Engelhardt Minipos M Series User manual

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U S E R M A N U A L
Minipos M11 – M88
(starting with version 2.34)
( ) Copyright: DIPL.- ING. ENGELHARDT GmbH
The material in this manual is for informational purposes only and is subject to
change without notice. Dipl.Ing. Engelhardt GmbH assumes no responsability for
errors or omissions, neither is any liability assumed for damages resulting from the
use of the information contained herein.
All rights reserved. This document shall not be reproduced, either entirely or in part,
without written authorization. 09/2002
Dipl. - Ing. ENGELHARDT GmbH
Heinrich-Hertz-Str. 9
76646 Bruchsal
Tel.: 07251 / 7218-0
Fax.: 07251 / 7218-99
email: [email protected] web: www.engelhardtgmbh.de
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1. Miscellaneous....................................................................................................3
1.1 LIST OF G-FUNCTIONS............................................................................................ 3
1.2 LIST OF M-FUNCTIONS........................................................................................... 3
1.3 LIST OF ERROR MESSAGE..................................................................................... 4
2. OPERATING MODES.....................................................................................5
2.1 Manual mode................................................................................................................. 6
2.2 Manual input................................................................................................................. 7
2.3 Teach In ......................................................................................................................... 7
2.4 Clear memory ............................................................................................................... 7
2.5 Automatic mode............................................................................................................ 8
2.6 External data................................................................................................................. 9
2.7 Input mode .................................................................................................................. 10
2.8 Sample programs........................................................................................................ 12
3. PROGRAM STRUCTURE.............................................................................14
3.1 The G-Functions ......................................................................................................... 14
3.2 The M-functions.......................................................................................................... 18
3.3 The F-function (feedrate)........................................................................................... 19
3.5 The T-function (tool call) ........................................................................................... 19
6. THE MACHINE DATA .................................................................................20
7. GENERAL INFORMATIONS ......................................................................26
9. CONNECTORS ..............................................................................................30
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Manual MiniPos M11 - M88 3
1. Miscellaneous
1.1 LIST OF G-FUNCTIONS
G00 RAPID TRAVERSE
G01 LINEAR INTERPOLATION
G04 DWELL TIME
G09 SKIP REST OF TRAVEL
G11 ADDITIONAL FUNCTIONS F,S,T
G13 ADDITIONAL M-FUNCTIONS
G20 JUMP TO PROGRAM
G22 CALL PROGRAMM
G23 CALL PROGRAMM WITH CONDITION
G53 DISPLACEMENT OFF
G54 DISPLACEMENT ON
G67/68 SOFTWARE LIMIT SWITCH
G74 REFERENCE POINT
G75 SCALE FACTOR ON
G76 SCALE FACTOR OFF
G88 LINEAR SEGMENTATION
G89 FREE CYCLE
G90 ABSOLUTE INPUT
G91 INCREMENTAL INPUT
G92 SET ACTUAL VALUE
1.2 LIST OF M-FUNCTIONS
M00 PROGRAMMED STOP
M02 PROGRAM END
M27 WAIT FOR “IN POSITION“
M30 PROGRAM END
M1xx USE I/O CARD 1
M4xx USE I/O CARD 2
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1.3 LIST OF ERROR MESSAGE
Error: Hint:
INTERPOLATOR Interpolatorcard gives no answer,
Switch control off and on again.
CHECKSUM Checksumerror during serial transmission.
Repeat transmission
KEYBOARD Keyboard out of order, a key is pushed
after switching on, EXT START is active
EPROMError in the eprom. Exchange the
Minipos
MEMORIZED PROGRAMS Error in one of the memorized programs.
Clear the complete memory and transmit
the programs again via serial interface.
P NOT FOUND This program number is not in memory.
N NOT FOUND This bloc number is not in memory.
T NOT FOUND This T-number is not in P9900.
NO F Add a bloc with G11 F.... to your program
CHECK BLOC Syntax error while memorizing a bloc
MEMORY FULL No more memory free. Transmit some of
your programs via serial interface.
TOO MANY SUBPROGRAM CALLS Look at the description of G22.
P CANNOT BE EXECUTED P0 or P9900 cannot be used for
execution.
MOVING DISTACE =0 A movement of the distanc e 0 cannot
be executed.
IN POSITION Look at machinedata N803
LAGMAX Look at machinedata N804
LAG ERROR AXIS cannot follow with the programmed
feedrate.
DATAFORMAT Dataformat of serial transmission not OK.
V24 Parity or Framing Error durung serial
transmission.
LIMIT SWITCH Axis touched limit switch while moving.
SOFTW. LIMIT SWITCH Softwarelimitswitch violated.
WAY OFF LIMIT SWITCH Look at machinedata M712
INTERRUPT E1 on IO4 was activated.
B-BUS ERROR Data transmission between INTER-
POLATOR and DILAG failed.
INTERPOLATOR ERROR Data transmission from CPU to INTER-
POLATOR failed.
Error messages must be acknowledged with
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Manual MiniPos M11 - M88 5
2. OPERATING MODES
After switching on, the display shows:
MENUE
MINIPOS 11 V2.42 (version number)
or MINIPOS 22 equal to the implemented axes.
Modes who can be selected:
Manual mode (manual input, pushing the key 2 times)
Teach In
Automatic Mode
External data
Clear memory
Menu (= Stop in the Automatic Mode)
Input mode
These operating modes can be selected by pressing the correspoding key.
By pushing the key "REF" a restart of the MINIPOS is initiated, just as if RESET were
pushed.
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Further functions key´s:
Search block, single Stepp in automatic mode
Clear
Move cursor right
In insert mode: scroll down
In hand mode: switch axles
Home position. By pushing the key a restart of the MINIPOS is
initiated.
2.1 Manual mode
After pushing "MANUAL", the MINIPOS selects "MANUAL MODE".
Pushing the key 1 (<<<) will move the X-axis with maximum speed in the positive
direction, with 4 (>>>) in the negative direction.
Key 2 (<<) and 5 (>>) move with 10% of the maximal feedrate, key 3 (<) and 6 (>)
with 1 %.
The axis moves until the key is released. The actual counter displays the position of
the axis.
Exiting the manual mode
To exit the manual mode, the key "STOP" can be selected. The mode "MANUAL
INPUT" can be selected by pushing key "MANUAL" once more.
Display of lagerror
During a movement, the lagerror can be displayed by pushing the key "±". This is
only possible with servoamplifiers.
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Manual MiniPos M11 - M88 7
2.2 Manual input
This operating mode allows to input and execute single G- functions and parametrical
functions. Also cycles like G87 and programm calls cam be executed.
Pushing "→" positions the cursor to the next data input area.
The key "START" executes the programmed block. The execution of the block can
be interrupted with "STOP". A new G-function can be entered.
Jogging mode
1.Switch to incremental input with G91.
2. Select G00 and input a distance in X, Y or Z.
3. By pushing "START", the block will be executed.
By pushing "START" one more time, the block will be executed again.
Move to a position
1. Switch to absolute input with G90.
2. Select G00 and input a position in X, Y or Z.
3. Move to the desired position with "START".
2.3 Teach in
The MINIPOS requests the user to input a program number, which can be acknow-
ledged by "→". Then the TEACH IN mode is invoked. TEACH In allways will be done
G90.
A complete block input buffer for G01 is displayed. With "→" single words can be
selected and updated.
Programming will be done as follows:
Move your axes like "MANUAL MODE". The actual position will be displayed in the
block buffer. The block will be stored in memory by pushing the key "INPUT".
2.4 Clear memory
This mode allows to delete single programs or to clear the complete memory.
Single programs can be deleted by inputing the program number and then pushing
"→".
To delete a range of blocks of a program, enter the program number and then "↓".
The MINIPOS requests the starting and the ending block numbers. All blocks in this
range will be deleted.
The whole memory can be cleared by pushing "C" and then "→". Here the code
defined in the machine is requested, even if the code is 0. P0000 remains in memory.
Program P0000 cannot be deleted.
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2.5 Automatic mode
When invoking the automatic mode, the MINIPOS proposes a program number. The
proposed program number will be the one processed at last. Another program
number can be input if desired.
The program will be executed by pushing "START". If the program number is
acknowledged by "→", the MINIPOS proposes a block number. Another block
number can be entered.
To acknowledge the block number, push "→". Then the first block of the program will
be displayed.
With "START" the automatic program execution is activated. Single stepping can be
activated during program run by pushing "SEARCH BLOCK". At the end of the next
block, the MINIPOS stops awaiting a new "START". Pushing "SINGLE BLOCK"
again disables single stepping.
The automatic mode is exited with "STOP".
If a limit switch is detected during program execution, the MINIPOS will stop all axes
immediately and an error message will be displayed.
Autostart P9999
After switching on the MINIPOS, a check for the presence of P9999 is done. If it is
present, it will be executed immiedetly. This function allows for example to preset the
initial state of
G90/G91:
P9999
N0001 G90
After switching on, P9999 will not be executed, if the key "→" is pressed and hold
down.
Error handling P9998
If an error f.e. "Limit switch" or "External interrupt" occurs during the AUTOMATIC
MODE, P9998, if present in the memory, will be invoked.
This allows for example to set the I/O's in a definite state.
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Manual MiniPos M11 - M88 9
2.6 External data
The operating mode "EXTERNAL DATA" permits input or output of programs to the
serial interface.
Program printout with serial port
Select "EXTERNAL DATA" and then push key "1". The MINIPOS proposes program
number for printout. To produce a printing of all the programs in memory, first push
"C" and then "→".
If the programm number is acknowledged with "↓", a formfeed is generated at the
end of the programm.
The printer must be able to interpret the following control sequences:
CR (=0DH), LF (=0AH), FF (=0CH), TAB (=09H)
Serial input/output
Same procedure as read/write discette. The programm will be stored with the
programm number which was first input and confirmed with "→". When "ALL
PROGRAMMS" were selected, the respective programm numbers are not changed.
Data format
First the programm number f.e P0001 must be transmitted. Then the programm
blocks will follow, each starting with a block number (N1..). After a complete
programm or "%" (25H) or NUL (00H) can follow. If NUL was recognized, the
program first read in will be memorized, an eventually existing program with the
same number will be cleared, and the MINIPOS will wait for further data.
If "%" was recognized (end of data transfer) the data transfer is finished.
Example:
P0001 CR
N1G0X12Y-15Z+4,15 CR
N2...
.
.
N999G1Z0 CR
CR
No spaces are allowed between the characters. The blocks should be numbered
correctly, otherwise they cannot be edited in the INPUT MODE.
We offer a service program for a PC, allowing to receive, memorize, edit and send
back CNC programs.
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2.7 Input mode
The input mode allows to input and edit programs. After selection of this mode, a
program number will be proposed. For selection of another program number, push
"C" and enter the desired program number.
If a program with this number already exists in memory, the last blocks of this
program will be displayed by pushing "→". By pushing "↓", the first blocks of the
program will be displayed. Entering a block number and then "↓" will display the
next block starting with the entered number.
If the entered program number doesn't exist, N001 will be proposed as first block
number. Acknowledgement will be made with "→". The cursor moves to "G..". After
entering a G-function and then "→", the words corresponding to the G-function are
displayed.
When all necessary words of a block have been entered, the block can be stored by
pushing "INPUT". The block number is incremented automatically. An error message
will be displayed when trying to memorize an uncomplete block.
Alter block:
If a block already stored must be altered, it can be put into the input buffer by typing
the block number and then pushing "SEARCH BLOCK". With "→", the cursor can be
moved to the word to be corrected. Then the block must be stored again by pushing
"INPUT".
Delete block:
The block to be deleted must be searched with "SEARCH BLOCK". Then push
"DELETE BLOCK".
Insert block:
Type in the new block number to be inserted and then "→". Select the G-function and
complete the block. Push "INPUT" to store the block. It will be inserted automatically
and the following block numbers will be incremented.
Program overview:
After selecting the "INPUT MODE", an overview of all programs in memory will be
displayed by pushing key "C" and then "→". If a program is marked with "!", this
programm has a "CHECKSUM ERROR".
Program duplication:
If the request for program number is acknowledged with "C" and then "INPUT", the
MINIPOS will ask for the program number to be duplicated and for the new program
number. Also P0000 can be duplicated.
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Manual MiniPos M11 - M88 11
Tool table:
The program number P0000 is reserved for the tool table and machinendata. Up to
99 tools (T001 - T099) can be stored with radius and length. These data will be called
up by the T-word and are used by the path and the length compensation algorithms.
Starting with N700, the machine data can be stored.
Reserved program numbers:
Do not use program 8000-9999! These Programs are reserved for internal use.
P0000 Tool table, machine data.
P9998 Error handling in the automatic mode.
P9999 Autostart.
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2.8 Sample programs
The Minipos shows Menu. A program P0010 is to be prepared, which does not exist
in the memory.
When invoking the automatic mode, the CNC proposes a program number. The
proposed program number will be the one processed at last. Another program
number can be input if desired.
, ,
A different bloc number, (f.e. 1 0; = P 0010) to start with can be entered if desired.
To acknowledge the bloc number, push . The Minipos displays N1.
To acknowledged the program number, push .
, ,
push 9,1 for G91 Incremental Input and acknowledged with . After this store with
Input. The Minipos displays N2.
, ,
confirm N2 with , acknowledged G0 Rapid Traverse with , the Minipos displays
X.…
, ,
input 10 (f.e. for X10) and store with Input. The Minipos displays N3.
, , , , , , ,
acknowledged N3 with , push 11 for G11 and acknowledged with and than 500
for F500 and store with Input. The Minipos displays N4.
, , , , ,
acknowledged N4 with , push 1 for G1 and than 20 for X20 and store with Input.
The Minipos displays N5.
, , , ±, , ,
acknowledged N5 , push 1 for G1 and than ±,3,0 for x-30 and store with Input.
The Minipos displays N6.
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Manual MiniPos M11 - M88 13
The program is now completely entered. For control you can list it again.
, hold pushed, the Minipos diplays:
N0001 G91, release the Minipos displays N2.
N0002 G00 X+..10,000. release
N0003 G11 F000500. release
N0004 G01 X+..20,000. release
N0005 G01 X-..30,000. release
Now the programm should be started in Automatic mode.
STOP/MENU change in OPERATING MODES .
START/AUTOMAT change in AUTOMAT MODE.
1,0, START 1,0 give for P10, START for starting the program 10.
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3. PROGRAM STRUCTURE
Each programm consists of a program number and up to 9999 blocks.
Each block has a block number N and a G-function. This function tells the MINIPOS
what to do in this block, for example a linear interpolation or a movement to the
reference point.
.
3.1 The G-Functions
This part will explain the G-functions and the corresponding block structures.
G00 RAPID TRAVERSE
N... G00 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
All three axes can be moved together. The feedrate is determinded by Fmax in the
machine data memory.
G01 LINEARINTERPOLATION
N... G01 X....,... Y....,... Z....,... U....,... V....,...A....,... B....,... C....,... F......
Up to 8 axes can be moved together. The feedrate (mm/min.) can be programmed
before the block with G11.
Option:
G02/03 CIRCLE INTERPOLATION CLOCKWISE / COUNTERCLOCKWISE
N... G02 X....,... Y....,... Z....,... U....,... V....,...A....,... B....,... C....,... I....,... J....,...
XY, are the endpoint of the circle segment, IJ are the coordinates of the circle center.
The circle center must be programmed relative to the starting point of the circle
segment, even if the endpoint is defined in absolute coordinates.
Of course, the programmed endpoint must be a part of the circle.
This is the case, when (X-I)² + (Y-J)² = I² + J²
A complete circle can be programmed as follows:
N.... G02 X...0,000 Y...0,000 I...20,000 J....0,000
A helix interpolation will result if additionally one or more axes are programmed.
G04 DWELL TIME
N... G04 H ....,...
Dwell time programming between 0,010 and 9999,990 seconds.
G09 SKIP REST OF TRAVEL
N... G09 X....,... Y....,... Z....,... U....,... V....,...A....,... B....,... C....,... M....
The linear interpolation will be done just like a G01 block. However, if the input
programmed with M (M16, M161-168, M171-178) becomes active, the interpolation
will stop and the next block will be executed. Input min. 100ms.
Possible uses:
- recognization of tool fracture
- digitization of workpieces
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Manual MiniPos M11 - M88 15
G11 ADDITIONAL FUNCTIONS F,S,T,M
N... G11 F...... S...... T.... M....
These functions allow programming of F, S, T and M.
G13 ADDITIONAL M-FUNCTION
N... G13 M.... M.... M.... M.... M.... M.... M.... M.... M....
G13 allows to program several M-functions in one block.
G20 JUMP TO PROGRAM
N... G20 P.... N....
This function executes a jump to the program "P" and continues with the starting
block number "N". If only N is programmed, the jump will be done into the actual
programm. If only P is programmed, the jump will be done to the first block in
program P.
G22 CALL PROGRAM WITH REPETITION FACTOR
N... G22 P.... N.... W....
The program "P" will be called, starting with block number "N". It will be repeated as
programmed with "W". If the program is to be executed only one time, W00 must be
programmed.
Up to 6 programm calls can be stacked.
Note:
An error "too many calls" will be reported in the following case:
P0100
N001 G..
.
N010 G22 P0100 N0001 W0001
G23 JUMP/CALL PROGRAM WITH REPETITION FACTOR AND CONDITION
N... G23 P.... N.... W.... M....
Program "P" will be called, if condition M is true. If W is not programmed, a jump to
program P will executed. The condition M can be all waits for input f.e. M161. The
jump or call only will be executed if input 1 in I/O card 1 is active.
G53 DISPLACEMENT OFF (Initial state)
G54 DISPLACEMENT
N... G54 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
With G90, the values programmed in G54 will be added to all the following
movements.
With G91, the displacement will only once be added to the first movement in the
appropriate axis.
Example:
The program P0010 is programmed in absolute coordinates.
P0010
N0001 G90 Absolute input
N0002 G00 X.... 0,000 Y ....0,000
N0003 G01 X...20,000 Y ....0,000
N0004 G01 X...20,000 Y...20,000
N0005 G01 X.... 0,000 Y ....0,000
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The actual position of the MINIPOS is X,Y. P0010 now should be executed in the
position (100,50).
.
.
.
N0010 G90
N0011 G54 X..100,000 Z...50,000
N0012 G22 P0010
During the execution of P0010, the absolute coordinates are displayed.
G67/68 SOFTWARE LIMIT SWITCH -/+
N... G67 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
If these limits are passed, the MINIPOS will stop and display the error message
SOFTWARE LIMIT SWITCH.
G74 REFERENCE POINT
N... G74 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
This function moves the axes to the corresponding limit switches while the direction
will be determined by the sign of the programmed value. This value will be set into
the actual value counter.
Example:
N.... G74 X....0,000 Y-...1,000
X will be moved to the positive, Y to the negative limit switch.
Note: The axes always will be moved separatly to the reference point.
G75 SCALE FACTOR ON (Initial state)
G76 SCALE FACTOR OFF
N... G75 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
This modal function allows increase, decrease and reflection of the following
programs. All the following movements will be multiplied by the values programmed
in X, Y and Z. A negative value will switch the polarity of the movement. Scaling
factors for X and Y can be differeent. G02, G03 will then become an ellipse.
.
G88 LINEAR SEGMENTATION
N... G88 X.....,... Y.....,... Z.....,... O...... P......
A linear 3D interpolation programmed in X, Y, Z is divided into O segments. After
each segment, the program P is called. In this program, the user can define the
functions to be executed after each segment.
Example:
P0001
N0010 G88 X...50,000 Y...30,000 Z....0,000 O.....7 P.....2
P0002
N0001 G00 X....5,000
N0002 G00 X-...5,000
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Manual MiniPos M11 - M88 17
G89 FREE CYCLE
N... G89 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
Will put the values programmed in X,Y,Z,U,V,A,B,C in the registers #80 - #87. After
each movement then the program P9989 will be invoked.
G90 ABSOLUTE INPUT
N... G90 absolute input
This function switches from incremental to absolute input. All the following inputs will
be interpreted as absolute values.
G91 INCREMENTAL INPUT (Initial state)
N... G91 incremental input
This function switches from absolute to incremental input. All the following inputs will
be interpreted as incremental values.
G92 ZERO OFFSET
N... G92 X....,... Y....,... Z....,... U....,... V....,... A....,... B....,... C....,...
The programmed values are taken into the actual value counter. If G54 or a tool is
active, these values are calculated to the actual counter. So, the value programmed
in G92 will not necessarely appear on the screen.
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3.2 The M-functions
The M-functions have the following meaning:
M00 programmed stop
M02 program end
Use of the I/O cards 1 or 4
M0140 set all outputs on I/O card 1
M0141 - M148 set output 1 - 8 on I/O card 1
M0150 reset all outputs on I/O card 1
M0151 - M0158 reset output 1 - 8 on I/O card 1
M0160 wait for all inputs to go active on I/O card 1
M0161 - M0168 wait for input 1 - 8 to go active on I/O card 1
M0170 wait for all inputs to go inactive on I/O card 1
M0171 - M0178 wait for input 1 - 8 to go inactive on I/O card 1
M0180 invert all outputs on I/O card 1
M0181 - M0188 invert output 1 - 8 on I/O card 1
The waiting functions M16, M0x60 - M0x68 and M0x70 - M0x78 can be skipped with
START.This however can be inhibited by M2347. The I/O card 4 can be programmed
with M04xx to M04xx.
Use of the signals MOTOR ON for servoamplifiers
M2140 Remove the signal MOTOR ON to all axes
M2141 - M2148 Remove the signal to the axes X - C
M2150 Activate the signal MOTOR ON for all axes
M2151 - M2158 Activate the signal for axes X – C
Special M-functions
M2247 (M27) move to IN POSITION
M2251 - M2258 will reset the preceeding functions.
M2344 (M34) by pressing "MENU" go to P9999
M2347 (M37) the "wait for input" cannot be left by pressing "START"
M2351 - M2358 will reset the preceeding functions.
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Manual MiniPos M11 - M88 19
3.3 The F-function (feedrate)
The feedrate will be programmed with the F-function. Possible values are 1 to
999999 mm/min. The MINIPOS will only move at values below or equal to Fmax
defined in the machine data.
Example:
N.... G11 F1000
N.... G01 X..100,000 Y..100,000
The X and Y axes will not move with 1000 mm/min. each, but only with 1000:1,4=714
mm/min. Because both axes are moving, the resulting feedrate will be 1000 mm/min.
3.5 The T-function (tool call)
With the T-function up to 99 tools (T01 - T99) can be programmed. Invoking G41,
G42 the data of the just activated tool will be read out of the tool table P0000. If
another tool is to be used, programming can be made with the T-function.
The desired tool must be called before programming a path or length compensation.
The T-function automatically activates the tool length compensation, which can be
switched off with T00.
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