Command Feedback Integration Max Difference A 5 Velocity Curve Slope A 14 Velocity Error Free System A 6 Velocity Feed Forward Function A 2 Velocity Feedback Integration A 5 Velocity Profile with G9 2 15 Velocity Profile without G9 2 14 Velocity Profiling 2 45 Velocity Ramping 5 18 Velocity Ramping Selection of A 7 Velocity Trap A 5 Velocity Changing A 7 Velocity Spindle 2 19 VELTIMECONST 2 13 VELTRAP Parameter A 5 VFF Parameter A 2 Virtual I O 3
137. ally Initializing Virtual VO cece eens ee Se ee 3 25 The EAULTMSGINI File iese sesse tes secedssescestecvatestssscoetcsesessets 3 25 EXTENDED COMMANDS ee sseesseessesseesseesse esse see ol Description senere a OE EE EE sees 4 1 Defining Command sissies Se ESSEN SR GESAG EER Ee ees KG ERGE GE ARE de SEG ase bie 4 5 42 1 Define Symbolic Constant DEFINE eee sees see 4 5 4 2 2 Define Local Variable DVAR Ww eee see se ee ee 4 6 4 2 3 Define Local Variable Arrays DVAR ese see see see eee 4 7 424 Define Entry Point DENT ou esse sees sesse ese esse ee ee ee 4 8 4 2 5 Define Subroutine DES iese se se ee Se Se Se ee Ge ee 4 8 Programming OperatOrS iese sesse ese ee se Se Ge RA Ge Gee ee se ee ee 4 10 4 3 1 Arithmetic Operators 0 eee ee Se Se ee RA RA Gee Gee ee 4 10 4 3 1 1 Addition Fisies ER EERS EE EE Se SEGE ES ES ge sege Eed 4 10 4 3 12 Subtract ON ESE ee ee Sp EEEE Re ee Re ees 4 10 4 3 1 3 Multiplication Fee se se ee ee Re ee ee ee ee 4 10 EE DIVISION ER EE EE EE RE 4 10 4 3 1 5 Modulus MOD esse sesse esse ee ee Se Gee RR ee 4 10 4 3 1 6 Exponentiation N esse se se se ee Ge Es 4 11 4 3 1 7 Absolute Value ABS woo se ee ee ee ee ee 4 11 4 3 1 8 Truncation INT oe se ee ee ee ee ee 4 11 4 3 1 9 Fractional FRAC sesse sesse see Re Ee PRE e be ER ees Be ges 4 11 4 3 1 10 Square Root SQRT ee se se ee ee ee Ge 4 11 4 3 1 11 Precedence Qrir esee ER ee ee RA 4 12 4 3 2 Trigonometric Operators sess
138. and a single axis to move with virtually any position or velocity profile Also by synching multiple slave axes to a common master the programmer can move multiple axes in synchronized motion However the power of master slave motion comes at a cost there is more the programmer must do and understand to get the proper results Master slave motion was originally developed for grinding cams electronic camming but has many other uses such as making an axis follow a handwheel So for historical reasons master slave motion is often referred to as camming Normally two axes are involved in master slave motion The axis that executes the desired motion is called the slave axis The user must also provide a master axis used to direct the slave However the master can be a virtual axis refer to the UNIDEX 631 U600 User s Manual for additional information on NULL feedback and therefore need not physically exist The programmer provides a table of coordinates cam table that specify slave axis positions given for a particular master axis position Refer to Figure 4 4 for profile A 3 awe or 7 se jr Interpolated Se 7e 7 Slave Position C 7 x z 1 1 I I b 1 I 7 l 1 7 n i 7 ae 7 Slave Position k k 4 1 i S sf Ed Sona Coordinates provided by Programmer in Table m Actual Master Position Master Position gt Figure 4 5 Master Slave Profile The programmer ca
139. and line so the linear part of the move must travel at the linear feedrate However since the distance the X axis travels is small relative to the B axis distance the move must complete in a relatively short time 1 100 second in this case This forces the B axis to travel at 3000 RPM which may be Version 1 2 Aerotech Inc 2 65 G Codes U600 Series Programming Manual too fast As discussed in the limiting of feedrates see F word section in Chapter 1 the U31 controller in this case will scale down the velocities of the axes so that the E word is not exceeded In the example above the X axis would travel at 0 02 units minute the B axis at 1 RPM and the move would take 1 2 second However there is a related case where the controller cannot limit the speed properly and it throws a CNC fault For example look at the following code fragment where X is a linear axis B arotary axis G90 GO X0 BO Goto 0 0 use absolute coordinates from now on G99 G1 X10 E1 F100 X travels at 100 units min G1 X20 B90 E1 F100 X travels at 40 units min B at 1 RPM In the first move X travels at 100 units min and in the second move the E feedrate limits the speed forcing the X to slow down to 40 units min Since no G9 is specified the moves must be blended and the X will begin to slow down to 40 units min as soon as the second move starts However at the moment the second move begins the X axis will be traveling at 100 units min So i
140. apable of storing It is limited to 5000 variables PSO Mask You have specified an invalid axis as a parameter to the PSO card The specified axis must be assigned to this CNC PSO not implemented The PSOM 1 command has not been implemented by UNIDEX 600 631 PSO Timeout C 36 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES The PSO board is not responding to the axis processor Be sure that it is properly installed if so press the reset button on the PSO card to reset it Set Parm failure An error occurred while modifying an axis parameter Spindle Resolution is Zero The axis assigned as the spindle axis has an invalid scale factor Check the spindle axis assignment and its configuration Stack Empty You have attempted to remove POP a data value from the user program stack when the stack contains no data Verify your program logic You must PUSH data onto the stack before it may be removed POPed from the stack Stack Full The user program stack is full You have filled the stack with data or you have called too many subroutines defined too many repeat loops or have a programming error The normalcy axis is not a rotary axis The B Axis must be defined as a rotary axis within the B Axis configuration initialization group box Unknown CNC Type This command is not recognized as any valid UNIDEX 600 631 command Unknown G Code Type The G code specified has no defined function withi
141. ard 1 Port 3 Chan C Bits 16 23 as Output PLC 1 11 22 33 4455 plc 1 Two Inputs Bytes Two Output Bytes BIXYCOM10 0 4 BI gt Binary Inputs associated with XYCOM Board 1 Starting Bit Number 0 Starting Virtual Input Number 0 4 Bytes Virtual Inputs 32 Bits BO XYCOM200 4 BO gt Binary Outputs associated with XYCOM Board 2 Starting Bit Number 0 Starting Virtual Output Number 0 4 Bytes Virtual Outputs 32 Bits BI PCDIO 1 0 32 2 Binary Inputs associated with PCDIO Board 1 Starting Input Bit 0 Starting Virtual Input Bit 32 2 Bytes of Input 16 Bits BO PCDIO 1 16 32 1 Binary Outputs associated with PCDIO Board 1 Starting Output Bit 16 Starting Virtual Output Bit 32 31 Byte of Output 8 Bits BI PLC 1 40001 32 2 BO PLC 1 40012 32 2 RI PLC 1 40023 0 2 RO PLC 1 40034 0 2 Figure 3 1 MODSCAN INI File 3 8 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 3 3 2 Programmable Logic Controllers PLC To specify the existence of a Modicon PLC in the system you must place the keyword PLC at the beginning of a line in the MODSCAN INI file You must also specify several parameters relevant to accessing the device over the Modbus Plus network SYNTAX PLC lt PLC gt lt routing information gt The PLC parameter specifies the number to be used when referring to this PLC The valid range of these numbers is 1 7 These numbers do not have to be specified sequentially The
142. ard when its firmware is loaded on power up On the U600 the port refers to the connection of the joystick Port 0 refers to the joystick port on the U600 board to 3 refers to the joystick port on the optional encoder expansion boards 1 to 3 In all cases the joystick connects to the joystick connector on the DR500 BB500 ro BB501 that interfaces the user to the U600 board The speed is the maximum velocity that may be commanded by the input device The x parameter is the axis designator commanded by the movement of the X axis of the slew device The y parameter optionally specifies the axis designator commanded by the movement of the Y axis of the slew device To disable the slew mode press the fire button on the joystick or press the left button on the mouse or trackball SYNTAX SLEW port speed x y Where port is either the serial port U631 or the joystick port U600 speed is the maximum speed in user units x is the axis to be commanded by the x axis movement of the slew device y is the optional second axis to be moved by the yaxis motion of the slew device EXAMPLE SLEW 0 1000 x y Activates the trackball through port 0 Speed is specified in user units 4 36 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 7 User Stack Operations As mentioned above your stack maintains all program information such as the program line to return to when a subroutine is calle
143. ary shift to the left of Operandl1 The number of shifts to be performed is specified using Operand2 The result is equivalent to multiplying Operand1 by 24Operand2 Operand2 must be a positive number EXAMPLE VARI VARI SHL 2 VARI VARI SHL VAR2 The fractional portion of VARI is discarded before the SHL operation 4 3 3 6 Shift Right SHR This operation performs a logical binary shift to the right of Operand1 The number of shifts to be performed is specified using Operand2 The result is equivalent to dividing Operand1 by 24Operand2 Operand2 must be a positive number The fractional part of the operand if discarded before the SHR operation 4 3 4 Relational Operators The UNIDEX 631 U600 CNC supports the use of six relational operators used for the comparison of two floating point operands The operands used by these operators are assumed to be in floating point format but may be any of the following types e User defined Variable e System Variable e Symbolic Constant e Numeric Literal The result produced by each of these operators is Boolean either TRUE 1 or FALSE 0 They are used extensively by commands such as JUMP IF and WHILE Due to the similarity in syntax syntax diagrams have been omitted from this discussion Since none of the commands which use these operators have been discussed yet programming examples have also been omitted Please refer to the JUMP IF and WHILE commands in Section 4 4 for speci
144. as the axis chosen as the Thread Y axis on the CNC Initialization screen 2 64 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 14 Dominant Feedrate Overview G98 G99 A complex move is one in which both linear and rotary axes are moving simultaneously These types of moves create a number of special problems and the programmer must read and understand the following in order to properly perform complex moves The first problem is that both the F and the E word speeds cannot be obeyed at once Refer to the following example code fragment G90 GO X0 BO Goto 0 0 use absolute coordinates from now on G1 X10 B90 F10 El If the F word is obeyed then the G1 move finishes in 1 minute However if the E word is obeyed the move finishes in 15 seconds The solution the Aerotech controller uses for this problem is to have a mode that specifies which word will be obeyed In the G99 mode linear dominant the E word is ignored during moves involving both rotary and linear axes Conversely in the G98 rotary dominant mode the F word speed is ignored in complex moves A related item is the acceleration during complex moves The dominant type of movement rotary or linear will use the acceleration as instructed by the codes G63 through G68 However the non dominate move will be a slave to the dominant movement and may not obey the acceleration parameters If the acceleration ramping is time based see G67 then bot
145. axis 2 mm in the negative direction F100 A feedrate of 100 mm per second is established The default mode of operation is established using the G codes Menu in the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual 5 The number of machine counts per inch is specified using the millimeters per motor revolution parameter 2 12 3 Restore Position Registers G82 The G82 command restores position registers to the value prior to executing a G92 command EXAMPLE G82 Restore all axes registers G82 Y Z _ Restore the Y and Z axes only Do not use G82 when in the G42 or G43 mode the results are unpredictable WARNING Version 1 2 Aerotech Inc 2 51 G Codes U600 Series Programming Manual MARAL 2 52 2 12 4 Mirror Image G83 The G83 command activates the mirror image function The UNIDEX 631 U600 mirror image is available for all axes The G83 command operates in both the incremental and absolute mode While in the absolute mode however the specified positions are always in reference to the software home established by the G92 command which means that you must return to that location before enabling the mirror image function Refer to Figure 2 24 for a mirror image example SYNTAX G83 axis name axis name The mirror function is disabled with the G83 command This statement must occupy its own line no other CNC blocks on this line EXAMPLE G83 Disables mirrori
146. axisl axis2 plane for rotation angle The angle required for entry must be converted to degrees and may be a user degree s specification The angle specified is relative and is based on the last angle set in a G84 command see example A positive angle entry will produce a CCW angle and is referenced from the axes plane The entry is modal such that rotation will be in effect until deactivated An angle specified as zero will deactivate parts rotation This statement block must occupy its own line no other blocks on the line EXAMPLES G84 X Y VARI l Part rotation angle is set to value of VARI G84 X Y 0 _ Deactivate parts rotation LINE COMMAND DESCRIPTION NI G1 X5 F1000 Move X axis five units in plus direction N2 G84 X Y 45 Set X Y part rotation angle to 45 N3 X5 Move X axis five units in plus direction N4 G84 X Y 90 Set the X Y part rotation angle to 45 N5 X5 Move X axis five units in plus direction N6 G84 X Y 90 Set the X Y part rotation angle to 225 N7 X5 Move X axis five units in plus direction N8 G84 X Y 300 Set the part rotation angle to 390 30 N9 X5 Move X axis five units in plus direction N10 G84 X Y 30 Nil X5 Move X axis five units in plus direction N12 G84 X Y 0 Disable part rotation N13 M2 End of the program see Figure 2 25 2 54 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes N11 Figure 2 25
147. ay 0 64 Define output bit mapping in array 0 thru array 15 PSOF 4 500X Y Z Activate output firing pulse train and lock onto axes X Y amp Z 5 12 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands PSOM 0 array 0 16 M 1Byte 8Bits 1Byte 8Bits iiss MSB LSB e ilo alo rlo mto 1 o 1 o i o 1i o aay gt array 1 gt 4 Bytes 32 Bits array 2 gt array 3 gt array 0 array 1 array 2 MSB PSOM 0 array 3 16 LSB array 3 SSS i array 0 d S et ASE SES o mm aray t 4 array 254 array 2 l array 255 array 3 Figure 5 1 Bit Mapping Scan Patterns for PSOM Commands Version 1 1 Aerotech Inc 5 13 Optional PSO Commands U600 Series Programming Manual 5 7 Position Synchronized Output Pulse Configuration PSOP The PSOP command configures the pulse output train PSOP 5 and PSOP 3 have not been implemented at this time SYNTAX PSOP mode w Lw t Lw tr g array x tm 5 7 1 MODE Arguments For PSOP The mode argument defines one of six possible ways to use the PSOP command The argument can range in value from O to 5 and the following sections describe their meaning 5 7 1 1 Mode Argument 0 Mode argument 0 sets the wi
148. ble Version 1 2 Aerotech Inc 1 9 Symbols amp Axis Designators U600 Series Programming Manual 1 4 1 Local Variables Local variables must be defined in a program with the extended command DVAR and can only be used within the program in which they are defined Also the user can reserve arrays of local variables with DVAR see Chapter 4 Extended Commands Example DVAR A B A 5 1 4 2 Global Variables Global variables are variables which may be accessed by any of the four CNC engines present in the UNIDEX 631 U600 Variables of this type are very useful for communication between parts programs executing independently on the 4 independant CNC engines The number of global variables available for use is defined within the Variable Allocation Group box of the CNC Initialization Screen refer to the UNIDEX 631 U600 User s Manual It should be noted that this number is applicable to all CNC engines which are active at any given time Normally all global variables are initialized to zero on program startup However if the save globals option is selected on the Options screen then global variables are written to disk upon program exit and restored on the next program restart Furthermore the Global Alias file can be used to effect global variable defaults see section 1 4 3 SYNTAX GLOBALxx where xx refers to the variable number EXAMPLES DVAR VARI l Define the local variable VAR1 VARI
149. bles ee se se ee 1 15 Table 1 3 CNCMODE I and CNCMODE 2 Variables ee se see se ee ee ee ee ee ee ee see se ee 1 17 Table 2 1 G code Summary COME esse sees see see se ee ee ee Ge Se Ge Re GR RA Re Ge Gee ee ee 2 3 Table 2 2 Axis Planes for G codes in Plane Select Group eee ese se se se ee 2 21 Table 2 3 Decoding a Block of a Selected Axis Plane ese see se ee ee ee Se ee 2 21 Table 2 4 G Codes to Change Axes Used for Circular Interpolation esse sesse 2 69 Table 2 5 Relationship of Arc Direction Plane amp Circle Centerpoint 00 00 0 2 70 Table 3 1 Mrcod Summary ES Reese GE es see Ses ts ies gu See chee DES EWE Gee Dee Ee eee 3 2 Table 3 2 Virtual I O Inputs and Outputs iese ese se se se Se Ge GRA ee Gee Ge ee ee ee 3 7 Table 4 1 Extended Command Summary eise esse ese se se ee Ge Se Se Re Ge GR ee Re ee ee 4 1 Table 4 2 Precedence of expressions se se ee RA ee GR RA ee GR Re ee Re ee 4 12 Table 4 3 Hard Axis NATDES cscs etes e seed Aus egg GR eb RE EES Go GERS ged GEES Ne EER See ee be 4 42 Table 5 1 Conventions for this Section ee se see se Se Re ee ee ee ee ee ee ee 5 1 Table 5 2 PSO Programming Commands Summary ees esse see see see ee ee ee ee ee ee 5 2 Table 5 3 Distance Calculations for Multiple Axis Using the PSOD Command 5 8 Version 1 2 Aerotech Inc xiii List of Tables XIV U600 Series Programming Manual Aerotech Inc Version 1 2 U600 Series
150. cel Time and Decel Time parameters specify the amount of time in which the axes are to execute changes in velocity The CNC also provides the flexibility of choosing between two different types of acceleration and deceleration while operating in this mode linear G63 and sinusoidal G64 1 cosine Figure 2 23 demonstrates the effect of each upon the velocity curve of a single axis Linear Accel Decel Sinusoidal Accel Decel Time Figure 2 23 Constant Acceleration vs 1 Cosine If a G code completes the move to the specified distance before its acceleration is completed then the acceleration within that G code will be linear regardless of the G60 G61 setting 2 42 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes Sinusoidal acceleration is typically used on systems containing a large inertial mass which is resistant to sudden changes in acceleration As illustrated the motion accelerates gradually then accelerates steeply As it approaches the commanded velocity the acceleration gradually decreases until it reaches zero This reduces jerk associated with discontinuous acceleration such as in the linear Accel Decel example Regardless of whether sinusoidal or linear mode is chosen the acceleration and deceleration will be completed in the same amount of time There are a number of conditions where the controller cannot obey the specified acceleration and may generate an instantaneous deceleration of
151. ciated with an axis This parameter is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 Setting a bit to a one turns on the auxiliary output when a particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set The user may also edit this parameter using the Bit Mask Control Window HALTMASK This parameter controls the faults that cause the axis to halt If the system must halt motion the axis will gracefully decelerate to zero velocity based on the time specified in the DECEL parameter This parameter has no effect on the position error tracking The value specified for this parameter is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 Setting a bit to a one halts the axis when a particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set The user may also edit this parameter using the Bit Mask Control Window Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters IOLEVEL This parameter permits you to specify the active state for several of the axis processor I O lines The user may configure any of the following lines 0 Drive Enable Output 1 Aux Output Enable Output 2 CW Limit Switch Input 3 CCW Limit Switch Input 4 Home Limit Switch Input 5 Drive Fault Input The value specified is a bit mas
152. cified by the tool manufacturer This value must be manually updated by the operator Actual Radius This field contains the tool radius as measured by the machine operator This value must be manually updated by the operator Number Passes This field is used to specify the number of passes a tool makes in machining a workpiece This field must be updated manually by the operator X Axis Offset Z Axis Offset The X and Z axis offset values are a means by which the parts program can shift the coordinate system to compensate for the differences between tools The axes positions in a parts program represent the desired tool path of the axes with no offsets As the characteristics of the tool change the actual tool path will change and it will not be at the desired location The X and Z axis offset feature allows the same parts program to be used for different tools The X and Z axis offset values are interpreted as a signed incremental distances that are added to the preset axes positions These offset values define the distance to the center line of the tool s radius The Z axis offset is measured from the centerline of the boring bar to the center line of the tool s radius in the Z direction The X axis offset if measured from the face of the tool post to the center line of the tools radius in the X direction These fields must be updated manually by the operator Boring Bar Number This field contains a unique number used to identi
153. cond number GETPARM Get the current value of an axis parameter 4 2 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands Table 4 1 Extended Command Summary Cont d Extended Command Page Description HAND a LE 4 16 True if the value of the first number is less than or equal to the value of the second number LT 4 16 True if the value of the first number is less than the value of the second number MOD 4 10 Produces the remainder based on Operand1 divided by Operand2 MONSPD 4 50 Monitors speed of specified axis when not accelerating or decelerating MOVETO 4 60 Moves a specified axis to a specific position at a specified speed NE 4 15 True if the value of the first number is not equal to the value of the second number Version 1 2 Aerotech Inc 4 3 Extended Commands U600 Series Programming Manual Table 4 1 Extended Command Summary Con t Extended Command RECORDON RECORDOFF RPT ENDRPT SETPARM SHL SHR SIN SLEW SOFTNAMES SQRT STRM SYNC TAN WAIT WHILE DO ENDWHILE WTCH XOR Page 4 32 4 33 4 21 4 50 4 15 4 15 4 13 4 36 4 41 4 11 4 60 4 57 4 13 4 51 4 24 4 52 4 14 Description begins motion on a single axis without stopping at any given target position Syncs or desyncs master slave relationship Produces the tangent value of the specified angle Will hold position until a specified condition is met Execute blocks wh
154. ctive low Positional information will sbe placed into the POS array G51 Start motion toward probe G1 X5 0 F30 Enable touch probe same probe parameters as last command The modes display will show G51 until the probe input has been detected a Version 1 2 Aerotech Inc 4 49 Extended Commands U600 Series Programming Manual 4 8 7 Modifying Axis Parameters SETPARM This command changes the current value of any axis parameter Any axis parameter which may be modified using the ZSID debug960 utility program may also be modified using this command Please refer to the documentation provided with this utility program for a list of all valid axis parameters see Appendix A Axis Parameters The SETPARM command requires a similar parameter list to the GETPARM command The first of these is a list of axes to which this command applies These axes should be specified using the naming convention currently active HARDNAMES SOFTNAMES This list may contain any number of axes but all axes mentioned must be associated with this CNC The second parameter to this command is the name of the axis parameter whose value is to be modified As mentioned a list of valid parameter names listed in Appendix A may be obtained using the ZSID debug960 utility The last parameter to this command is the value to which this parameter is to be set This value is specified in floating point format and may be specified using a numeric lite
155. d The background thread for the run mode could not be started Run Thread Failed to Load on CNC d The background process required for the run mode could not be started This may be due to insufficient system resources close unnecessary windows or add more memory to your system Run Time Error CNC d Program d Version 1 2 Aerotech Inc C 23 ERROR CODES U600 Series Programming Manual The indicated error occurred while running the user motion program Server Queue Creation Failure CNC d return d Internal error possibly due to insufficient memory Set Run Mode Failure on CNC d An error occurred while setting the auto run mode SETPARM Parameter not writeable You have attempted to write to a read only parameter Soft axis name specified when hardcoded axis mode is enabled Select Softcoded axis programming mode or specify the axis by their Hard coded axis names Spindle Feedrate Must be Between lf and lf The spindle feedrate is not within the range determined by the min max spindle feedrate parameters Spindle is Not Defined Line ld CNC d Program d The spindle axis is invalid Spindle Speed 0 0 Line ld CNC d Program d The spindle speed is zero Spindle Speed must be a Literal on G33 Line old CNC d Program d The spindle speed specified was not a literal Spindle Surface Feedrate Must be Between Greater than Zero The spindle surface feedrate is less than zero Stack Overflow
156. d and the current operational mode when calling a library subroutine In these cases all stack operations are performed without user intervention The UNIDEX 631 U600 CNC programming language also permits you to place information on and retrieve information from this stack The commands described in this section are used to perform these functions However caution should be exercised when manipulating data on the stack In general a stack is a data structure in which the value that was stored most recently must be removed before the older data may be removed In order to help understand the concept the reader may think of each data item as a plate and your stack as a stack of these plates When one plate is added to the stack it is placed on top of the others In order to retrieve the plate which is third from the top the top two plates must be removed first 4 7 1 Putting Data Onto the User s Stack PUSH This command places data onto your stack The value of each parameter is sequentially placed on top of the stack The stack pointer is automatically incremented as each item is stored The information stored with this command may be retrieved using the POP command described below SYNTAX PUSH lt data gt EXAMPLE PUSH VARI Place the value of VARI onto your stack Please refer to the comprehensive example following the POP command on following page All information placed on the stack within a subroutine must be removed f
157. d by the rapid feedrates Diagram B in Figure 2 15 illustrates that for inside corners the controller will not generate an arc move but the user should be aware that a small circular wedge of uncut material will remain in the inside corner 2 28 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes When in cutter compensation mode the PRESET positions will reflect the amount of the offset that the controller is applying to accomplish the compensation For example in Diagram A during the first move the PRESET position for the vertical axis will differ from the MACHINE position by an amount equal to the tool radius The horizontal axis PRESET will be equal to the MACHINE position As the tool moves around the circle the offset will transfer itself to the horizontal axis In the second move the horizontal axis will show the offset while the vertical axis PRESET position will be equal to the MACHINE position In addition to the auto generated arcs around the edges tool compensation will automatically generate movement lead on and lead off moves entering G41 G42 and exiting G40 tool compensation mode The programmer can place statements in between two G code motion lines without affecting cutter compensation as long as the intervening statement does not cause a pause in the movement The same rules apply here for blending two moves without decelerating see G9 If an intervening statement does break the motion
158. d they must never repeat This parameter relates to the current observed position of the master axis Its primary purpose is to determine the current location within a CAM table once activated This parameter cannot be changed when a CAM table is active The units for this parameter are machine steps and are in the range of approximately 2 1m Oral The default value is for zero 0 machine steps The user may set the master position of an axis without affecting the POS parameter of the master axis CAMOFFSET To understand how this parameter functions the reader must be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 631 U600 For a brief discussion of this feature refer to the MASTERPOS parameter Refer to the appropriate section of chapter 5 in the UNIDEX 631 U600 User s Manual EDUI53 This parameter offsets all master positions in the active CAM table based on a fixed amount That is the value of this parameter is added to each master position in the CAM table Most often you select this parameter to permit execution of the slave profile without forcing the master position to zero starting point of table The units for this parameter are machine steps and the valid range is 2 1m 2 1 The default is zero 0 machine steps Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters SYNCSPEED To understand how this parameter works the reader mus
159. d Parameter 2 47 2 48 Rate Based Parameters 2 47 2 48 2 49 Rate based Linear Ramping A 7 A 8 Rate Based Ramping A 7 Rate based Sinusoidal Ramping A 7 A 8 Read Cycle Touch Probe 4 49 Readable Axis Parameters 2 41 Reading Axis Parameters 4 48 Real Time Tracking Control 5 2 Real time Control PSOR 5 17 RECORDOFF 4 33 RECORDON 4 32 REF 4 35 Register I O 3 10 Register Input M Code 3 15 Register Output M Code 3 15 Registers Machine Position 2 39 2 40 2 58 Registers PLC 3 10 Registers Preset Position 2 39 2 58 Registers Preset Position 2 40 Registers Program Position 2 39 Relational Operators 4 15 Remote Host 1 14 1 17 Remove Data From User Stack 4 38 Repeat Loop 4 21 Repeat Loops Nested 4 21 Restart Program Execution 3 4 Restrict Safe Zones 2 27 Restricted Areas 2 27 Retract Position 2 19 REVERSALMODE Parameter A 3 Right Cutter Compensation Activate 2 33 Right Parenthesis 4 8 Right Path Compensation 2 33 RMS Current Limit Fault A 4 Rotary Axis 2 22 Rotary Feedrate Dominant 2 67 Rotary parameter 1 7 Rotation Angle of Threads 2 19 Rounding 4 11 RPT 4 21 S 1 7 Safe Zone A 15 Safe Zone Boundaries 2 27 Safe Zone Fault 2 26 2 27 A 6 Safe Zone Restrictions 2 26 Safe Zone Clockwise Boundary A 5 Safe Zone Counter clockwise Boundary A 6 Safe Zone Disable 2 27 Safe Zone Enable 2 26 2 27 Safe Zone Enabling and Disabling A 6 Safe Zones
160. d for this CNC Redefine the ICRC axis in the setup mode or with the G44 command Bad Cutter Comp Radius The cutter radius specified is less than zero Correct this in the parameter screen or specify it correctly with the G43 command Bad Safe Zone Mode You have specified a safe zone mode other than mode or 2 Bad Thread Master Length You have specified a zero length for the threading operation Can t happen No error has occurred CLS Failed Stack Full The specified subroutine cannot be called because the user stack which stores the return line number is full You have attempted to make a subroutine call with 10 subroutine calls return values already on the user stack or you have a programming error Version 1 2 Aerotech Inc C 31 ERROR CODES U600 Series Programming Manual CNC Axis Fault An axis has encountered a condition defined within its fault mask as an error Clear or reset the error and continue CNC Probe Data The probe channel defined is greater than 511 or an invalid variable was specified to hold the data from the touch probe Continuous Downloading Queue Full You have filled the input queue Lower your command transmission rate or wait for previous commands to execute before sending more Cutter Comp Type 1 Axis cutter offsets were active with ICRC disabled during a G2 G3 command Cutter Compensation Was Not Terminated Your program ended while ICRC was active You must deactivate ICRC b
161. d specifies that the linear feedrate F is to be considered dominant in coordinated motion commands involving both linear and rotary axes When operating in this mode the value of the F keyword determines the move duration and the corresponding feedrate for the rotary axis is computed Please refer to the Dominant Feedrate Overview Section 2 14 for more information SYNTAX G99 EXAMPLE G99 Make F feedrate dominant G1 X10 Y72 F100 E10 Assuming X is linear and Y is rotary use F feedrate to calculate a move time of 0 10 minutes Rotary feedrate used will be 2 RPM An axis is designated as linear from within the Machine Parameter Set up screen GET using the Linear or Rotary parameter 2 68 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 15 Circular Direction Codes 2 15 1 Normal Circular Interpolation G110 The UNIDEX 631 U600 CNC provides you with the flexibility to change the orientation of the axes being used for circular interpolation By default circular interpolation occurs as described in the description of the G2 and G3 commands Plane Select G27 G28 G29 G code groups and the I J K keywords Table 2 4 defines these relationships Table 2 4 G Codes to Change Axes Used for Circular Interpolation G code Description The G110 command resets these associations if a G111 command had been previously executed SYNTAX G110 EXAMPLE G110 Reset normal circular interpolation m
162. dded into the preset registers before the values for fixture offset 2 were added into those registers 2 10 Parameter Monitoring G56 G57 The UNIDEX 631 U600 CNC provides a feature by which you may cause axis motion to be terminated upon the detection of a specified condition This condition must involve one of the axis parameters Any axis parameter designated as readable may be used by this command See appendix A for a list of valid axis parameters 2 10 1 Enable Parameter Monitoring G56 The G56 command enables the parameter monitoring feature The parameters for this command include an axis specification and a conditional expression involving one axis parameter and one numeric literal The axis specification should be made using the naming convention currently active e g hardnames softnames This list may contain any number of axes but all axes mentioned must be associated with this CNC SYNTAX G56 AxisList AxisParam RelationalOperator NumericLiteral EXAMPLE G56 X Y IAVG GT 5000 Terminate X Y motion if the average current exceeds 5000 G56 Z POSERR GT 100 Terminate Z axis motion if the position error exceeds 100 Only one parameter monitoring function may be active simultaneously 5 2 10 2 Disable Parameter Monitoring G57 As mentioned previously the UNIDEX 631 U600 CNC provides a feature by which you may cause axis motion to be terminated upon the detection of a specified condition This mode of operation is re
163. de is PSOF 0 5 5 1 2 Mode Argument 1 Mode argument 1 activates the output firing pulse train as established by the PSOP command The pulse train will continue until it is disabled by the PSOF 0 command No position tracking occurs in this mode Syntax for this mode is PSOF 1 5 5 1 3 Mode argument 2 Mode argument 2 activates the output firing pulse train as established by the PSOP command for num number of times If num 0 then the output firing pulse train will not be activated until the previous output firing pulse train is complete No position tracking occurs in this mode Syntax for this mode is PSOF 2 num 5 5 1 4 Mode Argument 3 Mode argument 3 activates the output firing pulse train as established by the PSOP command The position counter locks on to the motion of the specified Up to three axes may be locked on simultaneously Output firing occurs at distances established by the PSOD command Syntax for this mode is PSOF 3 axis1 axis2 axis3 Version 1 1 Aerotech Inc 5 9 Optional PSO Commands U600 Series Programming Manual 5 5 1 5 Mode Argument 4 Mode argument 4 activates the output firing pulse train and locks the position counters onto the specified axes e g X Y Z Up to three axes may be locked on simultaneously The output firing pattern is determined by bit mapping as established by the PSOM command The bit values serve the following functions
164. dent within a particular PLC These registers must then be associated with a specific set of virtual I O bits The keyword PLC is used to specify that a particular set of binary inputs outputs or register inputs outputs are associated with a PLC The next parameter specifies which PLC by referencing the number defined previously using the PLC command The next step in defining a set of PLC binary register I O points is to associate a particular set of 4xxxx registers with a particular set of virtual I O bits This is done by specifying the starting 4xxxx register the starting virtual I O bit number and the size of each set as parameters to this command Valid PLC register numbers range from 40001 through 44000 Also binary inputs may be associated with oxxxx and 1xxxxx PLC registers Refer to your PLC documentation MODICON PLC User s Manual for additional information SYNTAX BIIBO IRI RO PLC lt gt GLOBAL lt StartReg gt lt StartVirtIO gt lt size gt The keyword GLOBAL may also be used to reference the global data being transferred to from the PLC This keyword should be inserted just following the PLC number specification 3 10 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes EXAMPLE 340001 Starting with virtual input point 0 BO PLC 2 41001 256 2 Associate 32 binary outputs 2 16 at PLC 2 register 41001 Starting with virtual output point 256 RI PLC 7 42001 256 16 Associate
165. des cawecssrrecsee E ces e to 2 50 e Feedrate and Spindle Speed Codes rererere ee se RR RA GR 2 59 e Dominant Feedrate Overview G98 G99 ees ee Re ee RA 2 65 em culanDirectioni odes ME e e e 2 69 2 1 Description A G code executes motion or is a preparatory function used to specify a particular mode of operation during later motion In some cases the new operational mode is applicable to only the particular parts program block in which the G code is encountered In other cases the new operational mode is retained as the default for subsequent parts program blocks G codes of the second type which permanently change the operational mode of the controller are referred to as Modal The symbol shown in the margin opposite this paragraph will mark all Modal commands discussed in this chapter From this it follows that those which are applicable to a single parts program block are referred to as Non Modal As can be seen from Table 2 1 on the following page the G codes supported by the UNIDEX 631 U600 CNC have been divided into several different functional groups MERAL Version 1 2 Aerotech Inc 2 1 G Codes U600 Series Programming Manual Table 2 1 G code Summary G code Page Description Group Modal GO 2 7 Rapid Traverse Point to point Motion Y Gl 2 8 Linear Interpolation Motion Y G2 2 8 CW Circular Interpolation Motion Y G3 2 9 CCW Circular Interpolation Motion Y G4 2 1
166. discussion of the I J K keywords the CNC Parameters Plane Selection Menu assigns three axis pairs on which circular interpolation may be performed These three axes are the Plane_X_Axis the Plane_Y_Axis and the Plane_Z_ Axis The G codes found in the Plane Select group are used to select one of these pairs The following table Table 2 2 defines the axis planes applicable to each of the G codes found in the Plane Select group Table 2 2 Axis Planes for G codes in Plane Select Group G code Axis Plane Selection G17 Plane_X_Axis and Plane_Y_Axis G18 Plane_Z_ Axis and Plane_X_Axis G19 Plane_Y_Axis and Plane_Z_Axis SYNTAX G17 G18 G19 EXAMPLE G17 G2 X1 0 Y1 0 11 0 JO 0 Make arc with X and Y axes 1st axes plane 1 G18 G2 X1 0 Z1 0 10 0 K1 0 Make arc with Z and X axes 2nd axes plane 1 Make arc with Y and Z axes 3rd axes plane 1 G19 G3 Y 1 0 Z 1 0 JO 0 K 1 0 In order to fully understand the need for axes planes consider the following program block G1 G2 X1 0 Y1 0 Z1 0 11 0 In this example two axes are programmed to make an arc of radius 1 0 and the third axis is to make a linear move of 1 0 Without an axes plane designation it would be impossible to determine which two axes perform circular interpolation However by specifying the axis plane designation the block can be uniquely decoded as follows Table 2 3 Decoding a Block of a Selected Axis Plane Program Block Circular Portion Linear Portion G17 G1 G2 X1
167. dth w of a single pulse output in tenths of milliseconds The syntax for this mode is PSOP 0 w 5 7 1 2 Mode Argument 1 Mode argument 1 sets a single pulse with definable pulse lead pulse width w and pulse trail t characteristics The pulse lead width and trail arguments are specified in tenths of milliseconds Syntax for this mode is PSOP 1 w f 5 7 1 3 Mode Argument 2 Mode argument 2 sets a pulse train with definable pulse lead pulse width w pulse trail 4 ramp up down r and pulse gap interval g characteristics The units used by the arguments are tenths of milliseconds The pulse width starts at r and increments by r units until the pulse width reaches w At this point the pulse widths begin to decrease in increments of r units to a width of r units The pulse gaps can be a fixed width g gt 0 or can be made to ramp i e match the size of the pulse width g 0 Syntax for this mode is PSOP 2 Lw fir g 5 7 1 4 Mode Argument 3 Mode argument 3 sets a pulse train by defining a series pulse widths and gap widths in tenths of milliseconds in a series array elements e g array 0 thru array 255 The argument array x specifies the array element that contains the first gap width in tenths of milliseconds The next sequential array element contains the first pulse width in tenths of milliseconds Syntax for this mode is PSOP 3 array x 4m
168. duct of the arc radius and the arc angle squared For example if circular interpolation is being performed on the X and Y axes the feedrate would be set as follows _ of minutes to complete move SquareRoot R Theta Z a where R is the arc radius Theta is the arc angle in radians Z is the move distance for the Z axis a is the move distance for the a axis SYNTAX G93 EXAMPLE G93 Set inverse time feedrate programming G70 F1 0 Establish feedrate of 1 minute per inch G71 FO 5 Establish feedrate of 0 5 minutes per millimeter This is not the default operational mode of the CNC G93 has no effect on the speed of the rotary axes E feedrate The E feedrate is always in units of RPM MARAL Version 1 2 Aerotech Inc 2 59 G Codes U600 Series Programming Manual MARAL 2 13 2 Feed Per Minute Feedrate Programming FeedrateMode G94 The UNIDEX 631 U600 CNC provides the flexibility to program feedrates in either units minute or minutes unit The G94 command specifies that feedrates should be interpreted as units per minute The feedrate calculation is shown below 7 SguareRoot X Y a of minutes to complete move where X is the move distance for the X linear axis Y is the move distance for the Y linear axis etc When performing circular interpolation on two axes the sum of the squares for those axes is replaced by the product of the arc radius and the arc angle squared For
169. e CNC d Program d Line ld The linear feedrate equals zero No Rotary Feedrate CNC d Program d Line ld The rotary feedrate equals zero No Spindle Defined Line ld CNC d Program d No spindle axis has been defined in the setup parameters No Spindle Defined Line ld CNC d Program d No spindle axis has been defined No variables allowed in this statement You may not use variables in this statement Number out of range The number is out of range Open include part program file failed Version 1 2 Aerotech Inc C 21 ERROR CODES U600 Series Programming Manual The included parts program was unable to be opened Verify filename path and physical location Operation on unopened user file The specified operation can not be performed on the user file because it has not been opened Program Translation Error CNC d Program d Line ld This error occurred on the line number compiler pass and program line as indicated READFILE statement requested more than 30 variables The READFILE statement is limited to 30 variables READFILE write variable error An error occurred while parsing the command line and counting the number of variables to be read Redefined identifier You have redefined the indicated identifier This is not allowed Register Class Failure CNC d An error occurred while attempting to register a new window class possibly due to insufficient memory Resolve MR code failure An
170. e file specified at that time A DATA START command encountered when the system is not in the data collection mode will be ignored STOP This keyword terminates any data acquisition currently in progress This command will be ignored if the system is not in the data collection mode and in the process of acquiring data CLOSE This keyword exits the data collection mode The file in which acquired data is being placed is closed as is the Data Acquisition Dialog Box The data collection mode must then be reinitialized using the DATA OPEN command before more acquisitions can be made Any acquisition in progress at the time this command is executed terminates automatically A DATA CLOSE command encountered when the system is not in the data collection mode is ignored 4 46 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands SYNTAX or DATA START or DATA STOP or DATA CLOSE EXAMPLE DATA OPEN X Y Z 1 DATAFILE PLT DATA OPEN NO_AXIS_ DATA Axis_data_Only Binary_Data AxisList Rate FileName Ext Initialize data collection mode Acquisitions will occur for the X Y and Z axes at a rate of 0 001 seconds every millisecond All data acquired will be placed into the file DATAFILE PLT in the U31 PROGRAMS directory DATA START Start acquiring data lt program block gt Any number of program blocks a Typically these block do motion lt program block gt
171. e 2 41 Acceleration Deceleration Overview G60 G61 ee ee 2 42 2 11 1 Set Acceleration Time GOO ee ee ee ER Re ee ee 2 43 2 11 2 Set Deceleration Time Gl ee ee ER Re EE RA 2 44 2 11 3 Set Profile Time G62 ee ee se RA GR r GR 2 45 2 11 4 Sinusoidal 1 Cosine Acceleration Mode G63 2 46 2 11 5 Linear Acceleration Mode GOA4 ee RR ER 2 46 2 11 6 Set Acceleration Rate G65 oo ees ee AR Re ee ee ee 2 47 iv Aerotech Inc Version 1 2 U600 Series Programming Manual Table of Contents 2 11 7 Set Deceleration Rate G66 eee ee ee ee 2 48 2 11 8 Acceleration Deceleration Time Based Ramp Type GOT EA IR OE EE EE EG 2 49 2 11 9 Acceleration Deceleration Rate Based Ramp Type ESE ER EE EE 2 49 212 Programiming Codes ie NEE EN SES EDE SES semen EN Ee ee ee ees 2 50 2 12 1 Inch Dimension Programming Mode Units G70 2 50 2 12 2 Metric Dimension Programming Mode Units ea AE ER EG 2 51 2 12 3 Restore Position Registers G82 eise se se see see ee 2 51 2 12 4 Mirror Image G83 oe eee ek RA Rd Ge ee Ge ee ee ee 2 52 2 12 5 Parts Rotation G84 cee se ee ee ee ee ee ee 2 54 2 12 6 Absolute Dimension Programming Mode Distance es ER N EE S 2 56 2 12 7 Incremental Position Programming Distance G91 2 57 2 12 8 Software Home Set Position Registers G92 2 58 2 13 Feedrate and Spindle Speed Codes eee cee eee ee ee ee ee 2 59 2 13 1 Inverse Time Feedrate Programmin
172. e Zones G37 The G37 command disables safe zones which are currently active in the system As with the enable safe zones command G36 this command accepts parameters to permit you to specify the axes to which this command applies Therefore safe zones can be disabled individually or in groups Although no information other than the axis designation is needed to disable the safe zone the command syntax requires that you supply a positional coordinate for each axis specified This information is discarded by the CNC and should be programmed as zero SYNTAX G37 AxisName 0 AxisName 0 EXAMPLE G37 X0 YO ZO Disable the safe zones active for the X Y and Z axes The default operational mode of the CNC has safe zones disabled 5 Version 1 2 Aerotech Inc 2 27 G Codes U600 Series Programming Manual 2 8 ntersectional Cutter Radius Compensation ICRC Overview In cutting a workpiece it is sometimes necessary to consider the radius of the cutting tool For example when an endmill cuts the sides of a workpiece the center of the endmill follows the programmed path The outside edge of the endmill cuts around the actual workpiece offset from the programmed path by the tool s radius Intersectional Cutter Radius Compensation ICRC is an option that allows the operator to program the path along the outside edge of the cutter without regard to the size of the tool Without this option the operator would have to offset t
173. e ee 2 22 2 6 1 Disable Normalcy Mode G20 iese see se ee ee ee ee 2 24 2 6 2 Activate Normalcy Mode Left G 21 sesse ee 2 24 2 6 3 Activate Normalcy Mode Right G22 sesse ee 2 25 Safe Zones G36 GATE es Sees eh el REED Re ee Ge see nd 2 26 2 7 1 Enable Safe Zones G36 see ee Re RR Ge ee 2 26 2 71 2 Disable Safe Zones G3T see RR ER ee ER Re Ge 2 27 Intersectional Cutter Radius Compensation ICRC Overview 2 28 2 8 1 Deactivate Cutter Compensation ICRC G40 2 30 2 8 2 Activate ICRC Right GA ees esse es ee Re ee ee 2 31 2 8 3 Activate ICRC Left GA2 ees ee ee Re ee RR ee GR ee ee 2 33 2 8 4 Set Cutter Compensation Radius G43 2 35 2 8 5 Set Cutter Compensation Axes GAA eee 2 35 2 8 6 Disable Polar or Cylindrical Coordinate Transformation GAS ee ee RR GR ee ER Re ee ee 2 36 2 8 7 Enable Polar Coordinate Transformation G46 esse 2 36 2 8 8 Enable Cylindrical Coordinate Transformation G47 2 37 Fixture Offset G53 G54 G55 ese ee RA ER ee ee RA ee Ge ee 2 39 2 9 1 Cancel Fixture Offset G53 sesse es ee Ge ee ee ER Re ee Ge RA 2 39 2 9 2 Set Fixture Offset l GSA ees Ee ee ER Re ee RA 2 39 2 9 3 Set Fixture Offset 2 G55 sees Re ee RA ee Re ee ee RA 2 40 Parameter Monitoring G56 G57 esse se ee ee Re ee RR ee ee 2 41 2 10 1 Enable Parameter Monitoring G56 esse se ee se see ee 2 41 2 10 2 Disable Parameter Monitoring G57 uses esse se se se es
174. e ese 4 18 4 4 2 Conditional Statement IF THEN ELSE ENDIF 4 19 4 4 3 Repeat Loop RPT ENDRPT e esse ee ee ee se ee ee 4 21 4 4 4 Conditional Branch On Error Conditions ONERRGOTO esse se Edge Ee speeds EERS se Bek Geek SEE de 4 22 4 4 5 Conditional Looping WHILE DO ENDWHILE 4 24 4 4 6 Call Subroutine Call Library Subroutine CLS CLLS 4 26 4 4 7 Execute OS 2 or DOS Program EXECUTE 0 ees 4 27 4 5 Custom Display Window CommandS esse sees see see ee ee ee 4 28 4 5 1 Open Custom Display Window OPENCDW ee esse see 4 28 4 5 2 Close Custom Display Window CLOSECDW 4 29 4 5 3 Placing Items in the Window DISPLAY ee 4 29 4 5 4 Activate CDW Log File RECORDON eee 4 32 4 5 5 Deactivate CDW Log File RECORDOFF ees sesse 4 33 4 6 Synchronous Motion Commands sesse se see se ee Re ee ee ee ee 4 34 4 6 1 ENDM Command ENDM ieee cee se ee se ee se ee ee ee 4 34 4 6 2 Bree FREE ie eas ee See andthe Geb ee ese ee 4 34 4 6 3 Handwheel Command HAND iese esse esse esse ese ee see ee ke ee 4 34 4 6 4 Home HOME REF ese ce see se ee ee ee ee ee ee ee se ee se ee se ee ee 4 35 4 6 5 Slew Command SLEW eee eee see se ee ee ee ee ee 4 36 4 7 User Stack Operations eee se cee ee ee ee ee ee ee ee ee ee 4 37 4 7 1 Putting Data Onto the User s Stack PUSH 4 37 4 7 2 Removing Data From the User s Stack POP ee 4 38 4
175. e ese se se Se RA Re ee ee ee 4 13 4 32 1 Sime SIN EE GEREED ste cave BEEN eg See Bee ese Es 4 13 433 22 Cosine COS vies as EES Ee nee 4 13 43 2 3 Tangent TAN ies nace Ee Re gee de ee 4 13 4 3 24 Arcsin ASIN ii EER ESE ESE eae eg se Gede 4 13 4 3 2 5 Arccosine ACOS sisie EE ESE RE EE RS EERS ED Ges 4 13 4 3 2 6 Arctangent ATAN uu ieee se ee ee ee ee ee 4 13 4 3 3 Logical Operators 0 eee se ee ee ee Ge Se Ge GR RA ee ee ee 4 14 4 3 3 1 Negation NOT se se se Ge ee ee ee ee ee 4 14 4332 And AND ooi a ascites SERE ES Ek Re SEGE EER ieee ts 4 14 43 33 Or OR EER steer iti Ee ee DE ee Ee O 4 14 4 3 3 4 Exclusive Or XOR uo eee ee se see se ee Rd ee ee 4 14 vi Aerotech Inc Version 1 2 U600 Series Programming Manual Table of Contents 4 3 3 5 Shift Left SHL asic cise bese Se Ese Ee Ke Se eke Ee be 4 15 43 36 Shift Right SHR posiesie seisnes ns 4 15 4 3 4 Relational Operators eee ee see se ee Ge RA Re ee ee ee 4 15 4 3 4 1 Equal To EQ ccna ESE Se VERE ee Ee ine 4 15 4 3 4 2 Not Equal To NE woe cee se es se esse ee ee ee 4 15 4 3 4 3 Greater Than GT Ee see ES GE beg ee 4 16 4 3 4 4 Greater Than or Equal To GE sesse eee 4 16 4 3 4 5 Less Than LT iis ieee iat le GR Ee egg 4 16 4 3 4 6 Less Than or Equal To LE iese sees sees se esse ee 4 16 4 4 Commands which Affect Program FIOW eise sesse ee ee ee ee ee ee 4 17 44 1 Jump to a User Defined Entry Block JUMP ess
176. e mode that is being used refer Section 5 4 1 Mode Arguments for PSOD The following sections give a summary of all arguments used by the PSOD mode command 5 4 2 1 distance Argument The distance argument specifies the fixed incremental firing distance in machine steps at which the pulsed output occurs This distance must be less than 27 machine steps and is determined differently depending on how many axes are involved Refer to Table 5 3 5 4 2 2 array x Argument The array x argument specifies the starting array variable from the UNIDEX 31 U600 that contains the first distance datum This argument is used in conjunction with the m argument 5 4 2 3 m Argument The m argument is used to specify the number of times to increment or decrement based on the sign sequentially through the array from the starting array index arraylx to get additional firing distances This argument represents the total number of elements to use including arraylx and can range from 2 to 255 For example the command PSOD array 4 5 gets the first distance datum from array 4 Subsequent distance values are read sequentially from array 3 through array 10 Version 1 1 Aerotech Inc 5 7 Optional PSO Commands U600 Series Programming Manual Table 5 3 Distance Calculations for Multiple Axes Using the PPOD Command Number Distance Calculation Diagram of Axes 1 Distance Counter1 gt X C
177. e normalcy alignment move the maximum feedrate and rapid traverse axis speed limits are not applied only the Normalcy Speed limit is applied refer to Chapter 2 Normalcy Mode The rapid traverse axis speed limit also the speed at which GO moves are performed is applied on a per axis basis So if any axis in a multiple axis move exceeds its own rapid feedrate the speed of the entire move will be scaled down until that axis is traveling at its rapid feedrate The maximum F word feedrate limit is applied to all the linear non rotary axes in the move The linear vector speed i e speed along the vector of the linear axes will never exceed this value Rotary axes in the move do not enter into this limiting In the normal case the programmer cannot even compile a program specifying a F word larger than the maximum for example if the maximum is F100 and a CNC program line contains F110 then the program will trigger a compile error However there are a number of conditions where the compiler cannot detect that a move is directing a linear feedrate above the maximum F rate and the limiting is applied a When MFO gt 100 see Section 1 2 2 1 b When a non dominant axis is moved in a complex move see Chapter 2 Federate and Spindle Speed Codes c When variable feedrates are used see syntax description The programmed E word feedrate limit is applied to the rotary axes in the move The rotary vector speed i e speed along the vect
178. e of zero causes the system to process motion commands while a one causes the system to ignore them There are many reasons why you may desire to use this feature For example if an axis must remain stationary throughout a process an application program may temporarily block axis motion to prevent another concurrently executing application from initiating motion on that axis REVERSALMODE To provide greater positioning accuracy this parameter allows you to specify the number of machine steps required to compensate for any backlash present in the system Backlash occurs when the ball screw changes direction and moves a fixed distance before the stage begins to move in the new direction This parameter specifies the distance in machine steps The valid range for this parameter is 0 to 1 000 The default is for zero backlash compensation 0 machine steps Version 1 2 Aerotech Inc A 3 Axis Parameters U600 Series Programming Manual IMAX This parameter sets the peak commanded output current This is done by limiting the maximum output voltage of the current command signal which is in turn translated into a proportional motor current by the drive module The range of this parameter is 0 to 32 767 where 10 volts is represented by the value 32 767 Determine the maximum input command voltage that your amplifier requires to produce the maximum desired motor current drive module max input voltage 10 Parameter Value 32767
179. e there is no deceleration at the end of each move except for the last move in the sequence If the last move specifies a very short distance relative to the velocity then the controller does not have time to follow the specified deceleration It must apply a deceleration which brings it to the specified target from the speed achieved in the last move This can result in decelerations much faster than specified by the user and can generate instantaneous decelerations Version 1 2 Aerotech Inc 2 13 G Codes U600 Series Programming Manual 2 4 2 Force Deceleration G9 The G9 command forces the axes to decelerate to zero velocity at completion of the move Figures 2 5 and 2 6 give a comparison of the velocity profile with and without G9 The subsequent move will then accelerate from zero velocity to the commanded feedrate The following example illustrates the effect of this command upon a sequence of motion blocks SYNTAX G9 EXAMPLE Velocity profile without G9 G91 F60 Set the vector feedrate to 60 G1 X1 sMove the X axis 1 0 F120 Set the vector feedrate to 120 G1 X2 3a second time 2 0 F60 Set the vector feedrate to 60 G1 X1 sand another move of 1 0 G4 F1 Dwell for 1 second G1 X1 This move will have an acell because a G4 preceeded it i 120 Velocity 60 1 Sec 2 Sec 3 Sec 4 Sec 5 Sec Time Figure 2 5 Velocity Profile without G9 2 14 Aerotech Inc Version 1 2 U600 Series Program
180. ecify three parameters for each axis The first the SafeZoneCW parameter specifies the clockwise boundary of the safe zone Similarly the SafeZoneCCW parameter specifies the counter clockwise boundary The SafeZoneMode parameter specifies the type of safe zone being used never enter vs never leave 2 7 1 Enable Safe Zones G36 The G36 command enables a safe zone as well as specifies all applicable parameters Once enabled safe zone checking is performed prior to the execution of each motion command A safe zone fault occurs if you attempt to command motion which violates the safe zone restrictions For more information on UNIDEX 631 U600 CNC fault handling please refer to the UNIDEX 631 U600 User s Manual The parameters for this command include a list of axes for which safe zones are to be activated as well as the CW and CCW boundaries of those safe zones The mode of operation for these safe zones is specified using the P keyword If this keyword is specified as 1 the safe zone parameters describe a one dimensional area in which axis motion is not permitted to enter If P is specified as 2 the parameters describe a one dimensional area in which the axes are not permitted to exit All other values for the P keyword are invalid SYNTAX G36 AxisName SafeZoneCW SafeZoneCCW Px EXAMPLE G36 X10 20 Y5 10 P1 sEnable a safe zone in the area of X 10 20 sand Y 5 10 in which these axes are not permitted to enter G36 X
181. ections describe their meaning 5 4 1 1 Mode Argument 0 The mode argument 0 indicates the pulse output will occur at a fixed incremental distance distance 5 4 1 2 Mode Argument 1 The mode argument 1 indicates the pulse output will occur at incremental distances as defined in the user array x The user array x will either increment or decrement to retrieve a total of m values For example the command PSOD array 3 10 will define 10 firing distances The value of the first firing distance is expected to be in array 3 the second in array 4 and so on to array 12 a total of 10 firing distances Syntax for this MODE is PSOD 1 array x m 5 4 1 3 Mode Argument 2 Mode argument 2 indicates the pulse output will occur at absolute distances as defined in array x of the user CNC program and will either increment or decrement to retrieve a total of m values For example the command PSOD 2 array 6 5 will define 5 firing distances The value of the first firing distance is expected to be in array 6 the second in array 7 and so on to array 10 a total of 5 firing distances Syntax for this mode is PSOD 2 array x m The m argument assumes a positive direction if no sign is specified 5 6 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 4 2 PSOD Arguments The arguments used by the PSOD command vary based on th
182. ed DAC channel 0 to 3 DAC channels and their respective voltages may be listed in the same PSOT command e g PSOT 2 0 5 1 5 This argument is only used by command PSOT 2 5 9 2 6 v0 Argument The vO argument specifies the zero state analog output voltage for proportional output modes PSOT 4 v0 is the analog output voltage at zero velocity and PSOT 6 v0 is the analog output voltage at the initial position This argument can range from 10 0 volts to 10 0 volts and is used only by modes PSOT 4 and PSOT 6 5 20 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 9 2 7 ymax Argument The vmax argument specifies the maximum analog output voltage at target velocity velocity in mode PSOT 4 or at the target position position in mode PSOT 6 This argument can range from 10 0 volts to 10 0 volts and is used only by modes PSOT 4 and PSOT 6 5 9 2 8 velocity Argument The velocity argument defines the target velocity in machine steps per millisecond at which the analog output defined by dac will be at its maximum as defined by vmax Velocity can range from 2 to 27 1 machine steps per millisecond This argument is used only in mode PSOT 4 5 9 2 9 position Argument The position argument defines the target position in machine steps at which the analog output defined in dac will be at its maximum as defined by vmax Position
183. ee ee Se ee GR Ge Gee Gee ee 2 17 Figure 2 8 Threading Axes Designations eie see see se ee ee Ge Se Ge Ge RA Re ee ee 2 18 Figure 2 9 Thread Taper An ol Oss os iresi oes RegS N REED oge Eg de dee veut de Ses ee EES 2 19 Figure 2 10 Threading Start Angle eee Se ee ee Ge Ge Ge Ge RA Re ee ee ee 2 19 Figure 2 11 Tool Orientation iese see se ee Se Ge GR Re Ge Ge ee ee ee ee ee 2 22 Figure 2 12 Normalcy Left ses ES EERSTE RE Ge Re e Be SEE EES ERGE BR N EG Ge ERG EE DER ee be ei 2 24 Fipur e 2 13 Nofmalcy Rights ss esse ee ESE ge eo ESE ke ER Ge Ee Rees 2 25 Figure 2 14 Unrestricted Safe Zones iese ese ee ee ee Ge Se Se Ge Ge RA Re Gee ee ee 2 27 Figure 2 15 Cutter Radius Compensation Path ee se ee ee ee Se Ge 2 28 Figure 2 16 Cutter Compensation with Intervening Statements 00 ese see see ee 2 29 Figure 2 175 Lead Off MOVES sees ees Re ER ee ESE Rep ede EDE oe Pe i n hY 2 30 Figure 2 18 Path Compensation Right eee se ee ee ee ee ee Ge ee ee ee ee 2 31 Figure 2 19 Lead on MOVES esse ee ee se ee ee ee Ge Se Ge Re GR Re ee iS ee ee 2 32 Figure 2 20 Path Compensation Right sesse ese ee ee Ge Se Ge GR Re ee ee ee 2 33 Figure 2 21 Effect of Cutter Compensation on Tool Path iese se se se se ee 2 34 Figure 2 22 X Y Rotational and Optional Infeed Axis iese ee cece Se ee 2 37 Figure 2 23 Constant Acceleration vs 1 Cosine uses see cece se ee ee ee Ge Se Se Re ee 2 42 Figure 2 24 G83 Mir
184. efore the end of your program with a G40 command Emergency Stop The emergency stop input has been activated Feedback Input While executing an M code its corresponding fault feedback input was activated by the external device indicating a fault G2 Radius Error The current position and the end point of the arc have a radius variance of gt 01 Recalculate either the end point or the center point of the circle G3 Radius Error The current position and the end point of the arc have a radius variance of gt 01 Recalculate either the end point or the center point of the circle C 32 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Get Parm failure An error occurred while reading an axis parameter This may occur when UNIDEX 600 631 must read a system parameter required for the execution of a motion command Internal CNC Error Call Aerotech 412 963 7470 Please provide information regarding the conditions causing this error This includes your user program and any I O condition that may have generated this error Internal Feedrate Fault An internal error has occurred while calculating the vectorial feedrate for the axis in motor units Internal Profiling Error An internal error has occurred while setting the move velocities Invalid Accel Rate The acceleration or deceleration rate specified in the G65 G66 command was less than or equal to zero Invalid Accel Time The acceleration t
185. either absolute or relative path names If no path name is specified the file is placed into the current program directory U31 PROGRAMS by default 4 44 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands OPEN When the DATA OPEN is encountered within a parts program the CNC performs all initialization required for the data collection mode and opens the specified data file It then displays the Data Acquisition Dialog Box to show this mode is active As mentioned in the UNIDEX 631 U600 User s Manual this box shows the name of the file to which the data is being logged and the number of acquisitions which have occurred If a DATA OPEN command is encountered when the data collection mode is active any acquisition that is in progress is terminated and the data file closes Data collection parameters will then be re initialized and the new data file opened Subsequent acquisitions will be placed into the new data file It should be noted that this command does not actually initiate the acquisition of data It simply performs all initialization required for operation in the data collection mode Acquisition is initiated using the START keyword The OPEN keyword may have one of three optional keywords following it If none of these 3 keywords follow it the data output to the file will be in an ASCII text format The optional keyword producing a data file most similar to this is the BINARY_DATA keyword w
186. elow SYNTAX EXECUTE FileName EXE or EXECUTE FileName EXE VAR EXAMPLE EXECUTE Opens up OS 2 window EXECUTE vdiff exe a dat b dat ERR1 Runs the vdiff program return code from vdiff is put in ERR1 variable EXECUTE Cleanup exe VARI1 a Runs Cleanup exe with VARI and la as parameters For example if VARI was currenty 10 the call would be Cleanup exe 10 a EXECUTE Command com C typeit bat Runs the batch file typeit bat The executable file must exist somewhere within the OS 2 path not necessarily in the U31 directory ea Version 1 2 Aerotech Inc 4 27 Extended Commands U600 Series Programming Manual 4 5 Custom Display Window Commands The UNIDEX 631 U600 CNC provides the ability for the parts program to interface with the operator via a message window referred to as the Custom Display Window CDW The commands found in this section permit the operator to open and close the window as well as display information within the window and receive input from the operator 4 5 1 Open Custom Display Window OPENCDW This command causes the Custom Display Window to appear on the CNC Run Mode Screen The size and initial orientation of the window is pre defined however the operator is free to move it as desired Initially the list box found in this window is empty Messages may be displayed using the DISPLAY command discussed below The window will
187. ential program block execution immediately proceeds to the entry point specified by the parameter Program flow may also be changed pending the outcome of a relational operation see examples on the following page SYNTAX JUMP lt entry point gt or JUMP lt entry point gt lt Condition gt EXAMPLE DVAR VAR1 Define a variable called variable ONE JUMP VALUEO VARI LE 0 Jump to the entry point VALUEO if the value of VAR 1 is less than or equal to 0 JUMP VALUE4 VARI GT 3 Jump to the entry point VALUE4 if the value of VAR is greater than 3 JUMP VALUE1 VARI EQ 1 Jump to the entry point VALUE if VARI contains the value of 1 JUMP VALUE3 VARI NE 2 Jump to the entry point VALUEO if VARI contains the value of 0 lt program block gt VAR1 must be equal to two JUMP EXIT Jump to the exit point DENT VALUEO lt program block gt VARI1 must be less than or equal to zero JUMP EXIT Jump to the exit point DENT VALUE lt program block gt VAR is equal to one JUMP EXIT Jump to the exit point DENT VALUES lt program block gt VAR1 is equal to three JUMP EXIT Jump to the exit point DENT VALUE4 lt program block gt VARI is greater than three Continue to the exit point DENT EXIT The JUMP command should occupy its own block within a program GET The entry points specified as the destination for the JUMP must be defined using the DENT extended command 4 18 Aerotech Inc Version 1 2 U6
188. ents used by the PSOF mode command 5 5 2 1 num Argument The num argument specifies the number of times to activate the output firing pulse train as established by the PSOP command This argument is used only by the PSOF 2 command 5 10 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 5 2 2 axis Argument The axis arguments specify which axes up to 3 are to be locked on to the position counters These arguments are specified using the axis names X Y or Z These arguments are used exclusively by commands PSOF 3 PSOF 4 and PSOF 5 5 5 2 3 tdist Argument The dist argument specifies the fixed incremental distance in machine counts at which the pulsed output occurs If dist is positive no sign or then the bit pattern will be run in a forward direction If dist is negative then the bit pattern will be run in the reverse direction This distance argument is used only in commands PSOF 4 and PSOF 5 The value for this argument is determined differently depending on how many axes are involved Refer back to Table 5 3 EXAMPLE Motion controller pre processing PSOF 0 Output firing pulse train and tracking disabled default Motion controller pre processing PSOP 1 5 10 0 Define pulse output train PSOF 1 Activate the pulse train and continue until disabled PSOP 1 5 10 0 Define pulse output train PSOF 2 25 Activate the
189. ers to an automated motion cycle that is designed to place threads into an outer edge of a part In this context the term threads is used as it would be when referring to the threads of a bolt In order to utilize this feature the part must be mounted onto the spindle axis The cutting tool is under the control of two other axes specified as ThreadX and ThreadY on the CNC Initialization screen Refer to the UNIDEX 631 U600 User s Manual The ThreadX axis is perpendicular to the center line of the spindle and the ThreadY axis is parallel to the centerline of the spindle See Figure 2 8 below ThreadY Spindle ie ThreadX Figure 2 8 Threading Axes Designations When initiating a threading cycle you must specify several parameters These include the distance between threads lead and the length of the part to be threaded The thread lead is specified in user units in mm and must be greater than zero The thread length is also specified in user units in mm and may be specified in either absolute coordinates or incremental distances dependent upon the current operational mode G90 or G91 Linear or tapered threads may be cut on the part To accommodate tapered threads the G33 command provides an optional parameter Thread Taper that is used to specify the angle of the part s outside surface with respect to the centerline of the part This angle is specified in degrees with a valid range of 45 to 45 If this param
190. es position tracking when a specified input number i i 0 7 is in a specified state n n 0 means a low state n 1 means a high state Syntax for this mode is PSOC 1 i n where i specifies the input number and n specifies the required state of the input for tracking In this mode counter data is retained when the position counter is disabled 5 3 1 3 Mode Argument 2 Mode argument 2 enables position tracking when a specified input number i i 0 7 is in a specified state n n 0 means a low state n 1 means a high state Syntax for this mode is PSOC 2 i n where i specifies the input number and n specifies the required state of the input for tracking In this mode counter data is reset to O when the position counter is disabled 5 3 1 4 Mode Argument 3 Mode argument 3 enables position tracking when input bits are configured as specified in the in map argument 0 low 1 high and x input bit is not checked If the inputs are not configured as specified in the in_map argument that is the input condition is false then the outputs are set according to the out_map argument Syntax for this mode is PSOC 3 in_map out_map Version 1 1 Aerotech Inc 5 3 Optional PSO Commands U600 Series Programming Manual 5 3 2 PSOC Arguments The arguments used by the PSOC command vary based on the mode that is being used refer to Section 5 3 1 Mode Arguments for PSOC The following sect
191. es that all positions should be interpreted as incremental distances from the current position SYNTAX G91 EXAMPLE Assume that the starting position is 0 0 Figure 2 24 illustrates the result of this example G91 Set incremental programming mode F100 Establish feedrate for subsequent moves G1 X10 0 Y10 0 sMove the X and Y axes a distance of 10 0 G1 X15 0 Y25 0 Move X axis 15 0 and Y axis 25 0 from current position G1 X15 0 Y10 0 Move the X axis 15 0 and Y axis 10 0 from current position 45 40 35 30 25 x 20 15 10 5 0 0 10 20 30 40 X Figure 2 27 Incremental Mode Programming The default mode of operation is established using the G codes Menu in the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual 5 Version 1 2 Aerotech Inc 2 57 G Codes U600 Series Programming Manual MARAL 2 12 8 Software Home Set Position Registers G92 This command changes the value of the preset position registers These preset registers determine the current position when executing motion commands in the absolute dimension G90 programming mode As can be seen from the syntax description below axes positions may also be specified within this program block If specific axes positions are present the preset registers for those axes specified are set to the value associated within the program block In the event that an axis name is mentioned without a corresponding position the preset register of tha
192. ese parameters are I input and O output Although 0 4 groups may be configured as inputs all of these must be defined before defining the outputs That is input bytes must be configured in a contiguous block and located before any output blocks in the specification of a single XYCOM card SYNTAX XYCOM lt board_num gt lt VME address gt VO VO VO VO EXAMPLES XYCOM 1 0000F400 IIO O sXycom Board 1 at VME address OxF400 _ 2 Bytes are Inputs and 2 Bytes are Outputs XYCOM 2 0000EC00 II IO Xycom Board 2 at VME address OxECOO _ 3 Bytes are Inputs and 1 Bytes is Output Version 1 2 Aerotech Inc 3 13 M Codes U600 Series Programming Manual Se Although 0 4 groups may be configured as inputs all of these must be defined before defining the outputs That is input bytes must be configured in a contiguous block and located before any output blocks in the specification of a single XYCOM card 3 3 7 Associating Virtual I O with Xycom I O The modscan thread ensures that the state of each virtual I O bit is consistent with the state of the hardware In order to perform this function an association must be made between the virtual I O bits and the various Xycom digital I O bits This association is made in groups and is performed as described below The type of I O supported for Xycom cards is defined as Binary Inputs BI and Binary Outputs BO Therefore either of these two keywords may be used
193. et VARI to the value of 2 ENDIF IF VARI NE 2 THEN If VARI is not equal to 2 IF GLOBALOO LT 20 THEN sand GLOBALOO is less than 20 G62 20 set the profile time to 20 ENDIF Don t do Anything if GLOBALOO is greater than or equal to 20 ELSE If VARI is not equal to 2 G62 10 set the profile time to 10 ENDIF As demonstrated by the example IF statements may be nested within one another GET The maximum nesting depth is 20 levels 4 20 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 4 3 Repeat Loop RPT ENDRPT It is desirable in some applications to have a group of program blocks executed a fixed number of times unconditionally A repeat loop is a simple way of performing such a task The RPT command designates that the group of program blocks is to be executed multiple times The number of times to execute this block is specified as a parameter to this command SYNTAX RPT lt Count gt lt program block gt lt program block gt ENDRPT EXAMPLE DVAR VAR1 Define a variable named VARI RPT 10 The following program block will be srepeated 10 times G1 G9 X0 1 F100 ENDRPT End of the repeat loop VARI 5 sRepeat counts may also be specified in variables RPT VARI Enclosed blocks will be executed 5 times RPT 2 This inner loop will be executed twice each time the outer loop is executed G1 G9 X 0 05 F100 ENDRPT End of the inner repeat loop ENDRPT _ End of the outer
194. eter has no effect on the operation of MAINMENU GET This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter AVGVELTIME The axis processor card of UNIDEX 631 U600 maintains a read only parameter called AVGVEL that reports the average velocity for a given axis This average has no effect on the operation of the controller but is maintained for the benefit of the application program This parameter AVGVELTIME specifies the time period to average the velocity over The units for this parameter are in milliseconds and must range from 10 to 1 000 milliseconds in 10msec increments KI This parameter sets the integral gain of the velocity loop for the selected axis Refer to the UNIDEX 631 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range of this parameter is 0 to 10 000 The default value is 2 000 KP This parameter sets the proportional gain of the velocity loop for the selected axis Refer to the UNIDEX 631 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range of this parameter is 0 to 100 000 The default value is 10 000 PGAIN This parameter determines the position gain of the position loop for the selected axis Refer to the UNIDEX 631 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range
195. eter is not specified the Thread Taper angle is assumed to be zero Refer to Figure 2 9 2 18 Aerotech Inc Version 1 2 U600 Series Programming Manual Figure 2 9 Thread Taper Angle You also have the capability of specifying the rotation angle at which the threads are to begin This angle is also specified in degrees and has a valid range of 0 to 359 If omitted the starting angle is assumed to be zero A taper must be specified in order to specify the rotation angle Refer to Figure 2 10 below 0 Deg 270 Deg 90 Deg 180 Deg Figure 2 10 Threading Start Angle The last parameter of the G33 command is also optional If used it specifies the distance which the ThreadX axis should retract upon detecting a feedhold condition This distance is specified in user units in mm and is always considered to be incremental The sign of this value is used to denote directional information If this parameter is omitted a retract distance of zero is assumed A taper and starting angle must be specified if the retract distance is specified The retract position is activated when a thread cutting cycle is being executed and feedhold is activated The axes will make a linear interpolated perpendicular move to the retract position When the safe retract position is reached axis motion stops and the system is in a feedhold The operator may then resume thread cutting by pressing the Cycle Start control refer to the CNC Run screen in
196. ferred to as parameter monitoring The G57 command cancels all parameter monitoring being performed by the system Therefore it cancels the effect of any G56 commands which were previously active This command accepts no parameters SYNTAX G57 EXAMPLE G57 Terminate all parameter monitoring presently active in the system Version 1 2 Aerotech Inc 2 41 G Codes U600 Series Programming Manual 2 11 Acceleration Deceleration Overview G60 G61 The trajectory generator provides several types of axis acceleration and deceleration You may choose the type which is most suited to the mechanics of the system As can be seen from the CNC Initialization screen the UNIDEX 631 U600 CNC has several parameters which control the acceleration and deceleration of all motion The Accel Decel Control Group Box contains parameters for Accel Time Decel Time Accel Rate and Decel Rate The G codes Menu provides options of Time vs Rate Based and as well as Linear vs Sinusoidal profiles The time vs rate based parameter determines the main operational mode of the trajectory generator While operating in a rate based mode G68 the Accel Rate and Decel Rate parameters are used to control the acceleration and deceleration of the axes These parameters are specified in user units in mm or deg per second per second and therefore result in the generation of a linear acceleration see Figure 2 23 When operating in a time based mode G67 the Ac
197. fic examples of each relational operator 4 3 4 1 Equal To EQ If the value of the first number is equal to the value of the second number the result is TRUE If the numbers are not equal the result is FALSE 4 3 4 2 Not Equal To NE If the value of the first number is not equal to the value of the second number the result is TRUE If the numbers are equal the result is FALSE Version 1 2 Aerotech Inc 4 15 Extended Commands U600 Series Programming Manual 4 3 4 3 Greater Than GT If the value of the first number is greater than the value of the second number the result is TRUE If the value of the first number is less than or equal to the value of the second number the result is FALSE 4 3 4 4 Greater Than or Equal To GE If the value of the first number is greater than or equal to the value of the second number the result is TRUE If the value of the first number is less than the value of the second number the result is FALSE 4 3 4 5 Less Than LT If the value of the first number is less than the value of the second number the result is TRUE If the value of the first number is not less than the value of the second number the result is FALSE 4 3 4 6 Less Than or Equal To LE If the value of the first number is less than or equal to the value of the second number the result is TRUE If the value of the first number greater than the value of the second number the result is FALSE 4 16 Aerotech Inc
198. fset is 1 volt and the deadband is 5 volts no motion will be generated when the autofocus device produces a voltage between 5 volts and 1 5 volts A voltage of 1 6 volts would generate a velocity command of 1 10 speed On the U631 a channel may be specified in the range of 0 to 7 which represents one of the 8 channels on the optional Matrix analog input card On U600 a channel may be specified in the range of 0 to 3 which represents one of the 4 channels on the U600 board However channels 2 and 3 are normally used for the analog joystick inputs and channel 0 is used when the analog MFO input is activated leaving channel 1 never preassigned to another function SYNTAX AFCO channel axis speed deadband offset Where channel is the analog input channel axis is the axis commanded by the autofocus device speed is the maximum velocity in user units deadband is the voltage range where no correction is generated offset is the voltage from the focus device at the desired position null point 4 8 2 Axis Naming HARDNAMES SOFTNAMES As mentioned the UNIDEX 631 U600 CNC permits axis designations to be specified in two ways By default each axis may be referred to using the name specified in the Axis Name entry field in the Machine Parameter Menu refer to the UNIDEX 631 U600 User s Manual When referring to an axis using this name the user is said to be applying the soft name for the axis The term implies that the name
199. fy a specific boring bar Tool Holder Number This field contains a unique number used to identify a specific tool holder System Entry Date This field contains the date at which the tool was made available to the machining position The format for this field is as follows 1 20 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators dd mm yyyy where dd is the day mm is the month and yy is the year 13 System Entry Time This field contains the time at which the tool was made available to the machining position This time is assumed to be on the System Entry Date The format for this field is as follows HH MM SS where HH is the hours MM is the minutes SS is the seconds 1 5 1 1 Inspection Station Probe Set Data The inspection station probe data contains the probe tip radius and the U and W axis offset values of the probe on the inspection station These values may be set within the Station Probe Set Data option of the CNC Initialization Set up menu Please refer to the UNIDEX 631 U600 User s Manual for more information on the operation of this dialog box Version 1 2 Aerotech Inc 1 21 Symbols amp Axis Designators U600 Series Programming Manual GE 1 6 Multiple CNCs The U631 U600 has four independent CNCs where the user can run programs execute manual mode commands or jog axes The axis processor timeshares or splits its computation time equally between the
200. g FeedrateMode ER EE AR OR ER 2 59 2 13 2 Feed Per Minute Feedrate Programming FeedrateMode GY94 ee se ee RR Se RR GR ee ee 2 60 2 13 3 Feed Per Spindle Revolution Feedrate Programming AE EA EE AE RE OR EE 2 61 2 13 4 Constant Surface Speed Spindle Programming G9 o E EE eeiieisa distin ST 2 63 2 13 5 Direct RPM Spindle Programming G97 2 64 2 14 Dominant Feedrate Overview G98 G99 ee ee RR ER ee 2 65 2 14 1 Rotary Feedrate Dominant G98 ee ee 2 67 2 14 2 Linear Feedrate Dominant ie EE 2 68 2 15 Er ular Direction Codes ER EE eg EE ER eg a ee ws 2 69 2 15 1 Normal Circular Interpolation G1 10 eee 2 69 2 15 2 Inverse Circular Interpolation G11 1 eee 2 70 2 15 3 4 Kilo Hertz Servo Update Rate G130 eee 2 71 2 15 4 1 Kilo Hertz Servo Update Rate G13 1 2 71 CHAPTER 3 M CODES Sessie esse sees sed ee sees ee Ge sense J L 3 1 Descriptions EE EE EE N 3 1 3 1 1 Program Stop MO sesse ooreen See Gee See Be ee ee 3 3 3 1 2 Optional Stop MOM es ee GR ee ee ee ee 3 3 3 1 3 End Of Program MO2 sesse ese se see se ee ee Gee ee se ee ee 3 3 3 1 4 Spindle On Clockwise MO3 ee se ee ee ee ee ee 3 3 3 1 5 Spindle On Counterclockwise MO4 ee ee ee ee 3 3 3 1 6 Spindle Off MOS eee ee se Se GR RA Re ee ee ee ee 3 3 3 1 7 Spindle Off Reorient MI19 ee se se see ee se ee ee ee ee ee 3 3 3 1 8 Restart Program Execution and Wait for Cycle Start MIB EN AE EE EE N OE EE 3 4 3
201. gly recommended that if this is to be used that it is tested under benign conditions first in order to insure the proper setting for this constant If neither of these solutions are applied here then the velocity command will have an instantaneous jump in it However it is clear that the actual velocity will never be instantaneous and will be spread out by some amount based on the actual mechanics being used If neither a G9 or the VELTIMECONST is used by the programmer then the mechanics will impose a form of solution 2 or the axis will throw a current or position fault There can also be instantaneous decelerations for similar reasons Examine the following example G90 GO X0 ZO Goto 0 0 use absolute coordinates from now on G1 X100 F100 X at 100 units sec G1 Z100 F100 Z at 100 units sec In this example the X axis will decelerate to 0 instantaneously at the end of the first block while simultaneously the Z axis accelerates instantaneously However note the following exception if the Z axis is rotary instead of linear and we are linear dominant then the Z axis will accelerate smoothly at the beginning of the second move Because rotary axis speeds are handled separately Since the first block has no rotary component and the second block no linear component the the rotary axis is not constrained and can accelerate normally Finally another case in which instant deceleration can occur is after a sequence of blended moves wher
202. h PCDIO Board 1 Starting Output Bit 48 Starting Virtual Output Bit 0 77 Bytes of Output 56 Bits 3 12 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes Mcode ini Syntax for PCDIO Binary Input M Code Initialization MXXXX BI PCDIO lt Brd gt lt Bit gt Binary Output M Code Initialization MXXXX BO PCDIO lt Brd lt Bit gt lt Level gt 3 3 5 XYCOM Digital I O Cards XYCOM To specify the existence of a Xycom digital I O card in the system you must place the keyword XYCOM at the beginning of a line in the MODSCAN_INI file You must also specify several parameters relevant to the configuration of the XYCOM digital I O card 3 3 6 Define XYCOM I O Board A board number parameter is used when first defining a particular XYCOM card You may then refer to XYCOM board x and the system can determine any information necessary The VME address parameter specifies the base address of the XYCOM digital I O card on the VME backplane This address is configured via jumpers on the board consult the XYCOM Digital I O Card User s Manual for the locations and settings of these jumpers Valid base addresses for XYCOM I O cards are F400 ECOO E800 and E400 The XYCOM digital I O card has 32 bits of I O associated with it The UNIDEX 631 U600 CNC treats these bits as 4 groups of 8 bits each Four parameters are used to configure the functionality of each of these four groups Valid values for each of th
203. h types will obey the acceleration time However if it is rate based G68 then the non dominate axis will not follow any specified acceleration Keep in mind that regardless of the G99 G98 mode if a CNC block moves only linear or rotary axes then the F and the E words respectively will be obeyed G98 G99 applies only to complex CNC blocks ones that move rotary and linear axes at once See the example below in all examples here X Y Z are linear axis while B are rotary axis Suppose for all three examples we begin at X 0 B 0 in G90 mode G99 G90 X1 B1 Here we use the F feedrate because we are in G99 mode G99 G90 B1 Here we use the E feedrate even though we are in G99 mode G99 G90 XOB1 Here we use the E feedrate even though we are in G99 mode The second and third examples are eguivalent even though a X is specified in the third example because the X target is the same as our current location no X motion will be made Unfortunately there is an additional problem when using complex moves due to the fact that the feedrate of the non dominant axes is totally dictated by the dominant axis The speed of the non dominant axis may be exceeded Examine the following code fragment where X is a linear axis B a rotary axis G90 GO X0 BO Goto 0 0 use absolute coordinates from now on G99 Set Linear dominance G1 X0 00016666 B180 E1 F1 0 00016666 one over 6000 Here the user specified linear dominance in the G1 comm
204. h units inches or metric units millimeters The G70 command indicates English units While the G70 mode is active all distances are specified in inches all speeds are in inches per second and all acceleration rates are specified in inches per second per second SYNTAX G70 EXAMPLE G70 Set English programming mode inches G1 X10 Move the X axis 10 inches in the positive direction G1 Y 5 Move the Y axis 5 inches in the negative direction F100 _3A feedrate of 100 inches per minute is established The default mode of operation is established using the G codes Menu found within GET the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual The number of machine counts per inch is specified using the inches per motor revolution parameter 2 50 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 12 2 Metric Dimension Programming Mode Units G71 The UNIDEX 631 U600 CNC provides you the option of specifying all distances and feedrates in either English units inches or metric units millimeters The G71 command indicates that units are metric While the G71 mode is active all distances are specified in millimeters all speeds are in millimeters per second and all acceleration rates are specified in millimeters per second per second SYNTAX G71 EXAMPLE G71 Set metric programming mode millimeters G1 X4 Move the X axis 4 mm in the positive direction G1 Y 2 Move the Y
205. hat particular fault type Conversely clearing a bit causes the system to ignore the fault The user may also edit this parameter using the Bit Mask Control Window 5 DISABLEMASK This parameter determines which faults should cause an axis to be disabled The disable mask is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDUI53 Setting a bit to a one disables the axis on that type of fault assuming the corresponding bit in the FAULTMASK parameter is set The user may also edit this parameter using the Bit Mask Control Window 5 Version 1 2 Aerotech Inc A 9 Axis Parameters U600 Series Programming Manual INTMASK This parameter allows you to determine which faults will cause a system interrupt Upon detection of an interrupt MAINMENU automatically activates the axis fault and status screen Refer to the UNIDEX 631 U600 User s Manual EDU153 This allows you to determine the type of fault that occurred This parameter is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 Setting a bit to a one causes the system to generate an interrupt when that fault occurs assuming the corresponding bit in the FAULTMASK parameter is set The user may also edit this parameter using the Bit Mask Control Window AUXMASK Through this parameter you may designate which faults should turn off the auxiliary output asso
206. he X and Y axes were designated for use with cutter compensation G18 G44 Z X G43 R0 5 G90 G0 Z0 X0 MO G91 F100 G1 X 5 Z 5 G42 G1 X1 Z1 G40 GI X 5 Z 5 G41 G1 XI Z1 G1 X 5 Z 5 G40 G1 X2 72 Figure 2 21 IMPORTANT G44 must match the G17 G18 setting set tool radius move to 0 0 0 Incremental mode positioning move 1 Move with ICRC disabled move 2 Enable ICRC left and do lead on move move 3 Move while in ICRC left mode Disable ICRC without a lead off move move 4 Do lead off manually move 5 Enable ICRC right and lead on while doing a move move 6 Move while in ICRC right mode move 7 Disable ICRC and lead off while doing a move Path without cutter compensation Actual path of program Effect of Cutter Compensation on Tool Path 2 34 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 8 4 Set Cutter Compensation Radius G43 By default the diameter of the cutting tool is assumed to be the value specified in the CNC Initialization screen using the Tool Diameter entry field refer to the UNIDEX 631 U600 User s Manual The G43 command overrides that default This command requires one parameter the tool radius The unit of measure associated with this radius is either inches or millimeters dependent upon the current status of the units G code group G70 G71 This command may only be used when cutter compensation is not active
207. he actual workpiece dimensions based on the radius of the tool This option significantly decreases the programming effort required for this type of application It also allows the user to run the same program with tools of different diameters by simply changing the tool diameter information The user must provide a tool radius with the G43 command The user must also provide the cutter compensation axes representing the plane where the compensation will be performed in the G44 command The first axis in the G44 is called the horizontal axis the second axis is called the vertical axis Two circumstances of interest in cutter compensation are shown in Figure 2 15 EE DEE Diagram A Diagram B Figure 2 15 Cutter Radius Compensation Path Diagram A in Figure 2 15 illustrates the controller will generate an additional 90 degree circular arc move to move around the outside comer The speed of this move will be the same as the last move across the top edge and there will be no deceleration between the user provided horizontal move and the auto generated circular arc If the user supplied the horizontal move with a G9 then the deceleration will occur during the circular arc The speed along the circular arc will always be equal to the speed along the previous move However if the speed along the circular arc must be limited due to normalcy then the previous move will be limited in the same way Also the circular move is not limite
208. he move For example if a G70 G90 X1 Y1 is executed then the specified rate will be correct over the distance of 1 414 inches not 1 inch The user units of acceleration can be in mm inches or degrees depending on the situation If all the axes in the move are linear then the units will be inches or milimeters based on the settings of G70 G71 If all the axes in the move are rotary the user units are in degrees If the move contains both rotary and linear axes then the user units will be those of the dominant axis Refer to G98 for details on what dominance is to see how these types of moves are accomplished SYNTAX G65 Fxxxx where xxxx is either inches sec sec or millimeters sec sec EXAMPLE G70 G65 F0 5 Sets the new acceleration rate to 0 5 inches second second G71 G65 F1 27 3Sets the new acceleration rate to 1 27 mm second second The parameter may be set regardless of the current setting of the Ramp Type G code group However the effect of this parameter will be apparent only when operating in the rate based G68 acceleration mode G Codes Version 1 2 Aerotech Inc 2 47 G Codes U600 Series Programming Manual S 2 11 7 Set Deceleration Rate G66 When accelerating and decelerating using the rate based parameters G68 the UNIDEX 631 U600 CNC uses the Decel Rate parameter specified within the Accel Decel Control Group Box found on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual fo
209. he program block The default is AFTER lt RESET NOWAITRESET gt When a feedback device is specified along with the reset command the binary output remains active until the feedback is active Then the binary output will go inactive The next line in the program will not execute until the feedback becomes inactive If NOWAITRESET is specified the next line of the program executes without waiting for the feedback to go active lt TIMEOUT time gt When feedback is specified with timeout the CNC will wait time time specified by the user in milliseconds for the feedback to become active after setting the binary output active If the feedback fails to become active during the time specified then a CNC fault will be generated EXAMPLE M1065 BO XYCOM 1 24 M1065 1 sets XYCOM bd 1 bit 24 M1065 0 would clear it M1066 BO PLC 1 40020 B 3 L1 M1066 sets PLC 1 register 40020 bit 3 to logic 1 M1067 BO PLC 2 GLOBAL 4 B 4 LO M1067 sets PLC 2 GLOBALA bit 4 to logic 0 M1068 BO VIRTUAL 5 LI M1068 sets VIRTUAL bit5 to logic 1 M1069 BO XYCOM 1 25 LI M1069 sets XYCOM bd 1 bit 25 to logic 1 M1070 BO XYCOM 125 LO M1070 sets XYCOM bd 1 bit 25 to logic 0 M1071 sets XYCOM bd 1 bit 25 to logic 0 until M1071 BO XYCOM 1 25 LO FB PLC 1 40010 B 1 LO PLC 1 register 40010 bit 1 is low M1072 sets PCDIO Brd 1 bit 17 to logic 1 M1072 BO PCDIO 1 17 LI M1073 sets PCDIO Brd 1 bit 17 to logic 0 M1073 BO PCDIO 1 17 LO M1072 sets virtua
210. her numeric or a variable Invalid R Code Its parameter was neither numeric or a variable Invalid S Code The parameter was neither numeric or a variable Invalid G84 ROTATE axis mask The axis specified for the command are not permitted Be sure they are assigned to this CNC Invalid G84 ROTATE syntax The syntax is G84 axis1 axis2 angle C 14 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Invalid G96 Code d Check ThreadY Axis Resoluton in Machine Parameters Line ld CNC d Program d ThreadY axis conversion factor equals zero Invalid G96 Code Check ThreadY Axis Selection in Machine Parameters Line ld CNC d Program d No ThreadY axis has been defined Invalid G96 Code No Spindle Selected in CNC Parameters Line ld CNC d Program d No spindle axis selected in CNC parameters Invalid GETPARM axis mask The axis whose parameter was specified to be read is not valid Be sure that it is assigned to this CNC Invalid GETPARM Variable Assignment The variable specified to hold the value of the specified axis parameter is not valid Invalid Global or Local Specification The local or global variable specified is outside the range of variables defined within the variable allocation group box of the parameter setup mode Invalid Hardcoded Axis Code The hardcoded axis specified is not valid Check parameter setup mode and be sure the axis is assigned to thi
211. hich produces the same data within the file except the data is in a binary format as produced by older versions of mainmenu exe The second of the optional keyword is NO_AXIS_DATA which produces a data file in an ASCII text format without any axis data The last of the optional keywords is AXIS_DATA_ONLY which produces an ASCII text file with only axis data For example DATA OPEN X Y 1 data dat Sets data collection for the X Y axis All system data Analog inputs VO etc and axis data position velocity acceleration etc will be collected at 1msec and written in an ASCII text format to DATA DAT DATA OPEN NO_AXIS_DATA 1 data dat All system data will be collected at 1 msec and written in an ASCII text format to DATA DAT DATA OPEN AXIS_DATA_ONLY X Y 1 data dat All X Y axis data will be collected at 1 msec and written in an ASCII text format to DATA DAT DATA OPEN BINARY DATA X Y 1 data dat All X Y axis data will be collected at 1 msec and written in a binary format to DATA DAT This format is compatable with versions of mainmenu exe prior to version 4 05 Version 1 2 Aerotech Inc 4 45 Extended Commands U600 Series Programming Manual START This keyword initiates the acquisition of data once the system has been placed into the data collection mode using the DATA OPEN command Data will then be acquired at the rate specified when this mode was initialized All acquisitions will be logged to th
212. hread will terminate and no user defined M functions will be supported by the UNIDEX 631 However the UNIDEX 600 does not require a definition of its on board I O 16 inputs outputs within the MODSCAN INI file They are preassigned to virtual inputs outputs 0 through 15 Each line of this file contains information relevant to a particular device in the system Comments may be placed in the file by preceding them with a semi colon The remainder of the line is assumed to be a comment Blank lines are ignored The system uses the file MCODEx INI see note on page 3 2 to define the action of a user defined M code virtual I O and assigns it to a particular user I O bit Assigning a Version 1 2 Aerotech Inc 3 5 M Codes U600 Series Programming Manual virtual I O bit requires two steps an entry in the MODSCAN_INI file and an entry in the MCODEx INI file The UNIDEX 631 U600 CNC permits user defined I O on devices of three different types PCDIO Xycom 32 bit digital I O cards and Modicon Programmable Logic Controllers These keywords PCDIO XYCOM and PLC refer to devices of the types found on the following pages Binary I O refers to I O bit operations No I O should be mapped into the virtual outputs at 448 to 512 this is preassigned to CNCSTAT1 CNCSTAT4 Refer to Chapter 1 Axes Designators In the U600 systems excluding the U631 the 16 onboard inputs and outputs are mapped into virtual inputs 0 15 and virtual output
213. ial array element contains the number of on tenths of milliseconds etc for a total of m values 5 7 2 7 m Argument The m argument specifies the number of changes i e on to off or off to on that make up the desired output train If m is positive no sign or then the PSO gets sequential pulse gap width data from increasing sequential array elements starting with array x If m is negative then the PSO gets uy pulse gap width data from decreasing sequential direct variables starting with array x The m argument assumes a positive distance if no sign is specified EXAMPLE Motion controller pre processing PSOP 0 100 Define a single pulse output For PSOP 0 100 pulse width 10 0 ms PSOD 0 5000 Define pulsed output firing occurs every 5 000 machine steps Motion controller post processing etc PSOP 1 50 10 10 Define pulse output train PSOF 2 25 Activate the pulse train and continue 25 times Motion commands post processing etc PSOP 1 5 10 0 Define pulse output train PSOF 3 X Y Activate the output firing pulse train and lock onto axes X and Y Motion commands post processing etc 5 16 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 8 Position Synchronized Output with Real time Control PSOR The PSOR command provides various configurations of the PSO s position counter PSOR 0
214. ied an ENDWHILE statement without a required WHILE statement Entry point stack overflow You have exceeded the limits of UNIDEX 600 631 s user stack Error Allocating string pointers CNC d Program d Memory could not be allocated for the CNC s string pointers Close unnecessary windows or add more memory to your system Version 1 2 Aerotech Inc C 5 ERROR CODES U600 Series Programming Manual Error Allocating string space CNC d Program d Memory could not be allocated for the user file to be opened Close unnecessary windows or add more memory to your system Error receiving Ethernet Packet s An error has occurred while receiving an Ethernet packet from the host Exceeded If nesting level If statements may only be nested 20 levels deep Exceeded maximum RPT nesting level Repeat loops may only be nested 20 levels deep Exceeded Maximum Variables Local and global variables are limited to 1000 each Exceeded WHILE nesting level While loops may only be nested 20 levels deep Execute Immediate CNC d Command Timeout The command failed to execute after 100 attempts Failed to open source file The specified source file could not be found or it was not located in the default location and no alternate file path was specified Failure reading FILEREAD data on CNC d An error occurred while reading data from the file Verify the datafile and expected data agree Failure to parse READFILE data Unable to proper
215. iirsa s areires 1 7 1 2 6 Constant Surface Speed Feedrate SE iese sesse sees see 1 8 1 2 7 Circle CenterPoints IJ K esse esse esse ee ee GR ee ee GR Re ee 1 8 1 3 Paraimeter Types is DnE ie ede SS RS Bee Dee 1 8 1 3 1 Floating Point Constants 000 0 cesecsse cess ee ee ee ee 1 8 182 Character Strings ses eeste ged ees See Eed ed eg Re ge eg ee 1 9 13 37 on RE EE EO EE KOR DT 1 9 1 3 4 Hexadecimal Integers ss esse se se se Ge Ge ee GR Ge ee ee 1 9 1 4 DEE ER EE ea REEN EE EE EEN 1 9 WAL Local Variable ai EE Pi EE Ge Ee ee Ge DEE ee Ee EE Ee ee gee 1 10 1 4 2 Global Variables iese ee se Re ee ee Re ee ee Ge 1 10 1 4 3 Using the Global Alias File oo eee ee ee Se ee 1 11 1 4 4 Static Variables STATICXX ooo cee see ee ee ee ee ee 1 12 1 45 System Varia ples re kes sd ee Ee Seg gede gegee Seg ges 1 13 1 4 5 1 CNC Number CNCNUM WW eee see see 1 13 1 4 5 2 CNC Time CNCTIME eee se ee see se ee 1 13 1 4 5 3 CNC Position Command POSITNxx 0 1 13 1 4 5 4 CNC Preset Command PRESETnn 000 00 1 13 1 4 5 5 CNC Status Words CNCSTATX 0 ee 1 14 1 4 5 6 CNC Operational Mode 00 0 se ss eee ee ee 1 17 1 4 6 CNC Analog Feedback Commands eee se see se 1 18 1 5 TOOL Word TR RK AE EE EE OR OE EN 1 19 1 5 1 UNIDEX 631 U600 CNC Tool Handling 1 19 1 5 1 1 Inspection Station Probe Set Data 1 21 1 6 Multiple CNCS REEKSE He castes etsava ss He sib EES Fee st a SEKS ROER be Ge ESE Be
216. ile condition is true Controls the virtual IO bit if axis position is within a specified range Produces exclusive or of two provided operands Commands must be enclosed within parenthesis Exceptions to this rule will be noted where applicable 4 4 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 42 Defining Commands Some of the extended commands supported by the UNIDEX 631 U600 CNC provide you the ability to define variables labels and subroutines Others permit operations to be performed The commands described in this section are used to define these All named variables and routines supported by the CNC have the same format They must be at least two but not more than twenty characters and may contain any alpha numeric characters However the first three characters must be alphabetic Upper case characters A Z and lower case characters a z are considered distinct i e names are case sensitive All variables and routines must have a unique name That is a variable may not have the same name as a subroutine axis softname etc 5 All programming examples found in this section illustrate these definitions Please refer to the examples in the next section for references on the usage within program blocks 4 2 1 Define Symbolic Constant DEFINE This command gives a symbolic name to a numeric constant This name can be referenced anywhere within the parts program This serves t
217. ill be ignored when executing the program These operators are commonly used to document a parts program This is useful when later modifying the program Any textual INI file can use comments as well specifically AUTORUN INI GLBALIAS INI OCC1 INI MODSCAN_INI and MCODEx INI 1 1 2 Block Delete Character The UNIDEX 631 U600 CNC provides a feature referred to as block delete which permits certain program blocks to be omitted during program execution This feature is activated deactivated using the lt BLOCK DELETE gt control located on the CNC run screen refer to the UNIDEX 631 U600 User s Manual When used as the first character of a program block the symbol is used to designate that this line is subject to be conditionally executed dependent upon the current state of the block delete function When block delete is active designated program blocks are treated as comments and therefore omitted from execution When this feature is inactive these program blocks are executed normally By default all program blocks are executed 1 1 3 Start Extended Command Block When used as the first character of a program block the character designates the start of an extended non RS 274 command block Since several of these commands may span multiple command blocks the end of extended command block operator is needed to terminate the block The end of an extended command block operator is the right parenthesis character
218. ime specified in the G60 command was less than or equal to zero Invalid Data Type The move speed or other data specified was neither a variable nor a literal Invalid Decel Time The deceleration time specified in the G61 command was less than or equal to zero Invalid E Feedrate The E feedrate specified was less than or equal to zero Invalid F Feedrate The F feedrate specified was less than or equal to zero Version 1 2 Aerotech Inc C 33 ERROR CODES U600 Series Programming Manual Invalid Index Type The index that you have specified is not valid Invalid Math Operation The operation that you have specified is neither logical trigonometric or mathematical Invalid Motion Mask The specified axis are not assigned to this CNC or are executing asynchronous motion at this time Verify the axis assignment within the parameter setup screen Invalid Pointer Type You have specified an invalid variable Invalid Profile Time The profile time that you have specified in the G62 command must be greater than 001 seconds and less than or equal to 1 seconds Invalid PSO Type The PSOx command that you have specified is not valid PSOC PSOD PSOF PSOM PSOP PSOR and PSOT commands are valid Invalid PSOC Type The only valid PSOC commands are PSOC 0 thru PSOC 4 Invalid PSOD Type The only valid PSOD commands are PSOD O thru PSOD 2 Invalid PSOF Type The only valid PSOF commands are PSOF 0 thru PSOF 5 Invalid PSOM Type
219. ine steps and can range between 0 and 10 000 000 The default value is 65 535 counts A 4 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters INPOSLIMIT This parameter allows you to define the in position band If the axis has completed its move and the observed position error is within the range determined by the plus or minus in position limit set by this parameter the axis in position status bit becomes active To set this parameter you must enter the value in machine steps This value can range between 0 and 65 636 The default value is 65 counts VELTRAP This parameter specifies the maximum instantaneous speed at which an axis may move A velocity trap occurs if the observed velocity exceeds the amount specified by this parameter The units for this parameter are machine steps per second and can range from 0 to 65 536 000 The user may enter a zero to disable the velocity trap detection FBWINDOW While processing motion commands the axis processor integrates both the velocity command and the velocity feedback This parameter permits you to specify the maximum amount by which these two velocities may differ A FEEDBACK fault occurs if the difference exceeds the amount specified in this parameter The units for this parameter are in machine steps and can range from 0 to 1 000 000 A value of zero disables the FEEDBACK fault monitoring SAFEZONECW This parameter allows you to specify the clock
220. ing in time based G67 acceleration mode 2 11 5 Linear Acceleration Mode G64 When accelerating and decelerating using the time based parameters G67 the UNIDEX 631 U600 CNC offers the flexibility of choosing between two distinct types of acceleration linear or sinusoidal The G64 command specifies that the acceleration type to be used is linear Linear acceleration is typically used on systems which require constant rates of acceleration within each move Please refer to the Acceleration Deceleration Overview SYNTAX G64 The parameter may be set regardless of the current setting of the Ramp Type G67 G68 G code group However the effect of this parameter will be apparent only when operating in the time based G67 acceleration mode 2 46 Aerotech Inc Version 1 2 U600 Series Programming Manual 2 11 6 Set Acceleration Rate G65 When accelerating and decelerating using the rate based parameters G68 the UNIDEX 631 U600 CNC uses the Accel Rate parameter specified within the Accel Decel Control Group Box found on the CNC Initialization screen refer to the UNIDEX 631 U600 User s Manual for more information The G65 command overrides the default acceleration time parameter Subsequent motion commands will accelerate to the commanded velocity using the rate specified This rate is specified in user units second second If rate based acceleration is chosen then that rate is applied over the vector distance of t
221. ing of the Accel Mode G63 G64 G code group determines the type of acceleration to be performed linear or sinusoidal Please refer to the Acceleration Deceleration Overview Section 2 11 SYNTAX G67 This is the default operational mode of acceleration and deceleration 2 11 9 Acceleration Deceleration Rate Based Ramp Type G68 The UNIDEX 631 U600 offers two modes of operation with respect to acceleration and deceleration time and rate based The G68 command specifies that acceleration and deceleration are to be performed based upon rate based parameters While operating in this mode the Accel Rate and Decel Rate parameters are used to specify the amount which the velocity is to change each second Therefore the amount of time used to reach the commanded velocity varies between moves These parameters may be changed using the G65 and G66 commands respectively The type of trajectory generated is always linear Rate based acceleration and deceleration is typically used on systems which are limited in acceleration and are commanded to varying velocities Please refer to the Acceleration Deceleration Overview Section 2 11 SYNTAX G68 MARAL MRAAL Version 1 2 Aerotech Inc 2 49 G Codes U600 Series Programming Manual 2 12 Programming Codes 2 12 1 Inch Dimension Programming Mode Units G70 MODA L The UNIDEX 631 U600 CNC provides you the option of specifying all distances and feedrates in either Englis
222. ion The Position Synchronized Output Board provides a variety of outputs that may be used to synchronize control with motion It is most commonly used for Laser firing With the use of a variety of commands the PSO Board may be instructed to activate up to four outputs with analog level controls and various types of single shot or pulse train outputs The Position Synchronized Output Board is activated through either a parts program or from the MDI Mode The following sections provide the commands related to PSO function The PSO commands are not case sensitive although throughout this chapter the PSO commands appear in uppercase letters for easy recognition This chapter uses the typographical conventions listed in Table 5 1 Table 5 1 Conventions for this Section Example Description input_num Words in italic indicate information that you must supply to validate the command option Items between brackets are optional PSOC mode i n in map out map Braces and a vertical bar indicate a choice among two or more items You must choose one of the items unless brackets surround the braces PSOT case condition condition2 Three dots following an item indicate that more items having the same form may be included A column of three dots indicates that part of an example program has been omitted ea Version 1 1 Aerotech Inc 5 1 Optional PSO Commands U600 Series Programming Manua
223. ion 1 2 U600 Series Programming Manual G Codes The part must always cover the center of rotation of the rotary axis Motion through the virtual X Y axis origin with the G46 mode active should not be attempted Only G1 G2 G3 commands are valid under polar coordinate transformation GO commands or any other axis motion command should not be attempted when G46 is active 2 8 8 Enable Cylindrical Coordinate Transformation G47 The G47 command enables a transformation from the X Y cartesian axis plane into a cylindrical coordinate system The cylindrical coordinate system is comprised of a rotary axis holding the part to be machined and a linear the X axis in the cartesian coordinate system that moves parallel to the center of rotation of the rotary axis An additional axis perpendicular to the center line of rotation of the rotary axis may be present for positioning a tool in the proximity of the part to be machined this axis is not controlled by the coordinate transformation Part programming is done using G1 G2 G3 commands acting upon a virtual Y axis no D A or feedback device defined and the X axis The X Y axis plane is defined by the G44 command and the CNC parameter page see Plane Selection under the CNC Parameter item on the Setup Menu The arguments of the G47 command define the rotational axis and the radius of the part being processed All subsequent Y axis position commands will refer to circumferential distances around a part
224. ions give a summary of all arguments used by the PSOC mode command 5 3 2 1 i Argument The 7 argument specifies the single PSO input that controls the conditional tracking This argument can range from 0 to 23 If the state of the input specified by argument i equals the pre defined state n then the condition is true and position tracking is enabled This argument only used in modes 1 and 2 of the PSOC command 5 3 2 2 n Argument The n argument specifies the desired state for the selected input i If the state of input i O low or 1 high equals the desired state n O low or 1 high then the condition is true and position tracking is enabled This argument only used in modes 1 and 2 of the PSOC command 5 3 2 3 in_map Argument The in_map argument is a bitmap that defines the desired states of one or more selected inputs If the actual states of the inputs match the desired states specified in the in_map argument then the condition is true and position tracking is enabled If this condition is false then the second bitmap out_map defines the desired condition of the PSO outputs This argument only used in mode 3 of the PSOC command 5 3 2 4 out_map Argument The out_map argument is a bitmap that defines the desired states of one or more selected outputs when the input condition is not met when position tracking is disabled When position tracking is not enabled i e
225. ir use is shown below GLOBAL2 ANALOGO or GLOBAL3 ANALOGO0 3276 8 005 1 18 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators 1 5 Tool Word TXxxxx The keyword T specifies the number of the cutting tool which is being used This number is used to search the tool file associated with this CNC to determine all information required about a specific tool Please refer to the section entitled UNIDEX 631 U600 CNC Tool Handling for more information on the operation of this feature 1 5 1 UNIDEX 631 U600 CNC Tool Handling The tool handing feature of the UNIDEX 631 U600 CNC is based upon a file referred to as the Tool File TF This file contains information on all the currently available tools in a machining station Currently a maximum of 18 tools may be present in any machining station However future releases will support the use of up to 30 tools per station This tool information is used when Intersectional Cutter Radius Compensation is in effect As mentioned the tool file contains one record for each tool currently available Each tool record contains seventeen different fields Four of these are reserved for future expansion The information found in these fields will be read by the axis processor each time the cutting tool is changed using the T keyword Specifying tool T0000 deactivates all tools from the system All of this information may be viewed modified using the Tool file editor
226. is command activates Intersectional Cutter Radius Compensation ICRC to the left of the programmed tool path relative to the direction of tool motion see Figure 2 20 The tool offset will be incorporated into the execution of the next linear motion command The center of the tool nose will then be kept on a line normal to the programmed path until ICRC is de activated An error is reported if the first motion block following ICRC activation commands circular interpolation on either axes for which cutter compensation is being activated The behavior of G42 depends on whether it appears on its own line or on a line with motion refer to the figure in margin to the left va O Tool Radius Actual path N l Work piece G42 its own line G42 Gl sits own line I G1 X1 Y 1 I oo G1 Path i Actual path l l y Figure 2 20 Path Compensation Right Please refer to the Intersectional Cutter Radius Compensation Overview for a general description of the implementation of this feature on the UNIDEX 631 U600 SYNTAX G42 End Move EXAMPLE G42 X2 Y2 F100 Activate the cutter radius compensation left Please refer to the comprehensive example on the following page The G40 command is the default 5 Version 1 2 Aerotech Inc 2 33 G Codes U600 Series Programming Manual Cutter Compensation Example Figure 2 21 demonstrates the effect of ICRC on the tool path It assumes that t
227. iscellaneous Extended CommandsS iese esse esse esse 4 41 e File Operation Commands sseesseeeeseeerrsererrereeee 4 53 e Master slave Motion CommandsS esse sees sees see see 4 56 e Asynchronous Motion Commands iese ses see see 4 59 4 1 Description In addition to G code and M co de programming the UNIDEX 631 U600 CNC also provides a set of commands that permit you to control program flow and perform other miscellaneous functions These commands are referred to as the extended command set This chapter contains a discussion of each extended command The commands have been grouped into blocks of related commands The following is a summary of all extended commands in alphabetical order Table 4 1 Extended Command Summary Extended Command Page Description 4 10 Produces a sum of two operands 4 10 Produces a difference of two operands 4 10 Produces a product of two operands 4 10 Produces quotient from Operand1 divided by Operand2 A 4 11 Produces the value of Operand1 raised to the power of Operand2 4 12 Specifies order in which to evaluate an expression ABS 4 11 Produces the absolute value of its only operand ACOS 4 13 Computes angle whose cosine value is the operand AFCO 4 41 Positions an axis in relation to an optimum point AND 4 14 Produces the logical and of two specified operands
228. ition of each axis This enables you to start the part moving toward the probe and have the part stop moving when it reaches the probe The program may then use the position information returned to determine the physical location of the part in space Once a probe cycle is initiated the CNC actively monitors the appropriate input channel until the probe input is detected When a probe touch occurs the cycle is complete To initiate a probe measuring cycle again execute another G51 command The parameters for the probe command include the virtual IO number active level and variable to store the axes positions The first parameter channel number refers to the virtual input channel through which the probe input will be monitored The second parameter active level permits the user to specify the polarity of the probe in use The final parameter specifies the first location of an array into which the position information is stored Refer to the extended command DVAR for more information on arrays SYNTAX PROBE 25 0 POS O _ Initialize probe parameters G51 Monitor touch probe input The G51 command can be used after a probe G51 cycle has been executed This will enable the touch probe again without repeating the channel level and variable parameters A G51 has no arguments EXAMPLE DVAR POS lt 16 gt Define variable to hold positions Probe 10 0 POSIO sInitialize touch probe input on virtual input bit 10 The sprobe being used is a
229. ividual digital output lines argument bit to either a high signal state 1 or a low signal state 0 Syntax for this mode is PSOT 0 bit state 5 9 1 2 Mode Argument 1 This mode is used to set a group of digital output lines high or low using a hexadecimal or decimal number specified by the states argument Syntax for this mode is PSOT 1 states 5 9 1 3 Mode Argument 2 This mode is used to set the output voltage of the 4 D A s to a constant value DAC output voltages can range from 10 0 V to 10 0 V and have a minimum step size of 0 3 mV Syntax for this mode is PSOT 2 dac voltage 5 9 1 4 Mode Argument 4 This mode is used to set the output voltage of the desired DAC 0 to 3 to a value that is proportional to the velocity velocity ramping DAC output voltages can range from a programmable minimum value at zero velocity specified by argument v0 to a maximum voltage at target velocity velocity specified by argument vmax Syntax for this mode is PSOT 4 dac v0 vmax velocity The zero velocity and target velocity are specified in machine steps per millisecond 5 18 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 9 1 5 Mode Argument 6 This mode is used to set the output voltage of the desired DAC 0 to 3 to a value that is proportional to the position position ramping DAC output voltages can range from a programmable minimum value at initial positi
230. k where only the six least significant bits are valid These bits correspond with the list above as well as the six least significant bits of the STATUS parameter Refer to the UNIDEX 631 U600 User s Manual EDU1I53 Setting a bit to a one implies that the input output is active high and a zero means it is active low The default for this parameter is 63 03FH and corresponds to all active high signals AUXOFFSET To understand how this parameter functions the reader must be familiar with the operation of the synchronized auxiliary output tables on the UNIDEX 631 U600 In brief each synchronized auxiliary output table entry specifies a master position and a corresponding state for the auxiliary output When the observed master position becomes greater than or equal to that specified in the table entry the output gets set to the appropriate state The only requirement is that the master positions must constantly increase and never repeat This parameter refers to an offset applied to the master position of the auxiliary output table associated with an axis The point at which the table begins and ends is advanced or retarded The user must be aware of the table s setup before setting the value of this parameter The units for this parameter are in machine steps and can be any signed 32 bit numbers The default value is for zero 0 machine steps ABORTMASK This parameter controls the faults that cause an axis to abort motion If the sy
231. l 5 2 Programming Commands The PSO supports seven functional groups of programming commands These functional groups of commands are listed in Table 5 2 and explained in detail in the sections that follow Table 5 2 PSO Programming Commands Summary Command Page Description PSOC 5 3 Conditional tracking based on input states PSOD 5 6 Firing distance entry PSOF 5 9 Specify tracking axes and begin tracking PSOM 5 12 Bit mapping data download PSOP 5 14 Laser pulse output definition PSOR 5 16 Real time control of tracking PSOT 5 18 Digital and analog output control 5 2 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 3 Conditional Tracking Based on Input States PSOC The PSOC command is used to enable unconditional tracking or enable conditional tracking based on the state s of up to 24 digital inputs PSOC 0 through 3 are not implemented at this time Fe SYNTAX PSOC mode in in map out mapj 5 3 1 MODE Arguments For PSOC The mode argument defines one of four possible ways to use the PSOC command The argument can range in value from 0 to 3 and the following sections describe their meaning 5 3 1 1 Mode Argument 0 Mode argument 0 enables position tracking unconditionally Input signal conditions are ignored Default This mode has no additional arguments Syntax for this mode is PSOC 0 5 3 1 2 Mode Argument 1 Mode argument 1 enabl
232. l Outputs 16 Bits 3 14 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 3 3 8 The MCODEx INI File The file MCODEx INI associates user defined M functions with specific virtual VO points The file MCODE1 INI is used for CNC engine 1 MCODE2 INI is associated with CNC engine 2 etc Each line in the MCODEx INI file contains information for initializing a particular M code Comments can be placed in the file by inserting a semi colon as the first character of the line Blank lines are ignored There are four types of M codes available The first two types are binary input and binary output both bit oriented The last two types are register input and register output both byte oriented Each of these are described in the following sections Figure 3 2 shows a typical MCODEx INI file Filename MCODEx INI This file and the accompanying MODSCAN_INI file are used to initialize the following M Codes for the U31 U600 CNC MCODEs 1020 1035 Assert XYCOM Board 1 Outputs 16 31 1040 1055 De assert XYCOM Board 1 Outputs 16 31 1060 1075 Assert XYCOM Board 2 Outputs 16 31 1080 1095 De assert XYCOM Board 2 Outputs 16 31 3000 3015 Associate with PCDIO Board 1 Inputs 0 15 3050 3057 Assert PCDIO Board 1 Outputs 16 23 3050 3057 De assert PCDIO Board 1 Outputs 16 23 4000 4012 to use U600 onboard I O NOTE The MODSCAN INI file must contain configuation information for al
233. l Radius 2 35 Parameter Virtual I O Point 3 14 Parameter VME Addess 3 13 Parameter XPlane 2 22 Parameter YPlane 2 22 Parameters Accel Mode 2 49 Version 1 2 Aerotech Inc ix Manual Index Parameters Plane Select 2 69 2 70 Parameters Ramp Type 2 46 Parameters Rate Based 2 47 2 48 2 49 Parameters Time Based 2 46 Parenthesis 4 4 Part Rotation Angle 2 19 Parts Program Flow 3 1 Parts Program Acceleration A 8 Parts Program Join 4 43 Parts Program Specifying Deceleration Mode from A 8 Parts Program Specifying Safe Zone Parameters from A 5 A 6 Parts Programs Debugging A 6 Path Compensation Left 2 31 Path Compensation Right 2 33 Percent Sign 1 1 Permit Parameter Monitoring 2 41 Permit Safe Zone 2 26 2 27 PGAIN Parameter A 2 phase_speed Parameter A 14 A 15 Place Items In Window 4 29 Placing Data In User Stack 4 37 Plane Select Parameters 2 69 2 70 Plane Selection 2 1 2 21 Planes Axes 2 21 PlaneSelect group 2 21 PLC 3 1 3 9 PLC I O vs Virtual I O 3 10 PLC Register Numbers 3 10 PLC Registers 3 10 Point Entry 4 8 Points In Space 2 39 point to point move splined 2 17 Point to point movement 2 7 POP 4 38 POS Parameter A 1 POSERRLIMIT Parameter A 4 Position Counter clearing 5 17 stopping 5 17 Position Counters setting and locking 5 10 Position Error Limit Fault A 4 Position Error Tracking A 10 Position Error
234. l XYCOM and PCDIO cards It must also assign all the virtual I O Bits for the PCDIO and XYCOM VO Bits M1020 BO XYCOM 1 16 L1 Mxxxx Binary Output XYCOM board 1 Bit x M1021 BO XYCOM 1 17 L1 Logic Level 1 M1022 BO XYCOM 1 18 L1 M1023 BO XYCOM 1 19 L1 M1024 BO XYCOM 1 20 L1 M1025 BO XYCOM 121 L1 M1026 BO XYCOM 1 22 LI M1027 BO XYCOM 1 23 L1 M1028 BO XYCOM 1 24 LI M1029 BO XYCOM 1 25 L1 M1030 BO XYCOM 1 26 L1 M1031 BO XYCOM 1 27 LI M1032 BO XYCOM 1 28 L1 M1033 BO XYCOM 1 29 L1 M1034 BO XYCOM 1 30 LI M1035 BO XYCOM 1 31 L1 M1040 BO XYCOM 1 16 LO Mxxxx Binary Output XYCOM board 1 Bit x M1041 BO XYCOM 1 17 LO Logic Level 0 M1042 BO XYCOM 1 18 LO Version 1 2 Aerotech Inc 3 15 M Codes U600 Series Programming Manual M1043 BO XYCOM 1 19 LO M1044 BO XYCOM 1 20 LO M1045 BO XYCOM 1 21 LO M1046 BO XYCOM 1 22 LO M1047 BO XYCOM 1 23 LO M1048 BO XYCOM 1 24 LO M1049 BO XYCOM 1 25 LO M1050 BO XYCOM 1 26 LO M1051 BO XYCOM 1 27 LO M1052 BO XYCOM 1 28 LO M1053 BO XYCOM 1 29 LO M1054 BO XYCOM 1 30 LO M1055 BO XYCOM 1 31 LO M1060 BO XYCOM 2 16 L1 Mxxxx Binary Output XYCOM board 1 Bit x M1061 BO XYCOM 2 17 L1 Logic Level 1 M1062 BO XYCOM 2 18 LI M1063 BO XYCOM 2 19 L1 M1064 BO XYCOM 2 20 L1 M1065 BO XYCOM 2 21 LI M1066 BO XYCOM 2 22 LI M1067 BO XYCOM 2 23 LI M1068 BO XYCOM 2 24 LI M1069 BO XYCOM 2 25 LI M1070 BO XYCOM 2 26 LI M1071 BO XYCOM 2 27 LI M1072 BO XYCOM 2 28 LI M1073 BO XYCOM 2 29 LI M10
235. l output 10 high until virtual input 20 becomes M1074 BO VIRTUAL 10 LI FB VIRTUAL 20 L1 TIMEOUT 100 NOWAITRESET ME or100 ees the set output 10 low Version 1 2 Aerotech Inc 3 21 M Codes U600 Series Programming Manual 3 3 11 Register Input M code Initialization SYNTAX Mxxxx RI lt input device gt where XXXX refers to the number of the M function being defined lt input device gt refers to one of the following device types PLC Register PLC Plc Reg Example PLC 1 40010 where Plc PLC Number from 1 7 Reg PLC Register from 40001 to 44000 PLC Global PLC Plc GLOBAL Glob Example PLC 1 GLOBAL 2 where Plc PLC Number 1 7 Glob Global Data byte to which this applies EXAMPLE M1040 RI PLC 1 40100 M1040 returns the value of PLC 1 register 40100 M1041 RI PLC 1 GLOBAL 2 M1041 returns the value of PLC 1 GLOBAL 2 M1042 RI VIRTUAL 2 M1042 returns the value of VIRTUAL INPUT REGISTER 2 S Xycom is not applicable in this command format 3 22 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 3 3 12 Register Output M code Initialization SYNTAX where XXXX lt Output device gt Mxxxx RO output device lt options gt refers to the number of the M function being defined refers to one of the following device types where where PLC Register PLC Plc Reg Example PLC 1 40010 Plc PLC Number 1 7 Reg PLC Register from 40001 to 44000 PLC Global PLC Plc
236. left appear in the outer margins next to notes following sections or paragraphs Anywhere in the text where there is a xxxx this represents the use of numbers specified by the user depending upon the application e g Nxxxx specifies a parts program line number N 01 Txxxx specifies the number of the cutting tool that is being used MFO is an acronym for Manual Feed Override MSO is an acronym for Manual Speed Override 7 CNC is an acronym for Computerized Numerical Controller MDI is an acronym for Manual Data Interface This manual uses the symbol V V V to indicate the end of a chapter Program lines or blocks are strings of characters terminated by a carriage return or line feed or both Program lines consist of program words each separated by white space This white space is a string of any number of spaces commas or tabs For example the following lines are reasonable equivalents G1 X7 G1 X7 In many cases white space is not needed for example G1X7 is OK but it is recommended because the CNC may not be able to decipher the words properly without whit space The programming commands presented in this manual are grouped according to their mode of operation Most commands appear on an individual page with an example of their usage following it G codes M codes and extended commands appear in bold face letters within their respective chapters xvi Aerotech Inc Version 1 2 U
237. ly read the parameters to the READFILE command Verify the READFILE command line C 6 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Failure to parse WRITEFILE date Unable to properly read the parameters to the writefile command Verify the writefile command line Failure writing FILEWRITE data on CNC d An error occurred while writing the data to the file Feedrate Must be Between lf and lf The feedrate is not within the range determined by the min max vector feedrate parameters Feedrate Must be Between lf and 0 0 The feedrate is not less than the maximum vector feedrate and greater 0 Free CNC d Program d ret d completion d The memory allocated for a program run could not be freed FreeVariables CNC d Program d ret d completion d The memory allocated for the CNC variables could not be freed G33 Error Linear Feedrate Cannot be a Variable Make Linear Feedrate a Literal Line ld CNC d Program d The feedrate is not a literal G33 Parallel Axis Does Not Match Check CNC Parameters Line d CNC d Program d The ThreadX axis defined in the setup parameters is not assigned to this CNC G33 Parallel Axis Not Linear Check CNC Parameters Line ld CNC d Program d The axis assigned within the setup parameters as the parallel axis is not defined as a linear axis G33 Parallel Axis Not Specified Check CNC Parameters Line ld CNC d Program d
238. may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If upon Aerotech s examination a warranted defect exists then the product s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an air freight return the product s will be shipped collect Warranty repairs do not extend the original warranty period Laser Products Return Procedure Returned Product Warranty Determination Version 1 2 Aerotech Inc B 1 U600 Series Programming Manual Warranty and Field Service Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination the buyer shall be notified of the repair cost At such time the buyer must issue a valid purchase order to cover the cost of the repair and
239. mely long strings like this one CLOSECDW OPENCDW DISPLAY Brand new message DVAR WIDTH HEIGHT WIDTH 1 HEIGHT 2 DISPLAY The square is WIDTH millimeters by HEIGHT millimeters DVAR RESPONSE DISPLAY The drive has overheated RESPONSE DISPLAY The drive has overheated RESPONSE BUTTON2 DISPLAY The drive has overheated RESPONSE BUTTON1 This statement displays the text without waiting for sor accepting any user response The display window sis opened if not already open Shows how to print large strings This code erases all previous messages in the list and smakes the given message the first one on the list This code prints a string inserting the integer value where shown The CNC programmer haas no choice over the format of the value shown This code pauses the program after delivering the smessage offering the user three buttons to push OK continue or no this is the same as the code above except the continue button is not shown same comment except only the OK button is shown 1 2 or 3 buttons can be specified When the operator responds OK a zero 0 is placed in the specified variable RESPONSE in the example above NO produces a 1 and Continue produces a 2 4 30 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands The foll
240. messages Unable to Get Filename for Recording Strip Data CNC d An error occurred retrieving the data for the strip chart recorder Unable to get FILEOPEN data from CNC An error occurred retrieving the data for the FILEOPEN command Unable to get FILEREAD data from CNC An error occurred retrieving the data for the FILEREAD command Unable to get FILERESET data from CNC An error occurred retrieving the data for the FILERESET command Unable to get FILEWRITE data from CNC An error occurred retrieving the data for the FILEWRITE command Unable to get TWord data from CNC An error occurred retrieving the Tool data from the axis processor board Unable to Obtain Socket Descriptor for Host s A connection to the host was unable to be established over the Ethernet connection Verify host address parameter setup and physical connections Unable to Open s on CNC d The file requested to be opened by the axis processor could not be opened Unable to open Crunch File CNC d Program d The temporary intermediate file U31 PROGRAMS INTMFx TMP used by the compiler could not be created The hard drive may be full or a file by that name may already exist Unable to open Crunched File CNC d Program d The temporary intermediate file U31 PROGRAMS INTMFx TMP used by the compiler could not be created It may have been inadvertently deleted by another process Version 1 2 Aerotech Inc C 27 ERROR CODES U600 Series Programming Man
241. meter setup screen the system must be initialized again Connection with Host s Failed s Unable to communicate with specified host Check the host address host power and U3 1 host connection to Ethernet Constant memory allocation error Memory could not be allocated for constant Close unnecessary windows or add more memory to your system Constant name too long Constants may not be longer than 20 characters less than 2 characters and the first 3 characters must be alphabetic All others may be alphanumeric Constant previously defined This constant was previously defined Assign a new name or remove previous definition Could Not Obtain Display Handle CNC d Program d Internal error unresolvable by user Version 1 2 Aerotech Inc C 3 ERROR CODES U600 Series Programming Manual Create Run Window Failure CNC d The run window could not be created possibly due to insufficient memory Cutter X undefined No axis has been assigned to the X Plane for ICRC control Cutter Y undefined No axis has been assigned to the Y Plane for ICRC control Define stack overflow You have exceeded the limits of UNIDEX 31 s user stack DMRLoadCNCLine on END Return d Completion d An error occurred loading the command block to the axis card DMRLoadCNCLine return d completion d An error occurred while transferring a CNC command block to the axis card DMRLoadCNCQueue return d completion d An error occurred
242. ming Manual G Codes EXAMPLE Velocity profile with G9 G91 F60 Set the vector feedrate to 60 G1 G9 X1 Move the X axis 1 0 F120 sMove at a Velocity of 120 G1 G9 X2 3a second time 2 0 F60 Set the vector feedrate to 60 G1 G9 X1 jand another move of 1 0 G4 Fl _3Dwell for 1 second 120 Velocity 60 1 Sec 2 Sec 3 Sec 4 Sec 5 Sec Time Figure 2 6 Velocity Profile with G9 The user should note that when executing a return move from jog and return that the controller will always decelrate to zero before resuming the move if any that was interrupted by the jog and return Even if the user does not place a G9 in the line there are some exceptions in which the controller will force a deceleration at the end of the move and a subsequent acceleration at the beginning of the next move An exception is when the user is running in step mode in this case the controller decelerates at the end of all motion blocks Another exception is when certain CNC statements lie in between the two moves to be blended such as a G4 in the example above If the intervening statement causes a motion stop or specifies a synchronous action with another processor the controller will force a deceleration A list of these statements are below Other motion codes G4 GO Program control M codes M00 M01 M02 M30 M47 Any CDW operation OPENCDW CLOSECDW DISPLAY RECORDON Any FILE VO operation FILEREAD FILEWRITE F
243. move this page from the document and fax or mail your comments to the technical writing department of Aerotech AEROTECH INC Technical Writing Department 101 Zeta Drive Pittsburgh PA 15238 2897 U S A Fax number 412 963 7009 AEROTECH
244. n the parameters provided see examples that follow The most important option is whether the program should continue on after printing the message or wait for the user to respond If the display window already had messages on it the new message is placed on a new line below the previous message A scroll bar is available that permits the user to browse through previous messages If more than 20 messages are delivered to the same display window the program discards the oldest message and the text is placed on the last line indicating that a message has been discarded The line of text and waiting behavior is determined by the parameters in the DISPLAY statement The statement can wait for a user response of a pushbutton wait for the user to enter a value or not wait at all Any number of parameters may be provided up to the length of a line in any order The parameter syntax is best understood by studying the examples in DISPLAY PGM it is not explained here Each text string is restricted to 39 characters However longer strings can be displayed by concatonating multiple strings SYNTAX DISPLAY pspecifier Version 1 2 Aerotech Inc 4 29 Extended Commands U600 Series Programming Manual Where any number of pspecifiers can be in the parameter list The syntax of a pspecifier is described in the example below EXAMPLES DISPLAY Performing program startup Display You can print very very very extre
245. n UNIDEX 600 631 Unknown M Code Type The specified M code is not recognized as a binary input output or a register input output command Version 1 2 Aerotech Inc C 37 ERROR CODES C 38 U600 Series Programming Manual Aerotech Inc Version 1 2 Version 1 2 U600 Series Programming Manual Index SYMBOLS 4 1 Special Symbol 3 5 1 1 4 12 1 2 4 10 1 1 4 10 l 1 1 2 4 11 4 10 32 Bit Digital I O Card 3 6 A Abort Motion A 11 ABORTMASK Parameter A 11 ABS 4 11 Absolute Coordinates 2 18 2 39 2 56 2 57 Absolute Dimension Programming Mode 2 56 2 58 Absolute Position Programming 2 56 Absolute Position Current A 15 Absolute Position Determination of A 15 Absolute Programming Mode 2 17 2 39 Absolute Value 4 11 Accel Mode Parameters 2 49 ACCEL Parameter A 6 Accel Rate Parameter 2 47 2 49 Accel Time Parameter 2 43 2 49 Accel Decel 2 1 2 8 2 42 Accel Decel Control Group Box 2 42 2 43 2 44 2 47 2 48 Accel Decel Rate Based 2 49 Accel Decel Time Based 2 49 Accel Decel Types 2 42 ACCELERATE Parameter A 8 Acceleration 2 12 Acceleration Feed Forward Gain Parameter A 3 Acceleration Loop A 3 Acceleration Mode Linear 2 46 Acceleration Mode Sinusoidal 2 46 Acceleration Rate Set 2 47 Acceleration Rates Setting 2 50 2 51 Acceleration Time Set 2 43 Acceleration Instantaneous 2 12 Acceleration Linear 2
246. n about the current motion status of the CNC Each of these status words are 32 bit words where each bit reflects a unique piece of information A one ina corresponding bit shows the condition is active Inactive conditions are represented by a zero These variables can be used to communicate CNC process status to another CNC engine via global variables or to other equipment in the system such as a remote host or a programmable logic controller Table 1 2 defines the CNCSTAT1 CNCSTAT2 and CNCSTATS3 variables The lowest 16 bits of each of these status words are mapped into virtual I O in the range of 448 to 512 See example below Example CNCSTAT1 Bit 0 is mapped to 448 Bit 15 is mapped to 463 CNCSTAT2 Bit 0 is mapped to 464 Bit 15 is mapped to 479 CNCSTAT3 Bit 0 is mapped to 480 Bit 15 is mapped to 495 CNCSTAT4 Bit 0 is mapped to 496 Bit 15 is mapped to 511 Aerotech Inc Version 1 2 U600 Series Programming Manual Table 1 2 Symbols amp Axis Designators CNCSTAT1 CNCSTAT2 and CNCSTAT3 Variables CNC status word 1 define CNC_ACTIVE 0x00000001 CNC running define CNC_SPINDLE_ACTIVE 0x00000002 Spindle is active define CNC_INITIALIZED 0x00000004 CNC initialized define CNC STOPPING 0x00000008 CNC is stopping define CNC_MOTION 0x00000010 CNC is doing motion define CNC AXIS FAULT 0x00000020 Axis fault define CN
247. n also specify slave axis velocities for given master axis positions see section 4 10 2 SYNC Command on mode 3 4 56 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 10 1 CONFIGM Command CONFIGM The CONFIGM command configures the master slave relationship This indicates to the slave axis to get its master coordinates from the master axis The parameters may be axis names or numbers given Axisspecl is the master axis and axisspec2 is the slave axis SYNTAX CONFIGM axisspeclaxisspec2 EXAMPLE CONFIGM X Y Configure the master slave relationship 4 10 2 SYNC Command SYNC This statement synchs a master to a slave The synching will wait until all motion if any is current is done on the slave before synching The user is cautioned that camming behavior can be complex and that the following description along with the description of the related parameters must be fully understood to produce the desired results Do not desynch from an axis in motion or the slave will stop abruptly Use the 5 ENDM command prior to desynching After a slave is synched to a master the slave s motion will follow the master axis s motion After a slave is desynched the slave s motion no longer follows the master axis The user must provide a synch mode as a parameter in the SYNC statement The SYNC mode can be 0 1 2 or 3 A mode of 0 desynchs a slave axis from a cam table Modes of 1 2 and
248. n of this feature on the UNIDEX 631 U600 CNC SYNTAX G21 EXAMPLE G21 Enable normalcy mode to the left of the part 2 24 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 6 3 Activate Normalcy Mode Right G22 This command activates the mode of operation in which the cutting tool is automatically kept perpendicular to the part being cut normalcy mode In this mode the normalcy alignment move will always be performed in a counterclockwise direction This may lead to unexpected results on inside corners refer to Figure 2 13 Outside corner Inside Corner Rotates 45 Figure 2 13 Normalcy Right Please refer to the Normalcy Mode Overview for a general description of the implementation of this feature on the UNIDEX 631 U600 CNC SYNTAX G22 EXAMPLE G22 Enable normalcy mode to the right of the part MARAL Version 1 2 Aerotech Inc 2 25 G Codes U600 Series Programming Manual MARAL S 2 7 Safe Zones G36 G37 In some applications it is desirable to define a particular area in which all axes motion may occur Conversely other applications require the ability to define an area in which axes are not permitted to enter The UNIDEX 631 U600 CNC Safe Zone feature provides you the ability to perform either of these two functions As described in the UNIDEX 631 U600 User s Manual the implementation of safe zones in the UNIDEX 631 U600 CNC requires that you sp
249. n order for the B axis to finish the move at the same time the B axis must travel at 2 5 RPM at the instant the move starts This would violate the E word limit of 1 RPM so the controller throws a CNC fault Non dominant feedrate exceeded in contoured move This situation can only be avoided by reducing the F feedrate in both moves or by placing a G9 on the first move so the X axis decelerates to a stop before beginning the second move 2 66 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 14 1 Rotary Feedrate Dominant G98 The G98 command specifies that the rotary feedrate E is to be considered dominant in coordinated motion commands moving both linear and rotary axes When operating in this mode the value of the E keyword determines the move duration and the corresponding feedrate for the linear axis is computed from the duration Please refer to the Dominant Feedrate Overview Section 2 14 for more information SYNTAX G98 EXAMPLE G98 G91 Make E feedrate dominant G1 X10 Y72 F100 E10 Assuming X is linear and Y is rotary use E feedrate to calculate move time of 0 2 minutes Linear feedrate used will sbe 50 units minute An axis is designated as linear from within the Machine Parameter Set up screen using the Linear or Rotary parameter ey Version 1 2 Aerotech Inc 2 67 G Codes U600 Series Programming Manual 2 14 2 Linear Feedrate Dominant G99 The G99 comman
250. nc Version 1 2 U600 Series Programming Manual ERROR CODES The current CNC program could not be halted Identifier More than 8 Characters Identifiers are limited to 8 characters If Pointer Compiler Error Internal error Illegal CLLS Syntax Invalid syntax verify command syntax Illegal DENT Syntax Invalid syntax verify command syntax Illegal DFS Syntax Invalid syntax verify command syntax Illegal CLS Syntax Invalid syntax verify command syntax Illegal JUMP Syntax Invalid syntax verify command syntax Invalid HOME Syntax Invalid syntax verify command syntax Illegal RPT Syntax Invalid syntax verify command syntax Illegal DFLS Syntax Invalid syntax verify command syntax Illegal Feedrate The feedrate that you have specified is not valid Illegal filename length Version 1 2 Aerotech Inc C 9 ERROR CODES U600 Series Programming Manual Filenames may be no greater than 8 characters followed by three characters in the format XXXXXXXX XXX Illegal filename specified The filename that you have specified is not valid Illegal G33 Syntax The format that you have used for the G33 command is incorrect Illegal G36 Mode Specified The valid modes for the G36 command are P1 and P2 Illegal G36 Syntax Missing Positive Safezone Parameter You did not specify the positive limit for an axis in the safezone command Illegal JUMP target The label specified for the jump is not valid Illegal ONERRGOTO
251. ncerning the velocities at which these moves will be accomplished A GO command is a rapid move while G1 G2 G3 are contoured moves A GO will move each axis at that axis rapid feedrate found under the Machine Parameters Screen and no effort is made to coordinate the separate axis motion Each axis will finish its move at different times and the GO is not complete until the last axis has completed its motion G1 G2 G3 G12 and G13 are contoured moves The axes will move in a coordinated fashion so that all axes finish there motion at the same time The speed of the motion is determined by the E and F words found under the CNC Parameters Screen However the way in which these speeds are determined from the E and F word can be complex in some cases especially if the user moves rotary and linear axes simultaneously Refer to Chapter 1 Section 1 2 2 Linear Feedrate G1 is a linear move while G2 and G3 are circular moves The user can specify a linear and circular move to happen simultaneously by putting a G1 and a G2 G3 on the same line Also the user can perform two circular moves simultaneously by using G12 and G13 These G codes are the same as their 10 counterparts for simultaneous motion For example the following code performs two circular moves simultaneously G2 I1 J1 X0 YO G13 I3 J3 ZO AO All CNC G code motion statements will wait until there motion is complete before proceeding onto the next CNC statement These C
252. nction and use of the axis parameters supported by the UNIDEX 631 U600 motion controller APPENDIX B WARRANTY AND FIELD SERVICE Appendix B contains the warranty and field service policy for Aerotech products APPENDIX C ERROR CODES Appendix C provides a ready reference of Mainmenu exe error codes listed in alphabetical order also provided is a list of error codes for the axis processor board Version 1 2 Aerotech Inc XV Preface U600 SeriesProgramming Manual MRAAL INDEX The index contains a page number reference of topics discussed in this manual Locator page references in the index contain the chapter number or appendix letter followed by the page number of the reference Locator page numbers appear in one style standard serif font e g 3 1 CUSTOMER SURVEY FORM A customer survey form is included at the end of this manual for the reader s comments and suggestions about this manual Reader s are encouraged to critique the manual and offer their feedback by completing the form and either mailing or faxing it to Aerotech Throughout this manual the following conventions are used g The terms UNIDEX 631 U600 and U631 U600 are used interchangeably throughout this manual The modal symbol see left appears in the outer margin next to commands that are modal for quick reference Italic font is used to illustrate syntax and arguments for G codes M codes and programming commands Note symbols see
253. nd SYNTAX G54 AxisName Coordinate AxisName Coordinate EXAMPLE G54 X10 Y5 Z3 Enable fixture offset 1 All dimensional data will now be relative to the point 10 5 3 instead of 0 0 0 The fixture offsets have no effect when operating in the incremental programming G91 mode If a fixture offset is currently in the system when this command is processed the old fixture offset is removed prior to the activation of the new offset MRAAL ea MARAL E Version 1 2 Aerotech Inc 2 39 G Codes U600 Series Programming Manual 2 9 3 Set Fixture Offset 2 G55 The G55 command specifies the absolute coordinates of the point referred to as fixture offset 2 The preset position register s of the specified axes are updated immediately to reflect the change in the coordinate system The machine position registers are unaffected Refer to the comprehensive example following this command SYNTAX G55 AxisName Coordinate AxisName Coordinate EXAMPLE G55 X10 Y5 Z3 sEnable fixture offset 2 All dimensional data will now be relative to the point 10 5 3 instead of 0 0 0 The fixture offsets have no effect when operating in the incremental programming mode G91 GET If a fixture offset is currently in the system when this command is processed the old fixture offset is removed prior to the activation of the new offset Fixture Offset Example Line Program Line Comments X Y X Y Preset
254. nd a 1 indicates a high input output For in_map x indicates that the associated input state should not be checked For out_map x indicates that the associated output state remains unchanged EXAMPLE Motion controller pre processing PSOC 3 xx1x0101 xxxx11000011xxxx Conditional PSO tracking enable Motion commands post processing etc In this example tracking is enabled only when inputs 0 2 and 5 are high and when inputs 1 and 3 are low The states of the other inputs are ignored If tracking is not enabled i e when the inputs do not match the above criteria then the PSO outputs are set according to the final argument In this case outputs 4 5 10 and 11 are driven high and outputs 6 7 8 and 9 are driven low All other outputs are unaffected Version 1 1 Aerotech Inc 5 5 Optional PSO Commands U600 Series Programming Manual GE 54 Position Synchronized Output Firing Distance Entry PSOD The PSOD command specifies the number of machine steps to be traveled before output synchronization occurs Distances may be entered individually or sequentially through the use of the array variables This command is only used in conjunction with the PSOF 3 command SYNTAX PSOD mode distance array x m 5 4 1 MODE Arguments For PSOD The mode argument defines one of three possible ways to use the PSOD command The argument can range in value from 0 to 2 and the following s
255. ng G70 Set English programming inches REF X Y Establish a software home for X and Y axes G83 X1 Y1 Activate mirror image function for X and Y axes changing positive X and Y values to negative values G91 CLS BOX1 Call subroutine BOX1 G83 Disables mirroring M2 Stop the program DFS BOX1 Define subroutine BOX1 X2 Y4 Initiate a positive linear move for the X and Y axis F100 Establish a feedrate of 100 in per minute X2 Initiate a positive linear move for the X axis Y2 Initiate a positive linear move for the Y axis X 2 sInitiate a negative linear move for the X axis Y 2 Initiate a negative linear move for the Y axis X 2 Y 4 Initiate linear move of X and Y axis to home position send of extended command block MO Program stop see Figure 2 24 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes Y Mirror Image A 2 6 4 6 4 4 p x Home 0 0 Figure 2 24 G83 Mirror Image Example Version 1 2 Aerotech Inc 2 53 G Codes U600 Series Programming Manual 2 12 5 Parts Rotation The G84 command is used to define the plane and angle of part rotation The parts rotation programming feature permits the changing of orientation in a plane of a sequence of moves without changing the move coordinates or changing coordinate reference frames Refer to Figure 2 25 for a parts rotation example SYNTAX G84
256. ng A 3 Master Positions Offsets A 12 Motor Torque Steady A 6 MASTERLENGTH 4 58 Motor Velocity A 14 MASTERPOS Parameter A 11 A 12 Move Linear 2 21 Master slave CNC commands 4 1 4 56 Move Spline 2 17 max_phase Parameter A 14 Movement point to point 2 7 M Code 3 1 MOVETO statement 4 60 M Code Programming 3 5 Multiple CNCs 1 22 M Code Variables 3 5 Multiplication 4 10 MCODEx INI File 3 15 Measuring Cycles Probe 4 49 N Memory Mapped I O 3 5 Memory I O 3 5 Name Symbolic 4 5 Menu Option Linear vs Sinusoidal 2 42 Naming Axes 4 41 Menu Option Time vs Rate Based 2 42 NE 4 15 Merge Parts Programs 4 43 Negation 4 14 Method Splining 2 17 Nested Called Program 3 4 Metric Dimension Programming Mode 2 51 Nested Repeat Loops 4 21 Metric Units 2 50 2 51 Nested While Loop 4 25 MFO 1 6 New Fixture Offset 2 39 2 40 M Functions vs Virtual I O 3 1 3 15 Non Modal G Codes 2 1 Minimizing Machine Time 2 7 Normal Circular Interpolation 2 69 Miscellaneous Commands 4 41 Normalcy alignment 2 23 Miscellaneous Functions 4 1 Normalcy Mode 2 1 2 22 MOD 4 10 Normalcy Mode Left Activate 2 24 Modal G Codes 2 1 Normalcy Mode Right Activate 2 25 Modbus Plus Network 3 9 Normalcy speed limit 1 5 Mode 5 6 5 9 5 14 5 17 5 18 NOT 4 14 viii Aerotech Inc Version 1 2 U600 Series Programming Manual Index Not Equal To 4 15 Nxxxx 1 3 O Objects Definition Of 4 5 Offset Val
257. no parameter e GLOBAL is 1 32 BIT is a virtual bit number 0 511 FAULT_LEVEL is the error state either logic 0 or 1 ERROR_TEXT is the error message to be displayed in the window Version 1 2 Aerotech Inc 3 25 M Codes U600 Series Programming Manual FILENAME is an optional filename that will provide more information if the error message in the error window is clicked on with the mouse The specified file is an ascii text file containing information on the error message Each I O error must have a separate help file EXAMPLES IO_TYPE BITE BIT FAULT_LEVEL ERROR_TEXT LFILENAME PLC 2 1 plc2 error on bit 1 c u3 1 ini plc hlp RI 40100 3 1 reg 40100 in bit 3 error c u3 1 register hlp RO 40110 5 0 reg 40110 out bit 5 error BI 7 0 binary in bit 7 error c u3 1 program binary hlp BO 9 1 binary output 9 failed GLOBAL 3 11 1 global 3 bit 11 error l 3 26 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands CHAPTER 4 EXTENDED COMMANDS In This Section Description ER EE Rae EE Ee 4 1 od Detinm iC ommandse EE EE 4 5 e Programming Operators 0 0 0 0 se se se ee Se Re see 4 10 of Relationall perators EE eee 4 15 e Commands which Affect Program Flow 4 17 e Custom Display Window CommandsS esse sessie 4 28 e Synchronous Motion Commands e see see see 4 34 User Stack Operations eee 4 37 e M
258. nship for a minimum period of one year from date of shipment from Aerotech Aerotech liability is limited to replacing repairing or issuing credit at its option for any products which are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier by the buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product
259. o deep see examples below SYNTAX MyArray 10 or MyArray MyVariable or MyArray MyVariable 3 or GLOBALIO0 5 Any variable can be indexed even local variables not declared in a DVAR statement and the index is used as an offset from the actual variable storage location Indexes intended use are with local arrays refer to Chapter 4 DVAR extended command but can be used in any variable For example GLOBAL1 5 refers to the variable GLOBAL6 Other examples are shown below DVAR vara varb 5 varc where varb 1 refers to vara varb 5 refers to varc vara 1 refers to varb 0 1 2 Aerotech Inc Version 1 2 U600 Series Programming Manual Symbols amp Axis Designators In the above example vara 1 and varc 1 refer to non existent variables and their usage can lead to unexpected results 12 Special Characters The UNIDEX 631 U600 CNC supports two methods of specifying axis names hard names and soft names Soft names refer to the name specified in the machine parameter Axis Name Hard names refer to a pre defined set of letters that correspond with specific axes The set of hard names used by the UNIDEX 631 U600 is defined as follows Table 1 1 Hard Axis Names Hard Name Axis Number Hard Name Axis Number X Y Z 1 3 X y Z 10 12 U V W 4 6 U VW 13 15 A B C 7 9 a 16 For additional information on axis designations refer to the hard names and soft names command descriptions Section 4 8 1 A
260. o make parts programs more readable as well as easier to maintain when the symbol is referenced multiple times SYNTAX DEFINE Symbol Value or DEFINE Symbol Value EXAMPLE DEFINE PI 3 14159 Define the value of PI DEFINE RADIUSI 2 0 _ Define the symbol RADIUS as 2 0 Version 1 2 Aerotech Inc 4 5 Extended Commands U600 Series Programming Manual 4 2 2 Define Local Variable DVAR A variable is a location of memory which is used by a program to hold a numeric floating point value The value of this variable may be modified from within the parts program and used in subsequent operations such as numerical calculations Variables are also very useful for directing program flow refer to the IF command below Refer to section 1 4 in Chapter 1 for more details on variables The DVAR command defines a variable name for use within a parts program It may then be read or written to from within any subsequent program block in that program Specific examples of variable usage will be included in each programming example provided throughout the following section SYNTAX DVAR lt variable name gt lt variable name gt lt variable name gt EXAMPLE DVAR VAR1 Define a local variable named VAR1 DVAR DIST SPEED _ Define local variables named DIST and SPEED All local variables defined are automatically initialized to zero upon program initialization All variables defined in this manner are available to the en
261. o time to execute The motion is completed normally while the CNC continues executing more commands If an asynchronous motion is being executed and the program encounters another motion command on the same axis the results will be unpredictable 4 11 1 FEDM Command FEDM This statement executes motion on a single slave axis stopping at the given target position The motion is asynchronous to the CNC program execution meaning the motion has begun and the next CNC statement is immediately executed The FEDM command exhibits the same accel decel behavior as a G1 or GO This command is designed to be used while camming it is applied to the motion in addition to a master slave driving the given axis The speed parameter param2 is in unusual units user units per second or degrees per second for a rotational axis Axisspec is the axis to feed in on the slave and param is the amount to feed relative to the current position SYNTAX FEDM axisspec paramlparam2 EXAMPLE FEDM Y 4 5 6 7 sInfeed the slave to 4 5 inches at 6 7 inches per second 4 11 2 Index Statement INDEX The INDEX statement initates a relative move on a designated axis at a specified speed then continues with the next program line without waiting for the index to finish Distance is specified in user units and velocity is specified in user units sec The axis specified may be a soft or hard axis name SYNTAX INDEX axis distance speed EXAMPLE
262. o true Consider an application removing material from the top of a cylindrical object In order to remove the maximum amount of material in a given time period the spindle needs to move as quickly as the tool can remove the material Since the amount of material to be removed in one spindle revolution is much greater at the outside edge of the cylinder than at the center the speed of the spindle must be much slower when the tool is located near the outside edge The implementation of this feature in the UNIDEX 631 U600 CNC requires that you specify the current distance of the tool tip from the center point of the spindle and the desired surface speed in units in or mm per minute This information must be specified in the form of parameters to this command The R keyword specifies the current distance from the tool tip to the center point of the spindle nominal radius The SF keyword specifies the desired surface speed in user units in or mm per minute It is important to specify the axes used to determine the tool tip coordinate These must be specified as threadx and thready axis in CNC init parameters The spindle will not exceed the maximum and minimum SF rate as specified in the CNC initialization screen No warning is delivered if the feedrate is clamped at the minimum or maximum SYNTAX G96 Rxxxx SFxxxx where xxxx with R specifies the current distance and xxxx with SF specifies the desired surface speed MARAL
263. o use U600 onboard outputs M4010 BO virtual 2 M4010 to set reset Bit you must specify the state 1 or 0 after the mcode within the user program i e M4010 1 M4011 BO virtual 2 LO M4011 will set bit 2 to 0 without specifying the state after the mcode in the user program M4012 BO virtual 2 L1 M4012 sets bit 2 to 1 Figure 3 2 MCODEX INI File Version 1 2 Aerotech Inc 3 17 M Codes U600 Series Programming Manual 3 3 9 Binary Input M code Initialization SYNTAX Mxxxx BI lt input device gt where XXXX lt input device gt refers to the number of the M function being defined refers to one of the following device types PLC Register PLC Plc Reg B bit Example PLC 1 40010B 1 where Plc PLC Number 1 7 Reg PLC Register from 40001 to 44000 Bit Register Bit Number from 1 16 PLC Global PLC Plc GLOBAL Glob B Bit Example PLC 1 GLOBAL 2 Bl where Plc PLC Number 1 7 Glob Global Data byte to which this applies 1 32 Bit Register Bit Number from 1 16 Virtual VIRTUAL Virt Example VIRTUAL 2 where Virt Virtual I O point PCDIO PCDIO Brd Bit Example PCDIO 1 1 where Brd Refers to the PCDIO Board number Bit Register Bit Number from 1 16 Xycom XYCOM Brd Bit Example XYCOM 1 1 where Brd Refers to the Xycom Board Number Bit Register Bit Number from 1 16 Virtual Ouput Reading the state of outputs Example Virtual Output Is the virtual output the mcode will return
264. oard Level O clears Output 1 sets Output Virtual VIRTUAL Virt Level Example VIRTUAL 2 LO PCDIO PCDIO Brd Bit Level Example PCDIO19 L1 Xycom XYCOM Brd Bit Level Example XYCOM19LI The available options for initializing binary outputs are described below in the order in which they must appear Any options which are omitted will use default values 3 20 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes lt L0 L1 gt This option specifies the output to be either set 1 or cleared 0 If this option is not specified then the output level must be specified within the parts program lt FB feedback_device gt This option specifies a feedback input to be associated with the binary output The feedback_device must be one of the following formats PLC Register PLC Global VIRTUAL or XYCOM Using this option causes the binary output to be cleared set until the feedback device responds When this occurs the binary output is set cleared The default is no associated feedback device lt FLT fault_device gt This option specifies a fault feedback to be associated with the binary output The fault_device must be one of the following formats PLC Register PLC Global VIRTUAL or XYCOM The default is no associated fault device This can only be used if the lt FB gt option is specified lt BEFORE AFTER gt This option specifies whether the binary output is cleared set before or after the completion of t
265. oard 2 OUT16 39 72 through 95 P7 pins 47 1 odd pins Expansion Board 3 OUTO 7 96 through 103 P9 pins 47 33 odd pins Expansion Board 3 OUT8 15 104 through 111 P10 pins 47 33 odd pins Expansion Board 3 OUT16 39 112 through 135 P7 pins 47 1 odd pins 3 7 M Codes U600 Series Programming Manual 3 3 1 The MODSCAN INI File The MODSCAN INI file allows the user to define the type of hardware present XYCOM PLC or PCDIO and define each as inputs or outputs Shown below in figure 3 1 is a typical MODSCAN_INI file Filename MODSCAN INI This file and the accompanying MCODEx INI are used to enable M functions to operate upon the XYCOM and PCDIO digital I O card The user must first specify the configuration of each card in the system and then assign Virtual inputs and outputs to each of the real inputs And outputs NOTE The number of bytes specified as inputs in the configuration line must correspond with the number of bytes of virtual inputs allocated e Similarly the number of output bytes and the number of virtual outputs allocated must agree gt These bits may then be assigned to M functions using the MCODE INI File XYCOM 1 0000F400 IIII XYCOM Board 1 VME A16 Address 0xF400 XYCOM 2 0000EC00 OOOO XYCOM Board 2 VME A16 Address 0xECO00 PCDIO 1 0000300 24 Configure Board 1 as a PCDIO 24P at address 0x300 PCDIO PORT 11110 Set Board 1 Port 3 Chan A B Bits 0 15 as Input Set Bo
266. ock Also there are some conventions concerning the direction of rotation of the normalcy alignment move these are discussed under G21 and G22 Unlike G1 moves circular moves G2 and G3 require the normalcy axis move continuously throughout the move The speed that the normalcy axis must move is determined by the radius of the circle and feedrate along the circular path This is much like a complex move where the rotary and lineary axes move and the linear axis is dominant refer to Feedrate and Spindle Speed Codes Meaning the speed and acceleration of the rotary axis is slaved to the speed and acceleration of the linear axis Therefore much of the same problems can occur here as in a complex linear dominant move The G98 overview fully discusses these problems this section just mentions how they differ from the cases discussed under the G98 command e Rotary axis Feedrate limiting e Rotary axis Feedrate faults e Rotary axis accelerations decelerations Rotary axis feedrate limiting occurs if the normalcy axis travels too fast during a circular move The speed limit applied is the normalcy speed specified by the user In normalcy moves the speed of the normalcy axis move is not limited by the rapid feedrate or the E word setting It is only limited by the normalcy speed specified under the B axis screen under the CNC parameters menu item WARNING Just as in complex moves situations can occur where the controller cannot properly limit
267. ode This is the default operational mode of the CNC SD Version 1 2 Aerotech Inc 2 69 G Codes U600 Series Programming Manual MARAL S 2 15 2 Inverse Circular Interpolation G111 The UNIDEX 631 U600 CNC provides the flexibility to change the orientation of the axes being used for circular interpolation By default circular interpolation occurs as described in the description of the G2 and G3 commands the Plane Select G27 G28 G29 G code groups and the I J K keywords However when operating in the inverse circular interpolation mode the arc direction plane and circle centerpoint keyword associations are reversed Table 2 5 summarizes the relationships that exist Table 2 5 Relationship of Arc Direction Plane amp Circle Centerpoint G code Description G2 G12 Counter Clockwise Arc Direction G3 G13 Clockwise Arc Direction G17 G27 Plane_Y_Axis and Plane_X_Axis 1 associated with Plane Y Axis J associated with Plane X Axis G18 G28 Plane X Axis and Plane Z Axis K associated with Plane X Axis I associated with Plane Z Axis G19 G29 Plane Y Axis and Plane Z Axis J associated with Plane Z Axis K associated with Plane Y Axis The G111 command sets these associations SYNTAX G1l1l EXAMPLE G111 Set inverse circular interpolation mode This is not the default operational mode of the CNC 2 70 Aerotech Inc Version 1 2 U600 Series Programming Manual 2 15 3 4 Kilo Hertz Servo
268. ode Accel Mode Y G64 2 46 Linear Acceleration Mode Accel Mode Y G65 2 47 Set Acceleration Rate Y G66 2 48 Set Deceleration Rate Y G67 2 49 Acceleration Deceleration Time Based Ramp Type Y G68 2 49 Acceleration Deceleration Rate Based Ramp Type Y G70 2 50 English Programming Mode in Units Y G71 2 51 Metric Programming Mode mm Units Y G82 2 51 Clear G92 software home Command G83 2 52 Mirror G84 2 54 Rotate G90 2 56 Absolute Programming Mode Distances Y G91 2 57 Incremental Programming Mode Distances Y G92 2 58 Software Home preset positions N A G93 2 59 Inverse Feedrate Mode FeedrateMode Y G94 2 60 Normal Feedrate Mode FeedrateMode Y G95 2 61 Inverse Spindle Feedrate Mode FeedrateMode Y G96 2 63 Constant Surface Speed SpindleSpeed Y Version 1 2 Aerotech Inc 2 3 G Codes U600 Series Programming Manual Table 2 1 G code Summary Cont d G97 G98 G99 G111 G code G110 G130 G131 Page 2 64 2 67 2 68 2 69 2 70 2 71 2 71 Description Direct Spindle Rotary Feedrate Dominant Linear Feedrate Dominant Normal Circular Interpolation Reverse Circular Interpolation 4 Kilo Hertz Servo Update Rate 1 Kilo Hertz Servo Update Rate Group Modal SpindleSpeed Y CircleDir Y CircleDir Y During initialization the UNIDEX 631 U600 CNC activates one mode from each operational group These modes are known as the default operational However in many cases the default operational m
269. ode is the default 5 Version 1 2 Aerotech Inc 2 31 G Codes U600 Series Programming Manual GE G4 sits own line G41 Gl sits own line G1 X1 Y 1 G1 Path Actual path Figure 2 19 Lead on Moves A G41 will generate a lead on move that moves the tool away from the piece by an amount equal to the tool radius How this is done depends on whether the G41 appears on its own line or on the same line as a G1 motion If it appears on the same line as the G1 motion then it will be applied during the motion and the direction of the lead on move will be perpendicular and to the right looking in the direction of movement to the direction of the executed G1 move If the G41 is on its own line then the lead off move is performed immediately by itself The only drawback is the direction of the lead off move being made The controller will make the lead off move in the direction perpendicular to the right looking in the direction of movement to the direction of the next G1 move However there are some circumstances where the controller cannot locate the next move For example a subroutine call if statement or M02 lies in between the G41 and the next move In these cases the G41 will not generate a lead off move G42 is similar to G41 except it activates ICRC to the left of the programmed tool path 2 32 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 8 3 Activate ICRC Left G42 Th
270. ode may be changed via the G codes Menu of the CNC Initialization screen In general a particular parts program block may contain multiple G codes However in order to avoid contradictions only one G code from a particular group may appear on a given parts program block If multiple G codes from a group appear on one line the last one in the line will be the one in effect The programmer should also be aware that some extended commands also generate motion INDEX STARTM 2 4 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 22 Introduction to G code Motion The remainder of this introduction serves three purposes 1 A guide to the G code documentation under which various topics of CNC motion are completely explained 2 An introduction to CNC directed motion 3 A repository for miscellaneous information not contained under any G code documentation section Further elaboration on the following topics of interest can be found discussed under the documentation section shown to the right of the topic Position see below Velocity see below and F code Acceleration see G60 or G61 Transition between motion blocks see G8 or G9 Simultaneous multiple axis motion see G98 or G99 The CNC programmer can specify that multiple axes be moved simultaneously in a G code move The controller will then move all the specified axes to the specified targets However there are some subtle points co
271. of a normal homing sequence Therefore you must use an alternate method to determine the absolute position In this case it may be logical to permit software limits and safe zones to be active at all times Setting this parameter to a one 1 causes these features to become active after successfully homing the axis The default value is zero 0 and causes these features to always be active ALPHA The alpha parameter is used to filter the AFFGAIN parameter this limits disturbances in the servo loop caused by sudden accel changes that might be generated from a handwheel input with a large scaling factor The scaling of this parameter is inverse so 65536 is no filtering of the AFFGAIN parameter and 1 would be maximum filtering Range 1 65536 Default 65536 VGAIN This parameter is used by the servo loop to minimize position error during constant velocity It is only used when the command to the drive is a velocity command when the Kp and Ki parameters are both zero Range 0 8388607 Default 0 Version 1 2 Aerotech Inc Axis Parameters U600 Series Programming Manual ICMDPOLARITY This parameter is used to invert the phasing of the servo loop This is done by inverting the current command polarity that is output from the DAC to the drive On a U631 a positive command should produce clockwise rotation of the motor on the U600 it should be counterclockwise This parameter is used only to correct for reversed servo loop phasing
272. of this parameter is 0 to 1 000 The default value is 10 VFF This parameter enables or disables the Velocity Feed Forward function Once enabled this function minimizes the position following error A one enables this function while a zero disables it A 2 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters DRIVE This parameter enables and disables the motor s torque associated with an axis A zero disables the drive while a one enables it This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter AUX This parameter controls the auxiliary output of a selected axis A one asserts the output while a zero de asserts it Typically this output may be used to activate a motor brake The user may configure the FAULTMASK and AUXMASK parameters to cause this output to change state on an axis fault Therefore each time a fault condition occurs the system would apply a brake to the motor AFFGAIN This parameter sets the Acceleration Feed Forward Gain used in the acceleration loop of the selected axis The range for this parameter is 1 000 000 to 1 000 000 The default value is 0 BLOCKMOTION This parameter causes the axis to ignore any motion commands The only exception is when the axis is currently under the control of a sync table While the system blocks motion the axis accepts commands to stop A valu
273. ogram DECEL This parameter controls the time that it takes to decelerate the current velocity to a lesser velocity while the DECELMODE parameter specifies time based ramping The units for this parameter are in milliseconds and can range between O and 100 000 The default value is for 0 msec Deceleration refers to any decrease in velocity as The user may also specify deceleration mode parameters from within a parts program ACCELMODE This parameter permits you to select the type of ramping used during the execution of motion commands This ramping may be time based using the ACCEL parameter or rate based using the ACCELRATE parameter Also you can configure the ramping to be either linear or sinusoidal 1 cosine The following chart indicates how to set this parameter The default for this parameter is zero for a time based linear ramp 0 Sinusoidal Ramping Time Based 1 Linear Ramping Time Based 2 Sinusoidal Ramping Rate Based 3 Linear Ramping Rate Based The user may also specify acceleration mode parameters from within a parts program Version 1 2 Aerotech Inc A 7 Axis Parameters U600 Series Programming Manual GE DECELMODE This parameter permits you to select the type of ramping used during the deceleration of motion commands This ramping may be time based using the DECEL parameter or rate based using the DECELRATE parameter Also you may configure the ramping to be either linear
274. oints and the processing time required for each program block An application which requires high accuracy velocity profiling might decrease this time interval thereby increasing the number of points used to generate the desired path The only parameter for this command is specified using the F keyword and is the new time interval in seconds The resolution of this parameter is 0 001 and must be greater than zero SYNTAX G62 Fxxxx where xxxx is the time interval in seconds EXAMPLE G62 F0 005 Sets the new profile time to 5 milliseconds Version 1 2 Aerotech Inc 2 45 G Codes U600 Series Programming Manual MARAL S 2 11 4 Sinusoidal 1 Cosine Acceleration Mode G63 When accelerating and decelerating using the time based parameters G67 the UNIDEX 631 U600 CNC offers the flexibility of choosing between two distinct types of acceleration linear or sinusoidal The G63 command specifies that the acceleration type to be used is sinusoidal Sinusoidal acceleration is typically used on systems containing a large inertial mass which is resistant to sudden changes in acceleration Please refer to the Acceleration Deceleration Overview SYNTAX G63 This is the default operational mode of acceleration while operating from time based parameters The parameter may be set regardless of the current setting of the Ramp Type G67 G68 G code group However the effect of this parameter will be apparent only when operat
275. olutions The linear axis Y is to be moved 6 smillimeters at a speed of 1 2 millimeter per spindle revolution Therefore this move will be completed in 12 spindle revolutions The linear axes X and Y are commanded to smove 2 and 4 inches respectively For each revolution of the spindle the vectorial distance to move the slaves is 2 235 inches Therefore the move will be completed in two spindle revolutions Since X is traveling 1 2 the distance of Y X will move 0 745 inches per spindle srevolution and Y will travel 1 490 inches This is not the default operational mode of the controller 2 62 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 13 4 Constant Surface Speed Spindle Programming G96 In some cutting applications it is desirable to allow the speed of the spindle to be driven by the position of an axis perpendicular to the spindle The G96 command enables this mode of operation It is referred to as Constant Surface Speed spindle programming because as the perpendicular axis comes closer to the center of the part the speed of the spindle is increased As it moves further away the spindle speed is decreased The amount of spindle speed differential is proportional to the change in surface area of the part being cut That is as the radius of the part decreases the speed of the spindle is increased to maintain a constant surface velocity The inverse of this is als
276. on 2 17 Single Pulse Defining 5 14 Splined Moves 2 17 Sinusoidal Acceleration 2 43 2 46 2 49 Splining Algorithm 2 17 2 45 Sinusoidal Acceleration Mode 2 46 Splining Method 2 17 Sinusoidal Ramping A 7 Splining Mode of Operation 2 17 Size Parameter 3 14 SQRT 4 11 Size Array 4 7 Square Root 4 11 Slave Axes 2 61 Stack 4 37 Slave Position CAM Table Entries Absolute A 13 Stack Pointer 4 37 4 38 Slave Position CAM Table Entries Relative A 13 Start Extended Command Block 1 1 Slave Profile Execution A 12 Starting Angle Thread 2 19 SLEW command 4 36 STAT Command 4 48 Slope of a Velocity Curve A 14 Static variables 1 12 Smooth Motion 2 17 STATUS Parameter A 11 Smooth Point to point Move 2 17 Stop Cutter Compensation 2 30 SOFTLIMITMODE Parameter A 15 Stop Parameter Monitoring 2 41 Softnames 1 3 Stop Spindle Movement 3 3 SOFTNAMES 4 41 Stop Optional 3 3 Software Home 2 58 Stop Program 3 3 Software Limit A 15 STRM command 4 61 Software Limits A 15 Subroutine Call 4 8 Software Limits Activation Mode A 15 Subroutine Name 4 5 Space Locate Part 4 49 Subroutine Call 4 26 Special Symbol 3 5 Subroutine Define 4 8 Special Symbol 4 8 Subroutine Library 4 37 Special Symbol 4 4 Subroutine Library Call 4 26 Special Symbol 4 8 Subroutines 4 5 Special Symbol 3 5 3 15 Subtraction 4 10 Special Symbol 4 7 Summary Extended Commands 4 1 Special Symbol Semicolon 3 15 Symbol 1 1 S
277. on specified by argument vO to a maximum voltage at target position position specified by argument vmax Syntax for this mode is PSOT 6 dac v0 vmax position 5 9 1 6 Mode Argument 8 This mode is used to vary the laser firing output not the DAC outputs It generates a laser firing output pulse at zero velocity as defined by the minimum on and off time parameters Also it decreases the off time of the pulse to the value specified by the minimum off time parameter as the velocity increases to the value designated by the velocity parameter Syntax for this mode is PSOT 8 on_time off_time min_off_time vel 5 9 1 7 on_time Argument The on time argument is specified in 100 usec increments i e on time 1 spc is equal to 100 usec on time this is the on time at zero velocity 5 9 1 8 off_time Argument The off_time argument is specified in 100 usec increments i e off time 1 spc is equal to 100 usec off time this is the off time at zero velocity 5 9 1 9 min_off_time Argument The min off time argument is the on time reached decreased to at the specified velocity The min off time is specified in 100 usec increments i e min off time 1 is equal to 100 usec minimum off time 5 9 1 10 vel Argument The vel argument is specified in counts per msec which is the velocity where the minimum off time of the laser firing pulse is reached Version 1 1 Aerotech Inc 5 19
278. on is evaluated as FALSE Note that if the condition is FALSE on the first evaluation the body inside the WHILE will never be executed At this time program flow proceeds to the statement immediately following the ENDWHILE keyword SYNTAX WHILE lt conditional expression gt DO lt program block gt lt program block gt ENDWHILE 4 24 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands EXAMPLE DVAR OUTER INNER Define variables OUTER and INNER OUTER 0 Initialize outer loop counter to zero WHILE OUTER LT 10 DO Execute this loop until the variable OUTER jis greater than or equal to 10 OUTER OUTER 1 Increment the loop counter ENDWHILE End of while construct WHILE OUTER GE 1 DO Execute this loop until the variable OUTER jis less than or equal to 0 INNER 0 Initialize inner loop counter WHILE INNER LE 5 DO While loops can be nested inside of one another INNER INNER IF INNER EQ 5 THEN Even conditional statements can be in while loops OUTER OUTER 1 ENDIF ENDWHILE ENDWHILE As shown in the example above WHILE loops can be nested within one another The maximum nesting depth is 20 levels 5 Version 1 2 Aerotech Inc 4 25 Extended Commands U600 Series Programming Manual GE 4 4 6 Call Subroutine Call Library Subroutine CLS CLLS This command calls a subroutine When the specified subroutine has completed its task program execution continues with the next
279. option of the Set up menu Please refer to the UNIDEX 631 U600 User s Manual for more information on the operation of this dialog box As mentioned each tool record contains 17 entries 4 of which are reserved The following discussion describes each of the 13 fields which are currently in use 1 Radio Frequency Tool Identification Number This number is a unique number used to distinguish between the various tools available at this station It is specified immediately following the T keyword to activate the tool parameters It should be noted that T0000 is used to deactivate all tool offsets 2 Tool Type This field contains an indication of the type of the tool Valid values include 1 through 4 and are defined as follows 1 Turning Tool 2 Touch Probe 3 Cleaning Tool 4 Drilling Tool 3 Tool Location This field is used to denote the current location of the tool within a station Twenty possible locations exit 1 18 Location on tool carousel 19 In the tool changer gripper 20 In the tool post Version 1 2 Aerotech Inc Symbols amp Axis Designators U600 Series Programming Manual 10 11 12 Tool Orientation The tool orientation defines the orientation of the tool with respect to its placement in the tool post Valid values for this field include the following 1 Right hand 2 Left hand 3 Upside down right hand 4 Upside down left hand Nominal Radius This field contains the tool radius as spe
280. or associating M codes with binary inputs binary outputs PLC register inputs and PLC register outputs If you purchased the multi CNC version of MAINMENU you may also designate CNC specific M codes in the file MCODEx INI where x is the CNC 1 through 4 3 2 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes 3 1 1 Program Stop MO Upon completion of all other commands in the program block program execution will stop You may continue program execution with the Cycle Start Control located on the CNC Run Screen refer to the UNIDEX 631 U600 User s Manual 3 1 2 Optional Stop M01 The functionality of this command depends upon the current state of the Optional Stop Control located on the CNC Run Screen refer to the UNIDEX 631 U600 User s Manual If this control is active the CNC will respond to this M code as described for the MO command Otherwise this M code is ignored Use of this command permits you to interrupt program execution at a specific point when an abnormal condition has occurred but does not require operator intervention under normal circumstances 3 1 3 End Of Program M02 This command ends the program 3 1 4 Spindle On Clockwise M03 This command causes the spindle to begin rotating clockwise CW The speed of the spindle is determined by the S keyword as well as the current operational mode or MDI mode in respect to the Spindle Speed G code group 3 1 5 Spindle On Coun
281. or of the rotary axes will never exceed this value Unlike the F word there is no explicit maximum the maximum is taken to be the current E word setting As in the F word this limit can only be exceeded under the three conditions listed above Version 1 2 Aerotech Inc 1 5 Symbols amp Axis Designators U600 Series Programming Manual 1 2 3 1 Notes on the Feedrates Display Screen This screen can be found in the manual or program screens under the Status menu item It shows the programmed and actual feedrates for the MFO scroll bar and can be varied at anytime between 0 and 150 However it will not exceed 100 for GO moves If the user sets it to 0 the move will pause as if in feedhold The screen also shows the currently programmed feedrates current E and F words and the actual feedrates The actual feedrates represent the actual E and F words being achieved in the current move In a GO mode the actual feedrates are always zero even though the axes are moving During a contoured move the move when not in feedhold or fault the actual feedrates will differ from the product of the programmed time and the MFO percentage only under the following circumstances 1 There is a limiting feedrate preventing the programmed feedrate from being achieved and the feedrate is dominant Under either of these conditions the actual feedrate number will flash SYNTAX F Variable If the feedrate is specified within a variable or
282. ounter 1 2 ed nS Distance N Counter1 Counter2 Counter 2 i Distance Counter 1 Distance x Counter1 Counter2 Counter37 Counter 3 Count r 2 Counter 1 EXAMPLE PSOD 0 5 Pulsed output occurs every 5 machine steps PSOP 4 10 10 usec pulse output on position PSOF 3 X Y Activate output firing pulse train PSOD 1 array 199 200 Pulsed output occurs at incremental distances found in sarray 199 thru array 0 200 total firing distances PSOF 3 X Y Activate output firing pulse train PSOD 2 array 100 50 Pulsed output occurs at absolute distances found in array 100 sthru array 149 50 total firing distances PSOF 3 X Y Activate output firing pulse train 5 8 Aerotech Inc Version 1 1 U600 Series Programming Manual Optional PSO Commands 5 5 Enable Disable Position Synchronized Output Firing PSOF The PSOF command activate or deactivates the pulse train output and tracking features SYNTAX PSOF mode num axis axis2 axis3 Adist axis1 axis2 axis3 5 5 1 MODE Arguments For PSOF The mode argument defines one of six possible ways to use the PSOF command The argument can range in value from 0 to 5 and the following sections describe their meanings 5 5 1 1 Mode Argument 0 The mode argument 0 indicates the output firing pulse train and tracking features are disabled default Syntax for this mo
283. owing example program fragment shows how messages can be stacked and complex dialogues maintained with the user The INTEGERENTRY keyword forces the operator to enter an integer no floating point If the keyword VALUEENTRY were used a floating point could be entered The specifies what variable the value entered by the operator is placed DVAR TEMP2 PGAIN DANGER_LIMIT CLOSECDW DISPLAY PGAIN is invalid DENT GETPGAIN DISPLAY Enter a new proportional gain PGAIN INTEGERENTRY IF PGAIN LT 0 THEN DISPLAY That number PGAIN is too low JUMP GETPGAIN IELSE IF PGAIN GT 10000000 THEN DISPLAY That number PGAIN is too high JUMP GETPGAIN IELSE IF PGAIN GT DANGER_LIMIT THEN DISPLAY That number PGAIN seems large do you want to go with it anyway TEMP2 IF TEMP2 EO 1 THEN user said no JUMP GETPGAIN ENDIF IENDIF CLOSECDW This command must occupy its own program block Individual quoted strings may not exceed 39 characters 5 If a option i e BUTTON1 is used then a var must also exist in the statement Version 1 2 Aerotech Inc 4 31 Extended Commands U600 Series Programming Manual 4 5 4 Activate CDW Log File RECORDON This command enables logging of all messages displayed within the Custom Display Window CDW to the specified file All subsequent DISPLAY commands will cause their output to be displa
284. pecify Array Size 4 7 Symbol 1 2 Specify Cutter Compensation Axes 2 35 Symbolic Constant 4 5 Specify Cutter Compensation Radius 2 35 Symbolic Name 4 5 Specify Fixture Offset 2 39 Symbols 1 1 Specify Label 4 8 Symbols and 1 2 Specify Subroutine 4 8 Symbols Comment 1 1 Speed Spindle 2 19 2 61 2 63 3 3 Symbols N 1 3 Speeds Setting 2 50 2 51 Symbols Percent Sign 1 1 Spindle Axis 1 7 2 18 2 61 Symbols Semicolon 1 1 Spindle Feedrate Override Disable 3 4 SYNC command 4 57 xii Aerotech Inc Version 1 2 Version 1 2 U600 Series Programming Manual Index Sync Table Control A 3 Synchronization 5 6 Synchronization Disabled mode of A 12 Synchronized Auxiliary Output Tables A 11 Synchronized Contouring 2 8 Synchronized Motion A 12 A 13 Synchronized Motion CAM Tables A 12 SYNCSPEED Parameter A 12 System I O 3 5 System Initialization A 1 System Interrupt Faults that Cause a A 10 System Variables 1 13 T Take Data From User Stack 4 38 TAN 4 13 Tangent 4 13 Taper 2 19 Tapered Threads 2 18 Temporary Holding Areas A 1 Terminate Axis Motion 2 41 Terminate Parameter Monitoring 2 41 Testing Communications with the Axis Processor A 1 Thread Cutting Cycle 2 19 Thread Cutting Constant Lead 2 18 2 19 Thread Lead 2 18 2 19 Thread Starting Angle 2 19 Thread Taper Angle 2 18 2 19 Thread Modscan 3 5 3 10 3 14 Thread Rotation Angle 2 19 Thread Starting Angle
285. program block Information such as the location from which the subroutine was called is stored on the user s stack If the specified subroutine is called as a library subroutine information reflecting the current operational mode will also be stored there Operating mode information will be restored when returning from a library subroutine call SYNTAX CLS lt subroutine name gt or CLLS lt subroutine name gt EXAMPLE CLS MOVEHOME Call the subroutine MOVEHOME A subroutine must be defined using the DFS commands prior to being called Subroutines are permitted to call other subroutines 4 26 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 4 7 Execute OS 2 or DOS Program EXECUTE This command allows the operator to execute any EXE file COM file CMD or BAT file as a CNC command Any set of parameters up to 100 characters may be passed to the executable file and variable values may be included in the parameters By providing a null executable name see examples below the operator can specify that an OS 2 window be displayed allowing entry of commands The CNC program will wait unitil the executable file is completed or for a null executable file before continuing to the next step in the CNC program Also the operator can run BAT files with the special syntax and receive the return code from the executable file and place it into a CNC variable see example b
286. pulse train and continue 25 times Motion commands post processing etc PSOD 0 50 Define pulsed output firing occurs every 50 machine steps PSOP 1 5 10 0 Define pulse output train Motion commands post processing etc Motion controller pre processing PSOM 0 array 0 64 Define output bit mapping in array 0 thru array 15 Motion commands post processing etc Motion controller pre processing PSOM 0 array 0 64 Define output firing pattern in array O thru array 15 PSOF 5 500 X Activate output firing pulse train lock onto axis X and run bit pattern in the reverse direction Motion commands post processing etc PSOF 3 X Y Activate the output firing pulse train and lock onto axes X and Y PSOF 4 X Y Z Activate output firing pulse train and lock onto axes X Y and Z Version 1 1 Aerotech Inc 5 11 Optional PSO Commands U600 Series Programming Manual 5 6 Position Synchronized Output Using Bit Mapping PSOM The PSOM command defines the characteristics of a bit pattern stored in a programmable range of UNIDEX 631 U600 variables Bit patterns are used to specify when the laser is to be On PSOF 4 or when to fire a pulse output PSOF 5 PSOM 0 has not been implemented at this time SYNTAX PSOM 0 array x tsize 5 6 1 array x Argument The array x argument specifies the array and starting index of the UNIDEX 31 variable that contains the starting number
287. puts 3 20 vi Aerotech Inc Version 1 2 Version 1 2 U600 Series Programming Manual Index Initializing Register Input M Codes 3 22 Initializing Register Output M Codes 3 23 Initializing Register Outputs 3 24 Initializing Variables 4 6 Initializing Virtual I O 3 25 Initiate a Home 4 35 Initiating Data Acquisition 4 45 INPOSLIMIT Parameter A 4 Input 5 4 Input Binary 3 11 Input Probe 4 49 Input Output 3 5 Inputs 3 1 3 5 3 10 3 13 3 14 A 11 i argument 5 4 conditional tracking based on the states of 5 3 Inputs Binary 3 14 Instantaneous Acceleration 2 12 Instantaneous Current Averaging A 4 Instantaneous Current Averaging A 4 Instantaneous Speed Maximum A 5 INT 4 11 Integral Gain KI Parameter A 2 Integral Gain of the Velocity Loop A 2 Interpolation and CAM Points A 12 Interpolation Circular 2 8 2 9 2 16 2 21 2 31 2 33 2 59 2 60 2 61 Interpolation Circular Inverse 2 70 Interpolation Helical 2 9 Interpolation Linear 2 8 2 9 Interpolation Normal Circular 2 69 Interrupt Program 3 3 Interrupt System A 10 Intersection Cutter Radius Compensation 2 1 2 28 Intersectional Cutter Radius Comp 1 19 INTMASK Parameter A 9 Inverse Circular Interpolation 2 70 Inverse Time Feedrate Programming 2 59 IOLEVEL Parameter A 10 J Joining Parts Programs 4 43 JUMP 4 18 Jump Entry Point 4 18 Jump to User Defined Enter Block 4 18 Jump to User Defined Entry Block 4 18 K
288. r more information The G65 command overrides the default deceleration time parameter for the UNIDEX 631 U600 CNC Subsequent motion commands accelerate to the commanded velocity using the rate specified This rate is specified in either inches second second or millimeters second second depending upon the current setting of the units G70 G71 G code group SYNTAX G66 Fxxxx where xxxx is either inches sec sec or millimeters sec sec EXAMPLE G70 G66 FO 1 3Sets the new deceleration rate to 0 1 inches second second G71 G66 FO 254 Sets the new deceleration rate to 1 27 mm second second The parameter may be set regardless of the current setting of the Ramp Type G code group However the effect of this parameter will be apparent only when operating in the rate based G68 acceleration mode 2 48 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 11 8 Acceleration Deceleration Time Based Ramp Type G67 The UNIDEX 631 U600 offers two modes of operation with respect to acceleration and deceleration time or rate based The G67 command specifies that acceleration and deceleration are to be performed with time based parameters While operating in this mode the Accel Time and Decel Time parameters are used to specify the amount of time in which all moves are to accelerate to and decelerate from the commanded velocity These parameters may be changed using the G60 and G61 commands respectively The current sett
289. r the splining mode This is done with the G30 command The points along the desired path are then listed individually in the current programming mode either absolute G90 or incremental G91 The vectorial distance between these points should be approximately the same Another command within the same G code group GO G1 G2 G3 is used to terminate this operational mode When the CNC encounters the G30 command within an executing parts program program execution will pause while the spline coefficients are calculated When the calculations are completed program execution will resume and the axes will move to the specified points The speed at which this motion occurs is specified using the feedrate F keyword and applies to all points specified Feedrate override controls are active while executing splined moves SYNTAX G30 EXAMPLE G30 Enter the cubic spline mode F100 Specify a feedrate for the entire splined path G91 X1 Y1 First point 1 1 G91 X2 Second point 3 1 i X1 Y 1 Third point 4 0 _3Exit the cubic spline mode These points may be used to generate the profile shown in Figure 2 7 MARAL Version 1 2 Aerotech Inc 2 17 G Codes U600 Series Programming Manual GE MARAL This is not the default operational mode of the CNC There must be a minimum of three G30 move blocks or the coefficient calculation fails 2 4 6 Constant Lead Thread Cutting G33 This term ref
290. ral a variable or a simple expression This value will be applied to all axes specified SYNTAX SETPARM AxisList AxisParameter Value EXAMPLE SETPARM X IMAX Set the value of the IMAX parameter for the X axis equal to 10000 10000 SETPARM X Y Z DRIVE Sets the DRIVE parameter for the X Y and Z axes to the value VARI specified by VARI 4 8 8 Monitor Axis Speed MONSPD The MONSPD statement monitors the speed of a specified axis when it is not accelerating or decelerating It generates a CNC fault and sets bit 1 decimal value 2 of the CNCSTAT3 variable if the speed falls outside the designated range The minimum and maximum limits designated are in user units per second The next statement in a CNC program executes immediately after this statement SYNTAX MONSPD axis min_limit max_limit EXAMPLE MONSPD Y 50 300 4 50 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 8 9 Wait Statement WAIT The WAIT statement will hold until a specified condition is met Four different wait conditions may be specified The statement may wait until an axis is IN RANGE where it will wait for the axis to be at a position greater than the low position value and less than the high position Both positions are specified in absolute user units This mode requires the constant IN RANGE to be specified If the range specified is very small lower upper and the axis crosses thru the
291. rameter to this command is the name of the axis parameter whose value is to be retrieved As mentioned a list of valid parameter names may be obtained using the ZSID debug960 utility The last parameter to this command is the name of the variable in which the parameter value is to be placed If multiple axes are specified the variable specified should be an array element The value of the first axis specified will be placed into the element specified Subsequent elements will contain the values retrieved for the other axes SYNTAX GETPARM Axis AxisParameter Variable or GETPARM AxisList AxisParameter StartingArrayElement EXAMPLE GETPARM X IAVG VARI Read the current value of the axis parameter IAVG for the X axis Place the value of this parameter into the variable VAR1 GETPARM X Y Z DRIVE TSTARRAYIO Read the value of the DRIVE axis parameter for the X Y and Z axes The values will be placed into sSTSTARRAY 0 TSTARRAY 1 sand TSTARRAY 2 respectively 4 48 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 8 6 Initialize Touch Probe G51 The UNIDEX 631 U600 CNC provides support for digital touch probe measuring It is designed to permit you to determine the location of the part in space The probe command initializes the touch probe the G51 command activates probe monitoring When probe input is detected the CNC aborts the move in progress and returns the current pos
292. range quickly then the wait may hang Because the axis enters and exits the range before the position monitoring gets a chance to see it Variables may be used to specify the low and high position ranges These variables are evaluated when the statement is executed However once evaluated the values the U600 U631 monitor do not change even if the value of the variables change The statement may wait until the axis it is slaved to is within a specified absolute position range where it waits for the master axis to be at a position greater than the low position value and less than the high position Both positions are specified in absolute user units This mode requires the constant IN RANGE MASTER to be specified The statement may wait until a cam table has been calculated by specifying the number of the table This mode requires the constant TABLE_READY to be specified The statement may also wait until a drive is enabled by specifying the axis This mode requires the constant DRIVE_ENABLED to be specified When the program is aborted all wait conditions are terminated SYNTAX WAIT IN_RANGE axis low_pos high_pos or WAIT IN RANGE MASTER axis low pos high pos or WAIT TABLE_READY table_number or WAIT DRIVE_ENABLED axis Version 1 2 Aerotech Inc 4 5 Extended Commands U600 Series Programming Manual EXAMPLE WAIT IN_RANGE X 30 50 WAIT IN RANGE MASTER X 30 10 WAIT TABLE REA
293. rds sesse see see se ee ee 3 11 e XYCOM Digital VO Cards esse see see see se ee 3 13 e Define XYCOMTOBoard ees eee eee se ee 3 13 e Associating Virtual I O with Xycom I O 3 14 e The MCODEXINI Pile oa ese esse ee ee 3 15 e Automatically Initializing Virtual VO sesse 3 25 of The EAWIETMSGINNEde e a ce 3 25 31 Description In general M codes are used to perform miscellaneous I O functions from within parts programs The functions associated with each M code vary significantly However in most cases they perform one of the following functions e Alter parts program flow e Set or read general purpose outputs e Read general purpose inputs Version 1 2 Aerotech Inc 3 1 M Codes U600 Series Programming Manual Table 3 1 is a list of the M codes that are pre defined for the UNIDEX 631 U600 Table 3 1 M code Summary M code Page Description MO 3 3 Program Stop M01 3 3 Optional Program Stop M02 3 3 End of Program M03 3 3 Spindle On Clockwise M04 3 3 Spindle On Counter clockwise MOS 3 3 Spindle Off M19 3 3 Spindle Off Reorient M30 3 4 Reset to Beginning of First Program and Wait for Cycle Start M47 3 4 Restart Program Execution M48 3 4 Feedrate Override Lock M49 3 4 Feedrate Override Unlock M50 3 4 Spindle Feedrate Override Lock M51 3 4 Spindle Feedrate Override Unlock NOTE Designation of CNC specific M codes are in the file MCODE INI This file provides a mechanism f
294. red when the cnc is a special flag FOR SINGLE CNC BUILDS THE CNC NUMBER IS IGNORED ALWAYS runs on cnc 1 The run mode is a sum of values bit mapped as follows 1 automatically run the program if it compiles 2 start up in step mode 4 start up in optional stop mode on 8 start up in block delete on mode 16 run invisible no run screen display 32 exit run screen when if program halts 64 exit run screen when if program compiles OK 128 exit run screen when if program compiles with errors 256 open recording file for compile messages 5 example 2 testl 6 start testl pgm on cnc 2 with step and optional stop on 5 Figure 1 2 The Autorun ini File V VV Version 1 2 Aerotech Inc 1 23 Symbols amp Axis Designators U600 Series Programming Manual 1 24 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes CHAPTER 2 G CODES In This Section ol DESTINON EE EE 2 1 e Introduction to G code MOHON cceccccsessceessceceesssceeseseeeeseeeeees 2 5 ORONO tT OIG codes LE EE N EN 2 7 el Plane Selection Godes e cere 2 21 ome NonmalcyaVioder G2O0NG2IGL2 erent A 2 22 T Safe Zones 656 GE ee 2 26 e Intersectional Cutter Radius Compensation ICRC Overview 2 28 e ExtureOntse GossGo4Gos pee ee 2 39 e Parameter Monitoring G56 G57 A se ee Re ee RR ee 2 41 e Acceleration Deceleration Overview G60 G61 ee ee 2 42 e Prosrammun O O
295. remain open until the CLOSECDW command is executed SYNTAX OPENCDW EXAMPLE OPENCDW _ Opens the Custom Display Window The OPENCDW command is superfluous because a DISPLAY command with no preceeding OPENCDW will automatically open the display window Please refer to the comprehensive example following the DISPLAY command description This command must occupy its own program block Issuing an OPENCDW command while the Custom Display Window is open has no effect 4 28 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 5 2 Close Custom Display Window CLOSECDW This command causes the Custom Display Window created with the OPENCDW command to disappear from the CNC Run Mode Screen All data displayed within the window using the DISPLAY command is lost See RECORDON statement to preserve this data in a disk file SYNTAX CLOSECDW EXAMPLE CLOSECDW Close the Custom Display Window Please refer to the comprehensive example following the DISPLAY command description 5 This command must occupy its own program block A CLOSECDW command is ignored if the Custom Display Window is not open The Custom Display Window closes automatically upon program completion or termination 4 5 3 Placing Items in the Window DISPLAY This command prints a message into the Custom Display Window CDW The message occupies exactly one line of text in the CDW window There are many options based o
296. repeat loop As shown in the example repeat loops may be nested within each other The maximum nesting depth is also 20 levels Version 1 2 Aerotech Inc 4 21 Extended Commands U600 Series Programming Manual 4 4 4 Conditional Branch On Error Conditions ONERRGOTO The ONERRGOTO command is used to redirect program flow if a certain condition occurs It operates much like an interupt if the condition occurs anytime during program operation execution immediately jumps to the label specified However there is no mechanism to return to the point where the interrupt occured The ONERRGOTO operates like a JUMP not a subroutine The user can specify multiple ONERRGOTOs in a program The priority at which ONERRGOTO will be processed depends on the priority level assigned to the ONERRGOTO through the P parameter The priority assignments are 0 through 100 0 is a special flag that disables the interrupt it will not trigger an interupt and the highest priority assignment is 100 If one ONERRGOTO is being processed and a second ONERRGOTO with a higher priority becomes true it will interrupt the current execution If no priority level is assigned to P the priority default is 50 SYNTAX ONERRGOTO lt label V L G P CLEAR V G ENABLE V G P gt EXAMPLES To assign an onerrgoto condition ONERRGOTO handler son any CNC or axis fault jump to label handler ONERRGOTO handler V432 LO if virtual
297. rom the stack prior to subroutine completion Otherwise when attempting to return from that subroutine an incorrect return address will be removed Version 1 2 Aerotech Inc 4 37 Extended Commands U600 Series Programming Manual 4 7 2 Removing Data From the User s Stack POP This command removes data from your stack The value s are removed from the top of the stack and placed into the variables specified in sequential order The stack pointer is automatically decremented as each item is removed This information was previously stored using the PUSH command described above SYNTAX POP lt Variable gt EXAMPLE POP VARI Remove the value from the top of the stack and place it into VARI Please refer to Figures 4 2 4 3 and 4 4 on the folowing pages for a comprehensive example Push Pop Example User Stack Stack Pointer gt Last data pushed PUSH VAR1 User Stack Stack Pointer gt 125 2 LOCALOO 10 69 Figure 4 2 Push Pop Example 4 38 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands PUSH GLOBALOO User Stack Affected Variables VARI 125 2 Stack Pointer gt 0 0 GLOBALOO 0 0 125 2 LOCALOO 10 69 PUSH 2 75 User Stack Affected Variables Stack Pointer gt 2 75 VARI 125 2 0 0 GLOBALOO 0 0 125 2 LOCALOO 10 69 POP VAR1 User Stack
298. ror Image Example sesse ese ese see see ee se ee Gee Gee Ge ee ee ee ee 2 53 Figure 2 25 G84 Parts Rotation Example eee see see see ee se ee ee ee ee ee 2 55 Figure 2 26 Absolute Mode Programming uses se se see Ge ee ee ee Ge ee ee ee 2 56 Figure 2 27 Incremental Mode Programming esse esse se see ee ee ke ee Ge ee ee ee 2 57 Figure 3 1 MODSEAN INLEES eg Id ee Ee Se bee ts SE ES RS ee ee 3 8 Figure 3 2 MCOPDEX INI si EE N ER EE EE RE EE EE 3 17 Figure 3 3 VIRT IN PGs icc GE SERE Dee ER ER GE he ee a E ees 3 25 Figure 4 1 UGOO User Interrupi iets ses RS rep gee se eo EE doep EER eg Reede eg eg 4 24 Figure 4 2 Push Pop Example uses sesse esse ER si cores ca Seg EES eek RE GR ee ge ee sb ee be Fee sd 4 38 Figure 4 3 Push Global Example cece see see see ee Ge ee ee ee Ge SR Re Ge GR Re ee 4 39 Figure 4 4 Push Local Examples oreinen EE HE a E 4 40 Figure 4 5 Mastet Slave Profle ninn a N A 4 56 Figure 5 1 Bit Mapping Scan Patterns for PSOM Commands sees sees se esse 5 13 Figure A 1 The Defined Slope of a Velocity Curve at a Specified Angle A 14 V VV Version 1 2 Aerotech Inc xi List of Figures xii U600 Series Programming Manual Aerotech Inc Version 1 2 U600 Series Programming Manual List of Tables LIST OF TABLES Table 1 1 Hard Axis NameS cece see se ee ee ee Ge Se Ge ee Se eese eesi ens ee ee ee ee 1 3 Table 1 2 CNCSTATI CNCSTAT2 and CNCSTAT3 Varia
299. routing information specified is used when attempting to access the PLC over the Modbus Plus network This parameter is composed of exactly five routing addresses each of which has a valid range of 0 63 Refer to your PLC documentation MODICON PLC User s Manual for additional information EXAMPLE PLC 6 11 22 33 4455 __ Specifies that PLC 6 is present in the system and can be accessed using _311 22 33 44 55 as routing addresses Version 1 2 Aerotech Inc 3 9 M Codes U600 Series Programming Manual GE 3 3 3 Associating Virtual VO with PLC VO The modscan thread ensures that the state of the virtual I O bits are consistent with the current state of the hardware In order to perform this function an association must be made between the virtual I O bits and the various PLC registers This association is made in groups and is performed as described below Two types of inputs and outputs are supported in relation to a PLC binary bit oriented and register byte oriented Both of these types may be either inputs or outputs The naming conventions shown below must be used to designate the type of I O found in the PLC Bit Type of I O Description Byte Type of I O Description BI Binary Input Bit RI Register Input BO Binary Output Bit RO Register Output Once you have specified the type of I O present you must then associate this group with a particular set of 4xxxx registers resi
300. rror has occurred corrupting the file pointer Invalid FILEREAD syntax The FILEREAD command was not specified properly Invalid FILERESET syntax The FILERESET command was not specified properly Invalid FILERESSET file pointer returned from CNC There are too many user files open or an internal error has occurred corrupting the file pointer Invalid FILEWRITE file pointer returned from CNC There are too many user files open or an internal error has occurred corrupting the file pointer Invalid FILEWRITE syntax The FILEWRITE command was not specified properly Invalid First Token The first parameter to the command is invalid Invalid E Code Its parameter was neither numeric or a variable Invalid F Code Its parameter was neither numeric or a variable Invalid G Code There was no G code number following the G Invalid I Code Its parameter was neither numeric or a variable Version 1 2 Aerotech Inc C 13 ERROR CODES U600 Series Programming Manual Invalid J Code Its parameter was neither numeric or a variable Invalid K Code Its parameter was neither numeric or a variable Invalid M Code There was no M code number following the M Invalid N Code There was no N code number following the N Invalid O Code Its parameter was neither numeric or a variable Invalid P Code Its parameter was neither numeric or a variable Invalid Q Code Its parameter was neit
301. s Each of the trigonometric operators described below only requires one operand All angular measurements are specified in radians 4 3 2 1 Sine SIN This operator produces the sine of the angle specified VARI SIN PI 2 VARI SIN ARRAYI VAR2 4 3 2 2 Cosine COS This operator computes the cosine value of the angle specified as its only operand EXAMPLE VARI COS PI 3 VARI COS VAR 4 3 2 3 Tangent TAN This operator computes the tangent value of the angle specified EXAMPLE VARI TAN PI 4 VARI TAN VAR2 2 4 3 2 4 Arcsine ASIN This operator computes the angle whose sine value was specified as the operand The computed value is in the range of 0 through PI 2 EXAMPLE VARI ASIN 1 0 VARI ASIN VAR2 1 4 3 2 5 Arccosine ACOS This operator computes the angle whose cosine value was specified as the operand The computed value is in the range of 0 through PI 2 EXAMPLE VARI ACOS 0 5 VARI ACOS 1 VAR2 4 3 2 6 Arctangent ATAN This operator computes the angle whose tangent value was specified as the operand The computed value is in the range of 0 through PI 2 EXAMPLE VARI ATAN 0 25 Version 1 2 Aerotech Inc 4 13 Extended Commands U600 Series Programming Manual 4 3 3 Logical Operators The programming language of the UNIDEX 631 U600 supports logical operations on variables Although all operands are specified in floating point the CNC performs the
302. s 0 15 They should not have any other I O mapped into these locations refer to Table 3 2 Table 3 2 shows that the encoder expansion board will have its I O preassigned to specific virtual I O values depending on the board number the encoder card is configured as 3 6 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes Version 1 2 Aerotech Inc Table 3 2 Virtual I O Inputs and Outputs INPUTS Board Label Virtual Input Connector and Pin Numbers on the Respective Board U600 INO 15 0 through 15 P9 pins 31 1 odd pins Expansion Board 1 INO 15 16 through 31 P9 pins 31 1 odd pins Expansion Board 1 IN16 39 32 through 55 P8 pins 47 1 odd pins Expansion Board 2 INO 15 56 through 71 P9 pins 31 1 odd pins Expansion Board 2 IN16 39 72 through 95 P8 pins 47 1 odd pins Expansion Board 3 INO 15 96 through 111 P9 pins 31 1 odd pins Expansion Board 3 IN16 39 112 through 135 P8 pins 47 1 odd pins OUTPUTS U600 OUTO 7 0 through 7 P9 pins 47 33 odd pins U600 OUTS8 15 8 through 15 P10 pins 47 33 odd pins Expansion Board 1 OUTO 7 16 through 23 P9 pins 47 33 odd pins Expansion Board 1 OUT8 15 24 through 31 P10 pins 47 33 odd pins Expansion Board 1 OUT16 39 32 through 55 P7 pins 47 1 odd pins Expansion Board 2 OUT 7 56 through 63 P9 pins 47 33 odd pins Expansion Board 2 OUT8 15 64 through 71 P10 pins 47 33 odd pins Expansion B
303. s CNC Invalid identifier usage The identifier shown can not be used in this context Invalid index type The index is of the wrong type Invalid Manual Mode Command This command is not valid in the manual mode Invalid Monitor axis designation Version 1 2 Aerotech Inc C 15 ERROR CODES U600 Series Programming Manual You have not specified a valid axis to monitor Invalid Monitor Parameter designation You have not specified a valid parameter to monitor Invalid Monitor trigger level designation You have not specified the trigger level properly Invalid Non Motion G Code cd Line ld CNC d Program d The G code number is not valid Invalid number The number is out of range Invalid Parameter name The specified parameter name is not valid Invalid Parameter number The specified parameter number is not valid Invalid Plane Selection Check the Plane Setup Menu for current XYZ Plane Selection The current axis plane does not have three axes assigned to it or those axes are not assigned to this CNC Invalid Probe Syntax The syntax is the PROBE keyword C is the channel number L is the active level and an array variable Invalid PSOC Syntax The syntax is incorrect Invalid PSOD Syntax The syntax is incorrect Invalid PSOF Syntax C 16 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES The syntax is incorrect Invalid PSOM Syntax The syntax is incorrect
304. s specified in the absolute G90 mode are relative to this point in space as opposed to the last software home position The UNIDEX 631 U600 CNC provides support for two such points in space These points are referred to as fixture offset 1 and fixture offset 2 Separate G codes have been implemented to permit you to determine which fixture offset is currently active 2 9 1 Cancel Fixture Offset G53 The G53 command cancels any fixture offsets currently active The preset position register s of the axes to which the fixture offset is applied are immediately updated to reflect the change in the coordinate system The machine position registers are unaffected Please note that only one offset may be active per axis The offsets are not additive SYNTAX G53 EXAMPLE G53 De activate any fixture offset present in the system The first move after the fixture offset is deactivated must be performed in the absolute G90 mode Otherwise the program position and the preset position registers will not agree Refer to the comprehensive example following the G55 command description 2 9 2 Set Fixture Offset 1 G54 The G54 command specifies the absolute coordinates of the point referred to as fixture offset 1 The preset position register s of the specified axes are updated immediately to reflect the change in the coordinate system The machine position registers are unaffected Refer to the comprehensive example following the G55 comma
305. s within the execution of a parts program For each point in the program that requires this task to be performed a call can be made to the appropriate subroutine The subroutine will be executed and upon completion program flow will return to the point from which the subroutine was called The advantage of a subroutine is that it can decrease the parts program size Multiple copies of program blocks that perform the same task can be replaced with one subroutine call However CNC subroutines unlike C language subroutines do not accept parameters or have local variables The DFS command designates a group of program blocks which constitute a subroutine As mentioned this routine may be called from various places within the parts program thus allowing the flow of execution to return to the calling point upon completion As with most extended commands this command block must begin with a left parenthesis and ends with a right parenthesis However in this case the right parenthesis specifies the end of the group of blocks included within the subroutine see the example provided with this command This closing parenthesis must occupy its own program block program line It should be noted that subroutines do not change modal motion G codes G1 G2 G3 in the calling routines For example if the calling routine executes a G2 move then calls a subroutine that executes a G1 move the G2 mode will be restored upon return from the
306. se ee RA ee Gee ee 5 21 5 9 2 9 position ATQUMENIL eee se se ee ee ee se ee ee 5 21 Aerotech Inc Table of Contents ix Table of Contents U600 Series Programming Manual APPENDIX A AXIS PARAMETER ccscssssssssssssssscsccccseees A 1 BE el EE N EE OE ER EE OE A 1 APPENDIX B WARRANTY AND FIELD SERVICE B 1 APPENDIX C ERROR CODES eseseessssssooeoeessssososoocesessssooooeoee C 1 Description OR EE sagas T E ETE Er E E C 1 Axis Processor Error CodeS ees see sees ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee C 31 INDEX V VV Aerotech Inc Version 1 2 U600 Series Programming Manual List of Figures LIST OF FIGURES Figure 1 1 Renaming Variable is id Ee ee Er ER EE eb Ee OD ER Ee Satu ER Se Ee ce 1 11 Figure 1 2 The Autorun ini File esse ses sees see se ee ee ee en eE RA Gee Gee ee ee 1 23 Figure 2 1 CW Circular Interpolation cece se see ee ee se ee ee ee E Se Re Ge Re ee 2 9 Figure 2 2 CCW Circular InterpolaHOn ee se see se Ge ee ee ee ee Se ee ee ee ee 2 10 Figure 2 3 G8 and G9 Velocity Profile esse see see ee ee Se Se GR RA Gee Gee ee ee 2 11 Figure 2 4 Velocity Profile With G8 ie sesse ss ER Ee se ESE Be SR REAGEER ERG ee rs 2 12 Figure 2 5 Velocity Profile without GI rerien n Gee Ge ee ee ee ee 2 14 Figure 2 6 Velocity Profile with G9 oo sesse ee se ee Se Se Ge RA Re Gee ee be ee ee 2 15 Figure 2 7 Effect of Splining Algorithm sees see se ee
307. sition to look up in the table with MASTERLENGTH If upon synching the actual master position lies outside of the master coordinates in the table the table master coordinates will be pushed up or down in units of MASTERLENGTH until it lies within the table As an example if the table covers from 0 to 359 degrees the master is rotational and the current master coordinate is 361 degrees the CNC will use the 1 degree entry in the table to direct the slave Camming is not intended to be used for nonrotational master axes when the current GET master position lies outside the master positions in the table The first parameter axisspec is the slave axis the second parameter parm is the table number and the third parameter integ is the SYNC mode SYNTAX SYNC axisspec parminteg EXAMPLE SYNC Y 3 2 Synchs the table up SYNC Y 3 0 _ Desynchs the table 4 10 3 FEDM Command FEDM The FEDM command is categorized as a camming or asynchronous motion command Refer to section 4 11 1 for information on this command 4 58 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 11 Asynchronous Motion Commands This group of commands allow the user to execute motion commands that do not suspend the CNC program while the motion is occurring The normal motion commands GO and G1 will always suspend the CNC program until the motion is complete Asynchronous motion commands take virtually n
308. slope of a dual slope curve which determines the torque angle at various motor speeds The base_speed determines the speed at which the motor will reach a 20 phase advance The phase_speed parameter determines the speed at which the maximum torque angle will be reached which is specified by the maximum phase parameter offset Phase Advance Max Phase 20 Base Phase Speed Speed Motor Speed Figure A 1 The Defined Slope of a Velocity Curve at a Specified Angle As the motors velocity reaches the basespeed the phase advance reaches 20 The phase_speed parameter specifies the motor velocity at which the phase advance reaches the max_phase degrees offset MAX PHASE Refer to the base speed parameter for a description of this parameter PHASE SPEED Refer to the base speed parameter for a description of this parameter A 14 Aerotech Inc Version 1 2 U600 Series Programming Manual Axis Parameters SOFTLIMITMODE This parameter sets the active mode for the software limits defined by the CWEOT and CCWEOT parameters as well as the safe zones defined by the SAFEZONECW SAFEZONECCW and SAFEZONEMODE parameters In many systems the current absolute position of an axis is unknown until after the axis reaches its home position Therefore you should not activate a software limit or a safe zone until the system successfully completes the homing process However the mechanics of some systems do not permit execution
309. specified axis mask is not valid or the axis are not assigned to this CNC Invalid soft axis name This soft axis name has not been assigned or it is assigned to an axis on another CNC Invalid starting statement The starting statement is not valid Invalid statement This statement is not valid Invalid subrange type This subrange is not valid Invalid type This type is not valid Invalid DISPLAY syntax Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES The syntax is DISPLAY message var BUTTON1 Local Variable Designation Out of Range Local variables are limited to a maximum of 1000 M Code data not found in MCODE INI The MCODE INI file is blank or contains no valid M code initialization statements M Code Get Binary Input Data Failure M code I O failure M Code Get Binary Output Data Failure M code I O failure M Code Get Register Input Data Failure M code I O failure M Code Get Register Output Data Failure M code I O failure M50 No Spindle Defined Line ld CNC d Program d No spindle axis has been defined Math stack overflow reduce the number of operations on this line You have exceeded the limit of UNIDEX 600 631 s math operations Message Queue Creation Failure CNC d Internal error possibly due to insufficient memory Min limit greater than max limit Set the maximum limit greater than the minimum limit Missing DO You omitted a DO statement Missing END
310. sseeseeeeeeeeererrereree 4 57 4 10 2 SYNC Command SYNC ee se se se ee ee ee ee ee ee 4 57 4 10 3 FEDM Command FEDM ee ese see see se ee ee ee ee ee ee ee ee ee se ee 4 58 Asynchronous Motion Commands ees esse ss se ee Ge ee ee Re ee 4 59 4 11 1 FEDM Command FEDM iese ese ese see se ee ee ee ee ee ee ee ee ee se ee 4 59 4 11 2 Index Statement INDEX ese se see se ee ee ee ee ee ee 4 59 4 11 3 Oscillate Command OSC eee se see ee ee ee ee 4 60 4114 MOVETO Statement MOVETO ees esse esse ese ese see 4 60 4115 ST RM Commands sisne espen eg Ee Ep gee ge ias 4 61 OPTIONAL PSO COMMANDS ccsssssssssseeee 5 1 Tinton Ct ons RA E RE 5 1 Programming Commands 20 00 ce see ee ee Ge Ge Ge Re GR GRA RA Gee ee ee 5 2 Conditional Tracking Based on Input States PSOC ee 5 3 5 3 1 MODE Arguments For PSOC eee cee essence se ee se ee ee 5 3 5 3 1 1 Mode Argument 0 00 eee cee se ee ee ee ee ee 5 3 5 3 1 2 Mode Argument Lo sees see se ee ee ee Se Se ee 5 3 5 3 1 3 Mode Argument 2 se se se ee ee ee ee ee ee 5 3 5 3 1 4 Mode Argument 3 esse sees see se ee ee ee Se ee ee 5 3 53 2 PSOCATBUMEDS oieee ER ER SERE EER ERGE KEER E GE ARE N SEER Se Ke 5 4 DAAL ALQUIMONt ii ei ESE eg oog ge 5 4 5 3 2 2 Mn ALBUMEN cocci EE EE EE EE 5 4 5 3 2 3 in map Argument eee ee se cee cess ee ee ee ee 5 4 5 3 2 4 out map ArSUMENE ee ee ee se Se ee RA Re ee ee 5 4 33 2 5
311. stem is to abort motion it disregards the DECEL parameter setting and stops the axis immediately This also sets the current position error to zero The value specified is a bit mask where each bit corresponds to a specific fault Refer to the UNIDEX 631 U600 User s Manual EDU153 Setting a bit to a one causes the axis to abort motion when that particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set This parameter can not be set from the Axis Parameter screen Use the SETPARAM command in a program or manual mode to set this parameter Version 1 2 Aerotech Inc Axis Parameters U600 Series Programming Manual MASTERPOS To understand how this parameter works the reader must be familiar with the operation of synchronized motion through the use of CAM tables on the UNIDEX 631 U600 While operating in this mode axis motion relates directly to motion on the master axis the axis designated by you The basis of this relationship is dependent on the currently active CAM table Each CAM table entry contains two position types a master position and a slave position As the master axis approaches the positions found within the CAM table the slave axis moves to the corresponding slave position Interpolation occurs between the CAM points The first CAM table entry for the master position must be a zero Two rules apply to all master positions following the first entry they must always increase an
312. syntax You must specify a program label to jump to on an error condition Illegal ONERRGOTO target The label you specified to jump to is not valid Illegal POP syntax The POP command may have one variable specified to hold the value removed from the user stack Illegal Probe Offset Masks on CNC d There are no axes defined for the touch probe Illegal PUSH syntax You did not specify the PUSH command properly PUSH lt data gt Illegal Spindle Feedrate C 10 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES The spindle feedrate you have specified is not valid Illegal T Code syntax You did not specify a valid T code Illegal TWord Set d Data in CNC d Error in tool file Illegal variable redefined The variable can not be redefined Incompatible assignment The mathematical assignment is not possible Incomplete Data Command You did not specify all parameters to the data command Initialize Axis Parameter String Failure on CNC d An error occurred while retrieving the axis parameter names from the axis card Invalid Array Designation The array specified is not valid Invalid assignment target The specified assignment can not be made Invalid assignment This assignment can not be made Invalid CNCNUM syntax The valid range for the Cncnum command is 0 3 Invalid Constant designation The specified constant is not valid Invalid cutter mask definition Version 1 2 Aerotech
313. t axis will be set to zero Axes which are not specified will not be affected The user must provide a set of axes as parameters to the G92 command SYNTAX G92 AxisName AxisPos AxisName AxisPos EXAMPLE G92 X1 0 Y2 0 Sets the preset register of the X axis to 1 0 and the Y axis to 2 0 G92 X10 YO Sets the preset register of the X axis to 10 0 and the preset register of the Y WARNING jaxis to Zero The G92 command changes the value of the preset position registers but not the value of the machine position registers The machine position registers always reflect the distance from the hardware home position The G82 command clears these presets Do not use G92 when in the G42 and G43 mode the results are unpredictable 2 58 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 13 Feedrate and Spindle Speed Codes 2 13 1 Inverse Time Feedrate Programming FeedrateMode G93 The UNIDEX 631 U600 CNC provides the flexibility to program feedrates in either units minute or minutes unit The G93 command specifies that feedrates should now be interpreted as minutes per unit The feedrate calculation is shown below F of minutes to complete move SquareRoot X Y a where X is the move distance for the X linear axis Y is the move distance for the Y linear axis When performing circular interpolation on two axes the sum of the squares for those axes is replaced by the pro
314. t be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 631 U600 For a brief discussion of this feature refer to the discussion of the MASTERPOS parameter Refer to the UNIDEX 631 U600 User s Manual EDU153 There are two modes in which you can perform CAM table execution In the first mode the system assumes that the current slave position is the starting point of the CAM table Also the system assumes that all slave position entries are relative to that starting point The second mode of CAM table execution does not make that assumption Instead it interprets the slave positions found within the CAM table as absolute positions With synchronization enabled the system determines the current location within the CAM table based on the current master position The slave axis then moves to the position that corresponds to the current master position This parameter defines the speed at which the slave axis is to move The units for this parameter are machine steps per second with a valid range of approximately 2 1m 2 1 The default value is 1000 Version 1 2 Aerotech Inc Axis Parameters U600 Series Programming Manual BASE_SPEED This parameter as well as the following two parameters allow the speed torque characteristics of an AC brushless motor to be customized Normally these parameters are only used with motors having a large back EMF Kg constant This is done by adjusting each
315. terclockwise M04 This command causes the spindle to begin rotating counter clockwise CCW The speed of the spindle is determined by the S keyword as well as the current operational mode or MDI mode in respect to the Spindle Speed G Code group 3 1 6 Spindle Off M05 This command causes the spindle to stop moving when this command is encountered The spindle stops moving by being disabled 3 1 7 Spindle Off Reorient M19 This command causes the spindle to move to the zero position at the current S feedrate or spindle axes Rapid Feedrate if S 0 This command should only be used for servo driven spindle axes Version 1 2 Aerotech Inc 3 3 M Codes U600 Series Programming Manual 3 1 8 Restart Program Execution and Wait for Cycle Start M30 Program execution immediately returns to the first line of the first program if this is encountered in a nested called program execution begins at the top of the first program and all nested calls while loops etc are canceled and awaits a cycle start command to resume program execution All modal information remains unchanged 3 1 9 Restart Program Execution M47 Program execution immediately returns to the first line of the first program if this is encountered in a nested called program execution begins at the top of the first program and all nested calls while loops etc are canceled and begins execution from there All modal information remains unchanged 3
316. the G2 command are those associated with the axes plane currently active Plane Select G code group G17 G18 G19 The vectorial feedrate at which the motion is to occur is specified using the F keyword If the ending position is equal to the current position a 360 circle will be executed SYNTAX G2 AxisName EndPt AxisName EndPt IJK CenterPt IJK CenterPt 2 8 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes The CNC supplies a default value of zero for any parameters omitted from the program block such as an End Point or Center Point The minimum set of 5 parameters which must be supplied is either the X or Y parameter and the I or J Therefore G2 X1 0 Y1 0 I1 0 G2 X1 0 Y1 0 11 0 J0 0 G2 X2 0 11 0 G2 X2 0 Y0 0 I1 0 J0 0 G2 11 0 G2 X0 0 Y0 0 I1 0 J0 0 To accomplish helical interpolation it is necessary to program two axes to do circular interpolation and a third axis to do linear interpolation This is accomplished by specifying a G2 G3 and G1 on the same line Also the user can specify two circles to be executed simultaneously via G12 or G13 EXAMPLE G90 G2 X 5 Y3 I0 J 2 Starting coordinate 5 3 Ending coordinate 2 5 1 Center coordinate 5 1 3 2 1 1 2 3 X Figure 2 1 CW Circular Interpolation 2 3 4 Circular Interpolation CCW Motion G3 A G3 generates a counterclockwise CCW arc and in every respect is identical to a G2 command Compare Figure 2 2 with Figure 2 1
317. the UNIDEX 631 U600 User s Manual The thread cutting cycle itself uses the current spindle speed and thread lead to calculate the feedrate at which the linear axes are to move If the linear velocity is not attainable an error will appear on the display and the cycle will be aborted While a thread cutting cycle is in progress the spindle speed override MSO may not be used to increase the spindle velocity It will however permit you to decrease the speed Version 1 2 Aerotech Inc G Codes 2 19 G Codes U600 Series Programming Manual SYNTAX G33 ThreadY Lead Length TaperAngle StartAngle RetractDist EXAMPLE G33 Y0 125 3 0 30 0 25 Begin threading cycle Thread lead is 0 125 length of the thread is 3 0 thread taper is 30 and the starting part orientation is at 0 If a feedhold is activated the axis will retract 25 0 in the negative direction G33 X lead length lt taper gt lt sync gt lt retract gt cS G33 is not functional 2 20 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 2 5 Plane Selection Codes The commands contained within the Plane Select G code group describe the set of axes upon which circular interpolation is to be performed This information is necessary when attempting to default missing parameters to circular interpolation commands G2 and G3 Set 1 G12 and G13 Set 2 2 5 1 Plane Selection Codes Set 1 G17 G18 G19 As mentioned in the
318. the parts programmer the ability to merge several files together to execute as one similar to subroutines The combined file is treated as though all included program blocks were found in the main program file The implications of this are that all definitions in the main file are also accessible to the included file This includes variables subroutines and entry points However it also implies that there may be no definitions with the same name found in the included files The filename specified may be any valid OS 2 file name and may be specified using either absolute or relative path names If no path name is specified the program is assumed to be present in the current program directory U31 PROGRAMS by default SYNTAX INCLUDE FileName Ext EXAMPLE INCLUDE CLEANUP PGM Include the program Cleanup pgm INCLUDE U31 PARTOI SETUP PGM Include the program Setup pgm found in the U31 PARTO1 directory INCLUDE PARTO1 CUTPART PGM sInclude the program CutPart pgm found in the PARTO1 sub directory This path is relative to the location from which the CNC was invoked If the filename begins with a numeral an absolute file spec path must be specified to prevent the filename from being interpreted as a numeric symbol 5 No more than 6 include files may be used within a program and cannot be nested more than 4 levels deep Version 1 2 Aerotech Inc 4 43 Extended Commands U600 Series Programming Manual 4 8 4
319. the value of 3 18 Aerotech Inc Version 1 2 U600 Series Programming Manual M Codes EXAMPLE M1078 BI PLC 1 40020 B 4 M1078 returns the value of PLC 1 register M1079 BI PLC 2 GLOBAL 3B 1 40020 Bit 4 M1080 BI VIRTUAL 2 M1079 returns the value of PLC 2 GLOBAL3 M1081 BI XYCOM 1 1 M1080 returns the value of virtual input bit 2 M1082 BI VIRTUAL OUTPUT 10 M1081 returns the value of XYCOM bd 1 bit 1 M1083 BI PCDIO 15 M1082 return the value of virtual output bit 10 _ M1083 returns the value of PCDIO Brd bit 5 M1082 illustrates how to read the value of a binary output with an M code Its usage 5 in a program would be M1082 var where var is the variable that will return the value of the output bit Version 1 2 Aerotech Inc 3 19 M Codes U600 Series Programming Manual 3 3 10 Binary Output M code Initialization SYNTAX Mxxxx BO lt output device gt lt options gt where XXXX refers to the number of the M function being defined lt Output device gt refers to one of the following device types PLC Register PLC Plc Reg B Bit Level Example PLC 1 40010 B 1 LO where Plc PLC Number 1 7 Reg PLC Register from 40001 to 44000 Bit Refers to the particular bit on that board Level O clears Output 1 sets Output PLC Global PLC Plc GLOBAL Glob B Bit Level Example PLC1 GLOBAL 2 B1L0 where Plc PLC Number 1 7 Glob Global Data byte to which this applies Bit Refers to the particular bit on that b
320. thin a variable or E100 the value is specified by a literal value 1 2 5 Spindle Feedrate S The keyword S specifies the velocity of the spindle axis in revolutions per minute when the spindle is under direct program control G97 When constant surface speed is programmed G96 this parameter has no effect However G96 uses the SF keyword to specify surface feedrate It should be noted that this keyword retains its value until overwritten by a subsequent program block Therefore all program blocks that turn on the spindle need not specify a feedrate explicitly A rotary axis is designated as the spindle axis from within the CNC Initialization Set up Screen For more information regarding spindle axis requirements please refer to the UNIDEX 631 U600 User s Manual SYNTAX S Variable if the feedrate is specified within a variable or S100 the value is specified by a lteral value Version 1 2 Aerotech Inc 1 7 Symbols amp Axis Designators U600 Series Programming Manual 1 2 6 Constant Surface Speed Feedrate SF The keyword SF specifies the velocity of the surface spindle axis user units per min when the surface spindle is under direct program control G96 When velocity of the spindle axis is programmed G97 this parameter has no effect However G97 uses the S keyword to specify surface feedrate SYNTAX SF Variable or SF100 1 2 7 Circle CenterPoints VJ K The keywords I J and K are used
321. tire parts program But local variables defined in one program are not accessible by other programs running on the same CNC see static variables Also local variables are not accessible by programs running under other CNCs see global variables The UNIDEX 631 U600 CNC does not support variables local to subroutines DVAR commands can also be used for defining arrays 4 6 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 2 3 Define Local Variable Arrays DVAR The DVAR command may also be used to define an array An array is a group of related variables During the definition of an array you must specify the number of variables found in the array Individual variables can be accessed by specifying the array name followed by a number stating which variable is to be referenced The number of variables within the array is typically referred to as the array size Each individual variable is called an array element and the number stating which variable is to be accessed is referred to as the array index The DVAR command may be used to define arrays by following the variable array name with an array size specification This specification must be enclosed within brackets When accessing the array elements the program must also place the array index within brackets The valid range of an array index is from zero to one less than the array size SYNTAX DVAR lt arrayname gt size EXAMPLE DVA
322. ual Unable to Open File for Recording CDW Messages CNC d An error occurred opening the file for recording the Customer Display Window messages Unable to open file s The specified source or include file was not found in the specified directory U3 I Programs by default Unable to Open Get CDW Message Data From CNC d An error occurred retrieving the customer display window data Unable to Open Intermediate File The temporary intermediate file U31 PROGRAMS INTMFx TMP used by the compiler could not be created The hard drive may be full or a file by that name may already exist Unable to Open Message Display Menu CNC d The customer display window could not be opened possibly due to not enough memory Unable to open user file The specified user file could not be opened Verify the path and filename are correct Unable to read READFILE data from user file This is due to a bad filename too many variables were specified to read a bad variable was specified or the end of file was encountered prematurely Unable to read Tool data This is due to a bad tool filename or an empty or invalid tool file Unable to Resolve Host Address s No host was found on the network by the name specified in the setup parameters Unable to resolve variable in WRITEFILE statement Unknown variable verify spelling and variable definition C 28 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES Unable
323. ues of Tools 1 20 Offset 1 Fixture 2 39 Offset Dimension 2 57 Offsets to Master Axis Position A 12 Old Fixture Offset 2 39 2 40 Omitting a Program Block 1 1 ONERRGOTO 4 22 Open Custom Display Window 4 28 OPENCDW 4 28 Operator Absolute Value 4 11 Operator Addition 4 10 Operator And 4 14 Operator Arccosine 4 13 Operator Arcsine 4 13 Operator Arctangent 4 13 Operator Cosine 4 13 Operator Division 4 10 Operator Equal To 4 15 Operator Exclusive Or 4 14 Operator Exponent 4 11 Operator Fraction 4 11 Operator Greater Than 4 16 Operator Greater Than or Equal To 4 16 Operator Less Than 4 16 Operator Less Than or Equal To 4 16 Operator Modulus 4 10 Operator Multiplication 4 10 Operator Negation 4 14 Operator Not Equal To 4 15 Operator Or 4 14 Operator Precedence 4 12 Operator Rounding 4 11 Operator Shift Left 4 15 Operator Shift Right 4 15 Operator Sine 4 13 Operator Square Root 4 11 Operator Subtraction 4 10 Operator Tangent 4 13 Optional Stop 3 3 Optional Stop Control 3 3 Or 4 14 OR 4 14 Orientation Cutting Tool 2 22 OS 2 Program Execution 4 27 OSCillate command 4 60 Output 5 5 Output Definition of Laser Pulse 5 2 Output Firing Enabling and Disabling 5 9 Output State Changing on an Axis Fault A 3 Output Toggle Mode 5 15 Output Auxiliary A 11 Output Binary 3 11 Outputs 3 1 3 5 3 10 3 13 3 14 A 10 A 11 out
324. under G2 SYNTAX G3 AxisName EndPt AxisName EndPt IJK CenterPt IJK CenterPt Version 1 2 Aerotech Inc 2 9 G Codes U600 Series Programming Manual EXAMPLE G90 G2 X 5 Y3 10 J 2 Starting coordinate 5 3 Ending coordinate 2 5 1 Center coordinate 5 1 Figure 2 2 CCW Circular Interpolation 2 3 5 Dwell G4 This command causes a delay in program execution The duration of the delay must be specified in seconds using the F keyword The resolution of the timer used is 0 001 seconds or 1 millisecond SYNTAX G4 Fnn where nn is the delay given in seconds G4 var where the variable named var specifies the dwell time in seconds EXAMPLE G4 FS Dwell 5 seconds GET The dwell command must occupy its own block within a program The value of the modal F keyword vectorial feedrate is unaffected by this command 2 10 Aerotech Inc Version 1 2 U600 Series Programming Manual G Codes 24 G8 and G9 Overview G8 and G9 relate to how a controller behaves when linking two CNC moves together The controller by default will blend two moves together smoothly accelerating to the new speed between the two moves G8 and G9 can be used to alter this behavior G9 forces the controller to decelerate to zero smoothly at the end of the block the G9 appears G8 forces the acceleration and deceleration to the new speed to be instantaneous G8 and G9 can be used separately or together see example below
325. ut for A 3 Axis Faults that Disable A 9 Axis Feed Rate Override A 8 Axis Hard Names 4 41 Axis Integral Gain of A 2 Axis Keeping Stationary A 3 Axis Linear 2 61 Axis Master A 12 Axis Motion Abort Faults A 11 Axis Proportional Gain of A 2 Axis Rotary 2 22 Axis Spindle 2 18 2 61 Axis ThreadX 2 18 Axis Thread Y 2 18 Axis XPlane 2 22 Axis YPlane 2 22 B Backlash Compensating for A 3 Backlash Definition A 3 Backplane VME 3 13 Ball Screw Changing Direction A 3 Base Address XYCOM 3 13 base_speed Parameter A 14 B Axis 2 22 B Axis Initialization Dialog Box 2 22 BI 3 14 Binary Conversion 4 14 Binary I O 3 10 Binary Input 3 11 Binary Input M Code 3 15 Binary Inputs 3 14 Binary Output 3 11 Binary Output M Code 3 15 Binary Outputs 3 14 Bit Mapping 5 2 5 12 Bit Mask A 9 A 10 A 11 Bit Mask Control Window A 10 BIT 3 25 Block Delete Character 1 1 Blocking Motion Commands A 3 BLOCKMOTION Parameter A 3 BO 3 14 Board Number Parameter 3 13 Brackets 4 7 Brake Motor A 3 C Call Library Subroutine 4 26 Call Subroutine 4 26 Called Program 3 4 CAM Points and Interpolation A 12 CAM Table A 12 A 13 CAM Table Execution Modes A 13 CAM Table Execution using Absolute Slave Position Entries A 13 CAM Table Execution using Relative Slave Position Entries A 13 CAM Table Position Types A 12 CAM Table First Entry A 12 CAM Table
326. variable 1 MAX SPEED DEFAULT 100 Basic alias definition with a DEFAULT value 2 START SPEED EDIT deg sec Alias that may be EDITed by user at run time with a comment 3 MAX_SIZE EDIT Alias that may be EDITed by user at run time withOUT a comment 4 ACCEL_TIME MIN 5 MAX 200 EDIT milliseconds Alias that may be EDITed by user at run time with a comment amp range specified 5 DECEL TIME DEFAULT 7 MIN 5 MAX 200 EDIT milliseconds Alias that may be EDITed by user at run time with a comment amp range specified amp DEFAULT value Figure 1 1 Renaming Variables SYNTAX Alias DEFAULT val EDIT Global variable comment min val max val where is the number of the global variable The global alias file is GLBALIAS INI and is stored in the INI directory For additional details on using the global alias file read the comments contained within the GLBALIAS SAM file located in the U3 I INI directory Global variables whose values are not set as a default and the save global options is not active will have their value set to zero upon CNC initialization Version 1 2 Aerotech Inc 1 11 Symbols amp Axis Designators U600 Series Programming Manual 1 4 4 Static Variables STATICxx Static variables are variables which may be accessed by all of the parts programs executed on a given CNC Variables of this type are very useful for communication between parts programs executing within a given CNC
327. when specifying the centerpoint of a circle during circular interpolation see G2 G3 G12 or G13 The CNC Parameters Plane Selection Menu is used to assign three axes on which circular interpolation may be performed These three axes are referred to as the Plane X Axis the Plane Y Axis and the Plane Z Axis When initiating circular motion you must describe the radius of the arc by specifying the circle centerpoint As mentioned the I J K keywords are used for this purpose I is the relative position of the circle centerpoint with respect to the axis designated as the Plane X Axis in this screen Similarly the J and K keywords are associated with the Plane Y Axis and the Plane Z Axis respectively For more information on the usage of the I J K keywords refer to the G2 and G3 command descriptions Motion G codes in chapter 2 of this manual Also refer to G codes G2 G17 through G19 and G110 1 3 Parameter Types G codes M codes and extended commands often require or allow parameters to be entered on the same block This section covers the details regarding the syntax for certain parameters 1 3 1 Floating Point Constants The U631 U600 supports double precision 64 bit where floating point values are tracked to 15 digit accuracy In other words the value 123456789 012345 is recognized as a different value compared with the value 123456789 012344 But is not recognized as different than the value 123456789 0
328. while transferring a CNC command block into the Ethernet queue DMRSetCNCBlockDeleteMode CNC d return d completion d An error occurred while disabling block delete on the CNC DMRSetCNCFeedrate CNC d return d completion d An error occurred while setting the MFO on the CNC DMRSetCNCOptionalStopMode CNC d return d completion d An error occurred while clearing optional stop on the CNC DMRSetCNCSingleStepMode CNC d return d completion d An error occurred while setting the CNC into single step mode C 4 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES DMRSetCNCSpindleFeedrate CNC d return d completion d An error occurred while setting the MSO on the CNC DO without WHILE Statement You have specified a DO statement without a required WHILE statement DoCNCMCode return d completion d An error occurred decoding a before after M code DoCNCNonMove return d completion d An error occurred decoding the G36 G37 G54 G55 G60 G61 G62 G63 G64 G65 G66 G67 G68 G70 G71 G90 G91 G93 G94 G95 G96 G97 G98 G99 or G110 G111 command ELSE without an IF statement You have specified an ELSE statement without a required IF statement ENDIF without a corresponding IF You have specified an ENDIF statement without a required IF statement ENDRPT without a RPT statement You have specified an ENDRPT statement without a required RPT statement ENDWHILE without a corresponding WHILE You have specif
329. wing On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 USA V VV B 2 Aerotech Inc Version 1 2 U600 Series Programming Manual ERROR CODES APPENDIX C ERROR CODES In This Section DESC pi oDe EE cose a E e eee C 1 e Axis Processor Error Codes 000 C 31 Description The following section provides a quick reference of MAINMENU exe error codes listed in alphabetical order Most display a CNC number line number and or program name where the numbers are shown within the error messages as 1d or d and the text strings are indicated by s These are replaced at runtime with the appropriate values Allocate CNC d Program d Lines ld ret d completion d Memory could not be allocated for a new CNC Close unnecessary windows or add more memory to your system Allocate CNC Queue Failed
330. wise boundary of the safe zone associated with an axis The user may use a safe zone to designate a boundary in which the axis can travel or one in which the axis can not travel To enable or disable these zones you must properly set the SAFEZONEMODE parameter When setting this parameter it is necessary to know that its distance starts at the hardware home position The units for this parameter are machine steps with a valid range of approximately 2 1m 2 1 The default for this parameter is zero The user may also specify safe zone parameters from within a parts program ea Version 1 2 Aerotech Inc A 5 Axis Parameters U600 Series Programming Manual SAFEZONECCW This parameter allows you to specify the counter clockwise boundary for the safe zone of an axis Safe zones are useful for designating an area in which the axis can travel or one in which the axis can not travel To enable or disable the specified boundary you must set the SAFEZONEMODE parameter The distance specified by this parameter begins at the hardware home position The units are machine steps with a valid range of approximately 2 1m 2 1 The default for this parameter is zero The user may also specify safe zone parameters from within a parts program SAFEZONEMODE The value set by this parameter determines how the system interprets the SAFEZONECW and SAFEZONECCW parameters Setting this parameter to zero disables the safe zone while a one
331. xis Naming in chapter 4 of this manual The soft names entered in the Machine Parameter Menu must be characters A through Z and or numbers If a number appears in the name such as axis1 the number must not be one of the first three characters No spaces are allowed in the name Soft names are the default No reserved letters may be used as a softname such as G X Y F I J etc However GG XX YY FF II JJ GGG XXX etc are acceptable 1 2 1 Line Numbers Nxxxx When used as the first characters of a program block the N character followed by any number of digits may be used to specify the parts program line number The UNIDEX 631 U600 CNC ignores this line number designation and therefore does not force a particular numbering scheme These N code line labels may not be used as a jump or subroutine entry label The N code can not be used in a JUMP DENT or CALL subroutine statement SYNTAX N100 N101 Where the numeric digits specify the parts program line number ea a Version 1 2 Aerotech Inc 1 3 Symbols amp Axis Designators U600 Series Programming Manual 1 2 2 Linear Feedrate F The keyword F is used to provide a parameter to various G codes Its meaning depends on the G code preceding the F word 1 G1 G2 G3 G11 G12 G13 The F word is a feedrate 2 NONE F word appears by itself The F word is a feedrate 3 G4 The F word is a time seconds 4 G60 through G66 See that
332. yed within the CDW as well as written to the CDW Log file This mode of operation is terminated using the RECORDOFF command The only parameter to this command is the name of the file in which the information is to be stored This parameter may be any valid OS 2 file name 100 chars max and may be specified using either absolute or relative path names If no path name is specified the current program directory is assumed U31 PROGRAMS by default If the file specified already exists the old file is discarded SYNTAX RECORDON FileName Ext EXAMPLE RECORDON DISPLAY DAT Causes all data displayed in CDW to be logged to file DISPLAY DAT found in the U31 PROGRAMS directory RECORDON U31 PARTOI DISPLAY DAT Causes all data displayed in CDW to be logged to file DISPLAY DAT found in the U31 PARTO1 directory RECORDON PARTOI DISPLAY DAT Causes all data displayed in CDW to be logged to file DISPLAY DAT found in the PARTO1 sub directory of the directory from which the CNC was invoked For a more detailed example refer to the RECORDOFF command If this command is encountered when a log file is already open the command is LE ignored 4 32 Aerotech Inc Version 1 2 U600 Series Programming Manual Extended Commands 4 5 5 Deactivate CDW Log File RECORDOFF This command disables logging messages displayed within the Custom Display Window CDW to the log file opened with the RECOR

UNIDEX 600 Series PROGRAMMING MANUAL

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