Roland RML-1 Instruction Manual

RML-1 PROGRAMING GUIDELINE
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RML-1
PROGRAMING GUIDELINE
Ver䇭
䇭䇭
䇭1.00䇭䇭
䇭䇭䇭䇭
䇭䇭28,MAY,2002
䇭

RML-1 PROGRAMING GUIDELINE
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INDEX
1 ; Overview of RML-1
2 ; Command Format
䇭
䇭䇭
䇭3 ; Descriptions of Commands
䇭
䇭䇭
䇭3-1;Mode –1
䇭䇭
䇭䇭䇭䇭
䇭䇭 3-2;Mode –2
䇭䇭
䇭䇭䇭䇭
䇭䇭 3-3;Commands Common to Mode-1 and Mode-2
4 ; Device Control Commands
䇭
䇭䇭
䇭4-1䋻
䋻䋻
䋻Format of Device Control Commands
4-2䋻
䋻䋻
䋻Descriptions of Device Control Commands
䇭䇭䇭
䇭䇭䇭䇭䇭䇭
䇭䇭䇭 ESCK Commands
䇭䇭䇭
䇭䇭䇭䇭䇭䇭
䇭䇭䇭 Other Device Control Commands
䇭
䇭䇭
䇭5 ; Appendix
5-1;Three-dimensional Movement
5-2䋻
䋻䋻
䋻Spindle motor
5-3䋻
䋻䋻
䋻Effects of Certain Commands on Other Commands

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1;Overview of RML-1
1-1;Command Set
RML-1 commands are grouped as commands for mode 1, commands for mode 2, and
commands that are common to both mode 1 and mode 2.
Mode 1:Composed of one letter or symbol; based on DXY-GL.
Mode 2:Composed of two letters; based on RD-GL.
Common to mode 1 and mode 2: Composed of an "!" plus two letters.
For all three, the unit of measurement for the coordinate system is 1/100 mm.
Character codes are composed of 8-bit ASCII codes. valid letter, numerals, and symbols are
0x7f and lower. A code of 0x80 or higher results in an error even if the letter produced when
the eight bit (MSB) is zeroed is a valid command. When the communication parameters are
set for 7-bit sending, the data is converted to 8 bits, with the MSB assumed to be zero.
1-2;Supported RML Commands
Mode 1 D
F
H
I
M
R
V
W
Z
@
^
Mode 2 DF
IN
PA
PD
PR
PU
VS
Common to mode 1 and mode 2
!DW
!MC
!NR
!PZ
!RC
!VZ
!ZM
!ZO
!ZZ
!ZE

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2;Command Format
2-1;Description
Commands are made up of letters and some symbols, and parameters are or a combination
of the two. Parameters are made up of numerals, which may be signed. Commands and
parameters are separated by delimiters and terminators.
Also, commands and parameters are eight bits, and have significance as character strings
when the most significant bit is zero. When this is not zero, the character string is neither a
command nor a parameter.
Each of these is described below.
2-2;Format for Mode 1
Format example * D ** 5000 ** [,] ** 5000 ** [terminator]
[Delimiter]
"*" indicates a character whose ASCII code is for the space or lower, or the ";"
character. One or more may be used, without restriction.
"**" indicates either the space or the tab character. One or more may be used,
without restriction.
[,] indicates the "," (comma) character. Only one may be used.
[Command]
The location shown by "D" is the command. It appears as a single letter or,
depending on the model, as "@", "!", "^", or "_". If D is preceded by a numeral or by
"+", "-", or ".", it is read and discarded with error 2. All other characters at 0x20 or
lower, and ";", are ignored.
When a single letter is recognized, a case-insensitive comparison is performed
against the list of valid commands for the model, and if the character string does not
match it is discarded with error 1. If a match is made, the corresponding command
is executed. Get parameters as required.
[Parameter]
The location shown by "5000" is the parameter. [,] is used as the delimiter for
parameters. Details are similar to parameters for mode 2.
[Terminator]
This is formally "CR + LF".
Unless specially noted otherwise, this can be omitted when followed by the next
command.

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Special conditions are described in section 2-5.
2-3;Format for Mode 2
Format example * P ** A ** 5000 ** [,] ** 5000 ** [terminator]
[Delimiter]
"*" indicates a character whose ASCII code is for the space or lower, or the ";"
character. One or more may be used, without restriction.
"**" indicates either the space or the tab character. One or more may be used,
without restriction.
[,] indicates the "," (comma) character. Only one may be used.
[Command]
PA is the command, and is shown by two letters.
Only a space or tab may validly appear between the P and the A. There is no
restriction as to the number of space or tab characters. If a character other than
space or tab is used, it is read and discarded it with error 1. If P is preceded by a
numeral or by "+", "-", or ".", it is read and discarded with error 2. All other characters
at 0x20 or lower, and ";", are ignored.
When composed of two letters separated by a delimiter, a case-insensitive
comparison is performed against the list of valid commands for the model, and if the
character string does not match it is discarded with error 1. If a match is made, the
corresponding command is executed. Get parameters as required.
[Parameter]
This is a numeral and "+", "-", or ".". The characters that appear are not RML-1
commands.
The "+" may be omitted. The value "5000" must follow without any intervening extra
characters. If a character other than a numeral or "+", "-", and "." appears, the
character string up to that point is taken to be a single parameter.
A parameter has no E expression. They are composed only of numerals and ".", "+",
and "-". A parameter that is larger or smaller than the expected value results in error
3. Except for portions such as PU/PD that have already been executed, this portion
of the parameter is not executed.
(Valid numerical ranges of parameters:)
int type This indicates a range of -32768 to 32767. A size of two bytes is
ssumed.
long type This indicates a range of -8388608 to 8388607. A size of four
bytes is assumed.

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float type This indicates a range of -8388608.0 to 8388607.0. A size of four
bytes and IEEE format are assumed.
Special conditions are described in section 2-5.
[Terminator]
This is ";". The [terminator] is formally ";".
Unless specially noted otherwise, this can be omitted when followed by the next
command.
It is required if not followed by the next command.
Special conditions are described in section 2-5.
2-4;Format for Commands Common to Mode 1 and Mode 2
Format example * ! ** P ** Z ** -200 ** [,] ** 100 ** [terminator]
[Delimiter]
"*" indicates a space or lower, or the ";" character. One or more may be used,
without restriction.
"**" indicates either the space or the tab character. One or more may be used,
without restriction.
[,] indicates the "," (comma) character.Only one may be used.
[Command]
Except for the addition of "!", the system is similar to mode 2.
If the "!" is preceded by a numeral or by "+", "-", or ".", it is read and discarded with
error 2.
All other characters at 0x20 or lower, and ";", are ignored.
When "!" is detected, interpretation of the following letter follows the rules for mode
2 commands, so refer to the description of mode 2 commands for the P and Z
portions.
[Parameter]
This is similar to the parameters for mode 2.
[Terminator]
The [terminator] is formally "CR + LF" for mode 1 and ";" for mode2.
Unless specially noted otherwise, this can be omitted when
followed by the next command.
2-5;Specific Examples of Special Cases Not Described Above
When a parameter contains a special character, and a "+", "-", "." (period), or
numeric string in a parameter string delimited by a command character and a

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delimiter or terminator loses its significance as a numerical value, the
character is treated as a terminator.
(Examples)
PA100,,100; is equivalent to PA100,;,100;
PA100++100; is equivalent to PA100;++100;
PA100..100; is equivalent to PA100.;.100;
PA100,.100.0; is equivalent to PA100,0.100;.0;
PA 100 . 0, 100; is equivalent to PA100,0;0,100;
PA - 100, 100; is equivalent to PA-;100,100;
PA . 100, 100; is equivalent to PA0;100,100;
PD, is equivalent to PD;,
PD$ is equivalent to PD;$
PD< is equivalent to PD;<
PD^C is equivalent to PD;^C
PD[TAB]0,1; is equivalent to PD0,1;
PD-[CR]0,1; is equivalent to PD-;0,1;
When getting parameters, only the number of parameters that could be
obtained completely and correctly is executed.
(Specifically, cases resulting in an error are excluded.)
IP-; is executed with zero parameters.
IP 100,-; is executed with one parameter.
IP 100,100,-; is executed with two parameters.
IP 100,100,200,-; is executed with three parameters.
IP 100,100,200,200; is executed with four parameters.
IP 100,100,200,200,300; is executed with four parameters. Only the required
parameters are obtained. The final ",300" is passed to
the next command search.
PD-; is executed with zero parameters.
PD 100,-; is executed with one parameter.
Also, if the value of a parameter is out of range for its type (such as int), it is limited
to the type's maximum or minimum value.
In command processing, two letters must be obtained for mode 2 commands and

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common commands. Even when the portion is only one letter and the determination
is made that there is no corresponding command, it is necessary to get one more
letter.
3;Descriptions of Commands
3-1;Mode 1
@ (Input Z1 & Z2 command)
<Format>
@ z1 (, z2) [terminator]
<Parameter type>
z1: long
z2: long
<Parameter range>
z1: Negative Z-axis operating range to 0
z2: 0 䌾8388607
<Description>
This sets point Z1,Z2 in the workpiece coordinate system.
Z1,Z2 specify a relative value from Z0 in the workpiece coordinate system.
When Z2 is not specified, the value already in effect is reused.
When no parameter exists, the value set using the operation panel may be
used, although this varies according to the model.
If either Z1 or Z2 (but not both) generates an error, the setting is made for
the value that did not generate an error.
<Errors>
Error3 results if Z1 is higher than zero or if Z2 is less than zero.
Error 3 similarly results when Z1 is outside the work area.
No error results when Z2 is outside the work area.
<Other Matters>
When Z2 is outside the work area, no error is generated and the setting is
made, but actual Z2 operation stop at the topmost location. (This is
because movement is physically impossible.)
D (Draw -- Line-cutting command)
<Format>
D x1, y1, x2, y2,..., xn, yn [terminator]

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D [terminator]
<Type>
xn: float
yn: float
<Parameter Range>
-8388608.0 䌾8388607.0
<Description>
This sequentially cuts line segments between coordinates specified from
the present tool location, in the sequence x1,y1, x2,y2,..., xn,yn. The
coordinate values are all absolute coordinates. Thereafter the system is in
the absolute-coordinate mode.
<Errors>
For the parameters, a pair of values, x and y, constitute a single set, and
more than one set may be stated.
When the number of parameters is odd, each pair is sequentially
interpreted from the beginning as x and y and is executed accordingly, and
the final remaining odd value generates error 2. Execution is not
performed.
I (Relative draw -- Relative-coordinate line-cutting command)
<Format>
I dx1, dy1, dx2, dy2,..., dxn, dyn[terminator]
I [terminator]
<Type>
float
<Parameter Range>
-8388608.0 䌾8388607.0
<Description>
This performs cutting at the Z1 height from the present tool position to the
coordinates specified by the amount of change along the X axis dx1 and
the amount of change along the Y axis dy1. It next performs cutting at the
Z1 height from the position moved to, to the coordinates specified by the
amounts of change dy1, dy2 for the corresponding X and Y axes. This
sequentially performs cutting up through the final specified coordinates.
This cuts line segments between coordinates.
The coordinate values are all relative coordinates, and the system goes
into the relative-coordinate mode.

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When the machine is at a height other than Z1 when first moving to the
amounts of change dx1, dy1, the spindle is rotated if it is in a rotatable
state, and after rotation stabilizes, movement to the Z1 height is effected at
the speed specified by !VZ or V. Thereafter movement to the coordinates
specified by dx1, dy1 is effected.
In cases where this command appears when the height is already at Z1,
the spindle is rotated if it is in a rotatable state, and after rotation stabilizes,
movement directly to the coordinates specified by dx1, dy1 is effected.
<Errors>
For the parameters, a pair of values, x and y, constitute a single set, and
more than one set may be stated.
When the number of parameters is odd, each pair is sequentially
interpreted from the beginning as x and y and is executed accordingly, and
the final remaining odd value generates error 2.Execution is not
performed.
M(Move -- Linear-movement command)
<Format>
M x1, y1, x2, y2,..., xn, yn [terminator]
M [terminator]
<Type>
float
<ParameterRange>
-8388608.0 䌾8388607.0
<Description>
This sequentially moves linearly at the Z2 height between coordinates
specified from the present tool location, in the sequence x1,y1, x2,y2,...,
xn,yn.
The coordinate values are all absolute coordinates, and the system goes
into the absolute-coordinate mode.
<Errors>
For the parameters, a pair of values, x and y, constitute a single set, and
more than one set may be stated.
When the number of parameters is odd, each pair is sequentially
interpreted from the beginning as x and y and is executed accordingly, and
the final remaining odd value generates error 2. Execution is not
performed.