Engelhardt Minipos M Series Manuel utilisateur

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U S E R M A N U A L

Minipos M11 – M88

(starting with version 2.34)

( )

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.

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

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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