mycnc control & software. MyCNC-ET5 CNC control board

Transcription

1 mycnc control & software. MyCNC-ET5 CNC control board User manual (rev.5) 5-5- mycnc Puruvesi Automation Inc. mycnc, CNC control and software

2 Using This Manual This user manual provides information for proper installation of the mycnc-et5 controller and operation of machining centers based on mycnc control software. WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the machinery. mycnc shall not be liable or responsible for any incidental or consequential damages mycnc, CNC control and software

3 Table of content Introduction Communication mycnc peripherals System Elements...7 mycnc-et5 connection MyCNC-ET5 outline Power supply Motor Interface Opto-isolated inputs PWM outputs, Transistor open collector outputs Relays outputs RS485 bus connectors ADC inputs Connection to the control PC MyCNC-ET5 connection examples Motor interface connection examples Configuration and diagnostic Connection the mycnc-et5 controller to diagnostic channel PC to driver command format Set commands... 4 RS485 Modbus interface Introduction...6 Table. PLC variables for access to ADC, DAC and PWM...6 Table. mycnc-et5 peripherals. Address-to-pin assosiations... Table 3. mycnc-et5. Power supply. X3 pin description... Table 4. mycnc-et5 motor interface. Connectors X-X6 pin description... Table 5. mycnc-et5. Incremental encoders connectors X-X5... Table 6. Settings for digital inputs power supply...3 Table 7. X connector binary inputs pins description...3 Table 8. PWM and open collector outputs. X7 connector pin description...4 Table 9. RS485 X3, X3 pin description...7 Table. ADC inputs. X33, X34, X35, X36 connectors pin description...8 Table. Set LAN/Ethernet commands (mycnc-et5 controller)... Table. Set PID regulator commands (mycnc-et5 controller)... Table 3. Print command (mycnc-et5 controller)...4 Table 4. Debug commands (mycnc-et5 controller)...5 Table 5. RS485 Modbus IO access commands (mycnc-et5)...6 Table 6. RS485 Modbus Positioning commands Motion control access through Modbus (mycnc-et5)...7 Figure. mycnc-et5 board (revision ). Board outline()...7 Figure. mycnc-et5 board (revision ). Board outline()...8 Figure 3. mycnc-et5 board (revision ). Board outline(3)...9 Figure 4. STEP/DIR interface schematic design for mycnc-et5 control board... mycnc, CNC control and software

4 Figure 5. +/-V analogue motor control output scematic design... Figure 6. Opto-isolated inputs schematic design (mycnc-et5)...4 Figure 7. mycncet5. Relay outputs schematic design...6 Figure 8. RS485 connectors (X7, X) schematic design...7 Figure 9. mycnc-et5 ADC input schematic design...8 Figure. ADC inputs pinout schematic...8 Figure. Connection servo or stepper driver with differential line driver as inputs...9 Figure. Connection servo or stepper driver with opto-isolated inputs...9 mycnc, CNC control and software

5 Introduction The mycnc-et5 is all-in-one 6 axes motion controller and PLC controller. The controller communicates with HMI software through LAN/Ethernet. Performance capability of the controller includes: Motion controller processing time is 8us ; 6 channels STEP/DIR outputs with 3MHz maximum pulse frequency; 6 channels DAC +/-V speed control outputs; Extra 6 channel encoder inputs to build extra closed loop control. 6 channel closed loop servo driver control thought incremental encoder feedback. 3 PWM open collectors outputs (4V DC, ma max); 7 open collectors binary outputs (4V DC, ma max); 7 relay outputs; 6 optoisolated binary inputs; 36 optional binary inputs line driver/rs4 compatible; channel RS485 (Modbus ASCII implemented to provide third-party software/hardware interface to ET5 peripherals and motion control features); 4 channel ADC inputs with integrated Torch height control system (THC) suitable for plasma, gas, laser, water-jet cutting applications. Built-in PLC with ms processing time to control all peripheral units (relay outputs, optoisolated inputs, PWM outputs, ADC); Mbytes flash memory for PLC program, motion program and parameters storage for maximum flexibility (more than write cycles). mycnc-et5 controller drives up tp 6 motor drivers (stepper or servo that accepts step/dir control or analogues +/-V control and encoder feedback). Modes of motion include jogging, point-to-point positioning and contouring. Electronic gearing is available via mycnc control software. Several motion parameters can be specified including acceleration and deceleration rates. Committed digital inputs can be configured as abort, jog, start and home events or can be flexibly used while machining process via PLC controller. For communication between controller and HMI software specially designed binary full-duplex protocol is used. To prevent system damage during machine operation, the mycnc software programming interface and mycnc-et5 controller provide many error handling features. These include software and hardware limits, automatic shut-off on excessive error, user-definable abort input... Communication For communication mycnc-et5 controllers with HMI (mycnc software) is used LAN/Ethernet interface (base-t Ethernet port). mycnc, CNC control and software

6 ET5 provides RS485 Modbus ASCII and Modbus TCP interfaces for third party software-hardware access to Motion control features and ET5 peripherals. For programming and configuring the device is used USB slave interface with integrated USB-toserial converter. Communication parameters for connection is 5-N-8-.. mycnc peripherals. mycnc-et5 controller board contains wide range of peripherals (PWM, binary Inputs, relay and transistor keys outputs, DAC output, ADC inputs). There are available operations that synchronized with motion and asynchronous operations that run immediately. All peripherals are available via PLC reserved variables or functions. In a table below there are PLC variable names and peripherals that assigned to it. PWM, ADC and DAC are unsigned -bit values. Complete range for these variables is 495 (in hex xfff) Table. PLC variables for access to ADC, DAC and PWM PLC variable pwm pwm pwm3 pwm4 adc adc adc3 adc4 dac dac Peripherals PWM PWM PWM3 Reserved for PWM4 ADC ADC ADC3 ADC4 DAC Reserved for DAC Digital inputs available via PLC function: getport(int port_number) //read digital input nr. (port_number+); return value is if input pin open, if closed; Digital outputs available via PLC functions: portset(int port_number); //turn on relay nr. (port_number+) portclr(int port_number); //turn off relay nr. (port_number+) Samples:. Turn on relay nr.3 and turn off relay nr. portset(); // turn on relay output nr.3 portclr(); // turn off relay output nr. mycnc, CNC control and software

7 . if input pin nr.5 is open turn off PWM channel nr., otherwise turn on it on a half of maximum; if (portget(4)==) pwm=; else pwm=48; 3. PWM channel nr. repeats value on ADC channel nr. pwm=adc;.3. System Elements The mycnc-et5 is part of a motion control system which includes PC control with installed mycnc software, servo or stepper motor drivers, motors and power supply. mycnc-et5 connection... MyCNC-ET5 outline. Figure. mycnc-et5 board (revision ). Board outline(). mycnc, CNC control and software

8 Figure. mycnc-et5 board (revision ). Board outline(). mycnc, CNC control and software

9 Figure 3. mycnc-et5 board (revision ). Board outline(3). mycnc, CNC control and software

10 Table. mycnc-et5 peripherals. Address-to-pin assosiations. Software name Relay outputs Выходы RELAY (OUT ) RELAY (OUT ) RELAY3 (OUT ) RELAY4 (OUT 3) RELAY5 (OUT 4) RELAY6 (OUT 5) RELAY7 (OUT 6) Transistor outputs TR (OUT 7) TR (OUT 8) TR3 (OUT 9) TR4 (OUT ) TR5 (OUT ) TR6 (OUT ) TR7 (OUT 3) Binary inputs (optoisolated) IN IN IN IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 IN IN IN IN 3 IN 4 IN 5 ADC inputs ADC ADC ADC 3 ADC 4 PWM outputs PWM PWM PWM 3 Connector Pin numbers X7 X8 X6 X8 X9 X X X7 X7 X7 X7 X7 X7 X X X X X X X X X X X X X X X X X X33 X34 X35 X36 X7 X7 X7 4 6 Comments mycnc, CNC control and software

11 .. Power supply. The board 4V DC power supply. Connector X3 is used for control power supply 4V DC connection. Table 3. mycnc-et5. Power supply. X3 pin description. Pin nr. Description 4V DC GND / COMMON.3. Motor Interface. mycnc-et5 board contains 6 connectors for motor drivers control X- X6. PULSE/DIR interface and +/-V analogue speed control may be connected through this connectors. PULSE/DIR motor interface is made with 5V linear driver chip DS34C87 (RS4 compatible). X for motor ; X4 for motor ; X for motor 3; X5 for motor 4; X3 for motor 5; X6 for motor 6; Pin connection is described it a table below. Table 4. mycnc-et5 motor interface. Connectors X-X6 pin description Pin Nr. Pin description GND/COMMON GND/COMMON 3 GND/COMMON 4 GND/COMMON 5 STEP 6 /STEP 7 DIR 8 /DIR 9 +/-V AOUT Not connected mycnc, CNC control and software

12 Figure 4. STEP/DIR interface schematic design for mycnc-et5 control board. Figure 5. +/-V analogue motor control output scematic design. MyCNC-ET6 contains 6 connectors X-X5 to connect up to incremental encoders. X Encoders.,.; X Encoders.,.;. X5 Encoders 6., 6.; X-X5 pin description is shown on a table below mycnc, CNC control and software

13 Table 5. mycnc-et5. Incremental encoders connectors X-X5. Pin nr Description 5V DC GND A (Encoder -5) /A (Encoder -5) B (Encoder -5) /B (Encoder -5) Z (Encoder -5) /Z (Encoder -5) A (Encoder 6-) /A (Encoder 6-) B (Encoder 6-) /B (Encoder 6-) Z (Encoder 6-) /Z (Encoder 6-).4. Using Encoder inputs as extra binary inputs. Each encoder inputs contains 3 pin (A, B, Z). It's possible to map encoder input pins to Inputs address space and use encoder inputs as general purpose binary inputs, There are 3x 6-bit port that reflect state on encoder inputs. Each 6-bit port can be mapped to Inputs address space. See mycnc software configuration dialog below. ET5 encoder input ports #, #, # are mapped respectively to Input ports #, #, #3. mycnc software, PLC can access to this pins as normal input pins. For example, Encoder5 inputs pin Z (X5, pin 7, 8) connected to Encoder Inputs Port #, bit 6. If Encoder-Inputs Port# is mapped to Input Port #, then input pin # (6 + 6)= represents state.state of Encoder5/Z pin. mycnc, CNC control and software

14 In a table below shown connection Encoder Input pins tp Encoder-Input Ports mycnc, CNC control and software

15 Table 6. mycnc-et5. Incremental encoders connectors X-X5. Encoder # SIgnal Conn. Input pins. Enc. Port# # A, /A B, /B Z, /Z X X X 3, 4 5, 6 7, A, /A B, /B Z, /Z X X X 9,, 3, A, /A B, /B Z, /Z X X X 3, 4 5, 6 7, A, /A B, /B Z, /Z X X X 9,, 3, 4 A, /A B, /B Z, /Z X X X 3, 4 5, 6 7, A, /A B, /B Z, /Z X X X 9,, 3, A, /A B, /B Z, /Z X3 X3 X3 3, 4 5, 6 7, A, /A B, /B Z, /Z X3 X3 X3 9,, 3, A, /A B, /B Z, /Z X4 X4 X4 3, 4 5, 6 7, 8 9 A, /A B, /B Z, /Z X4 X4 X4 9,, 3, mycnc, CNC control and software

16 5 5 5 A, /A B, /B Z, /Z X5 X5 X5 3, 4 5, 6 7, A, /A B, /B Z, /Z X5 X5 X5 9,, 3, 4.5. Opto-isolated inputs. The mycnc-et5 contains 6 opto-isolated inputs for connection any type sensors, keys, switchers. Schematic design is shown on the figure below. Internal +4V DC power supply or external power supply 4V DC (For complete digital input optical isolation) can be used to supply optocoupled leds. Configuration for internal/external power supply is shown on a table below. Table 7. Settings for digital inputs power supply. External power supply 4V DC for digital inputs Internal power supply 4V DC for digital inputs J & J are open; J & J are closed Table 8. X connector binary inputs pins description. Pin #, 3, Description Ext VCC + (+4V DC if J6 closed) Ext VCC- (GND/COMMON if J closed) Ext VCC- (GND/COMMON if J closed) Input 5 Ext VCC- (GND/COMMON if J closed) Input 4 Ext VCC- (GND/COMMON if J closed) Input 3 Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input 9 Ext VCC- (GND/COMMON if J closed) Input 8 mycnc, CNC control and software

17 , 38 39, 4 Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input Ext VCC- (GND/COMMON if J closed) Input 3 Ext VCC- (GND/COMMON if J closed) Input 4 Ext VCC- (GND/COMMON if J closed) Input 5 Ext VCC- (GND/COMMON if J closed) Input 6 Ext VCC- (GND/COMMON if J closed) Input 7 Not connected Not connected Figure 6. Opto-isolated inputs schematic design (mycnc-et5)..6. PWM outputs, Transistor open collector outputs. The mycnc-et5 board contains 3 channel PWM outputs and 7 transistor open collector outputs. Connector X7 is used to connect this signals. PWM outputs are open collector as well. Internal power supply +4V DC is used as pair to use PWM signal or transistor open collector output. Table 9. PWM and open collector outputs. X7 connector pin description. Pin nr Description +4V DC PWM +4V DC PWM +4V DC PWM3 +4V DC OUT +4V DC OUT +4V DC OUT3 +4V DC mycnc, CNC control and software

18 OUT4 +4V DC OUT5 +4V DC OUT6 +4V DC OUT7.7. Relays outputs. The mycnc-et5 board contains 7 relays (with normally open & closed contacts available). Connectors X7, X8, X6, X8, X9, X, X are used for relays connection. Schematic of relays outputs and connectors is shown on a figure below. mycnc, CNC control and software

19 Figure 7. mycncet5. Relay outputs schematic design..8. RS485 bus connectors. ET5 control board contains RS485 bus connectors. RS485 might be configured as Modbus-ASCII server, IPG fiber laser interface. Connectors X7, X are used for RS485. X7 connector schematic is shown on a picture below. X connectors has similar pinouts. mycnc, CNC control and software

20 Figure 8. RS485 connectors (X7, X) schematic design. Pin description for X3, X3 connector is shown below. Table. RS485 X3, X3 pin description. Pin nr.,, 3, , 8 9, Description GND/COMMON RS485 - B RS485 - A Not used Not used (+5V DC optional).9. ADC inputs. MyCNC-ET5 control board contains 4 Analog-to-Digital converter (ADC) inputs. Connectors X33,X34, X35, X36 are used for connection ADC inputs to ET5 control board. Pin connection described in a table below. Connectors contains +5V DC power supply output pin, so external active sensors can be connected & powered from mycnc-et5 control board (3mA max current). ADC input schematic design is shown on a picture below. mycnc, CNC control and software

21 Figure 9. mycnc-et5 ADC input schematic design. Table. ADC inputs. X33, X34, X35, X36 connectors pin description. Pin nr. 3 4 Description +5V DC supply output AD+ input GND (Common) GND (Common) Typical using of ADC inputs are: Joystick connection for Jog motion; Pressure sensors connection for automatic gas console; Height sensing control; Analogue end switchers;.. Connection to the control PC. MyCNC-ET5 control board is connected to PC HMI through LAN/Ethernet connector XT. Standard Ethernet cable can be used for connection. The control board may be connected either directly to the control PC or through Ethernet Switch/HUB to Local Network. For reflashing, configuration and siagnistic is used USB slave connector X. mycnc, CNC control and software

22 .. MyCNC-ET5 connection examples... Motor interface connection examples. Figure. Connection servo or stepper driver with differential line driver as inputs. Figure. Connection servo or stepper driver with opto-isolated inputs. mycnc, CNC control and software

23 3 Configuration and diagnostic. 3.. Connection the mycnc-et5 controller to diagnostic channel. For programming, reflashing of configuring the ET5 controller should be connected to PC through USB-slave connector. USB-to-serial converter chip FT3RL is installed on the ET5 controller for serial communication with Host PC. Drivers for this converter should be installed on the Host. Driver for Linux OS is called «ftdi_sio» and included into the Linux Kernel. For Windows machines the drivers can be installed from mycnc folder: mycnc/driver.usb-to-serial or directly from the manufacturers website: For communication with myservo-a servodriver terminal software like hyperterminal for MS Windows or minicom for Linux, can be used. Serial connection is used with parameters 5 8N. 3.. PC to driver command format. Command to the driver is text line that begins with symbol # and ends with <CR/LF>. Text line is case sensitive. There are available Set, Print and Debug commands Set commands. Table. Set LAN/Ethernet commands (mycnc-et5 controller). Command format. #SLE {A}<CR/LF> Possible value for {A} is, #SLA {A} {B} {C} {D}<CR/LF> Command description. [S]et [L]AN [E]nable turn on/off LAN/Ethernet interface. Automatically save settings in flash memory. Change will take effect after restart the driver. {A} LAN enable {A} LAN disable Examples: #SLE turns LAN interface off; #SLE turns LAN interface on [S]et [L]AN [A]ddress set LAN/Ethernet mycnc, CNC control and software

24 Possible value for {ABCD} are...55 #SLG {A} {B} {C} {D}<CR/LF> Possible value for {ABCD} are...55 address of the board as given values ABCD: IP Addr ={A}.{B}.{C}.{D} Automatically save settings in flash memory. Change will take effect after restart the driver. Example: #SLA <CR/LF> sets IP address to [S]et [L]AN [G]ateway set LAN/Ethernet gateway as given values ABCD: GW Addr ={A}.{B}.{C}.{D} Automatically save settings in flash memory. Change will take effect after restart the driver. Example: #SLG <CR/LF> sets GW address to Table 3. Set PID regulator commands (mycnc-et5 controller). Command format. #SP{A}P {B}<CR/LF> Possible value for {A} is... Possible value for {B} is...3 #SP{A}I {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is...3 #SP{A} {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is...3 Command description. [S]et [P]id regulator number {A} [P]roportional coeff to given value {B}. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SPP 3 set PID number, Proportional coefficient to value 3 [S]et [P]id regulator number {A} [I]ntegral coeff to given value {B}. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SPI 5 set PID number, Integral coefficient to value 5 [S]et [P]id regulator number {A} K[] coeff to given value {B}. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. mycnc, CNC control and software

25 #SP{A}K {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is...3 #SP{A}H {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is...3 #SP{A}< {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is #SP{A}> {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is #SP{A} {B}<CR/LF> Examples: #SP 5 set PID number, K coefficient to value 5 [S]et [P]id regulator number {A} Linear coefficient [K] to given value {B}. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SPK 45 set PID number, K linear coefficient to value 5 [S]et [P]id regulator number {A} [H]ysteresis coeff to given value {B}. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SPH 4 set PID number, Hysteresis coefficient to value 5 [S]et [P]id regulator number {A} [<] minimum control range to given value {B}. Minimum level of PID Output control will be limited with given value. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SP< set PID number Output control value minimum range to [S]et [P]id regulator number {A} [>] maximum Output control range to given value {B}. Maximum level of PID Output control will be limited with given value. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SP> 3 set PID number Output control value maximum range to 3 [S]et [P]id regulator number {A} [] Integral mycnc, CNC control and software

26 Possible value for {A} is.. Possible value for {B} is...3 #SP{A} {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is...3 #SP{A}X <CR/LF> Possible value for {A} is.. #SP{A}W {B} <CR/LF> Possible value for {A} is.. Possible value for {B} is.. #SP{A}D {B}<CR/LF> Possible value for {A} is.. Possible value for {B} is.. Part minimum range to given value {B}. Minimum of Integral Part for given PID regulator will be limited with given value multiplied to (-). Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SP set PID number Minimum limit for Integral Part to (-) [S]et [P]id regulator number {A} [] Integral Part maximum range to given value {B}. Maximum of Integral Part for given PID regulator will be limited with given value. Change takes effect immediately. New value is NOT stored in the flash memory. Special command need to store settings in the flash. Examples: #SP 5 set PID number Maximum limit for Integral Part to (5) [S]et [P]id regulator number {A} [X] rest of config parameters to default values and save all PID configuration to Flash memory. Change takes effect immediately. Examples: #SPX set PID number rest of variables to default value and save the Configuration. [S]et [P]id regulator number {A} all the values from configuration of PID number {B} and save the config to Flash memory. Change takes effect immediately. Examples: #SPW Load a complete configuration to PID number from the PID number and save the Configuration to Flash memory. [S]et [P]id regulator number {A} Debug level to given value {B}. While B=5 Modbus debug is turned on. Examples: #SPD5 set PID number Debug ON. Table 4. Print command (mycnc-et5 controller). mycnc, CNC control and software

27 Command format. #PP <CR/LF> Command description. [P]rint [P]ID regulator data. Print current PID coefficients Example: #PP mycnc, CNC control and software

28 Table 5. Debug commands (mycnc-et5 controller). Command format. #DP {A} <CR/LF> Possible value range for {A} is...3 Command description. [D]ebug [P]ID regulator level. Turn on PID control diagnostic with given level or turn off it Give value turn off diagnostic; print position error, speed; print position error, motor voltage, speed; 3 print position error, speed error, motor voltage, speed; Examples: #DP turn off diagnostic #DP turn on PID diagnostic with level mycnc, CNC control and software

29 4 RS485 Modbus interface. 4.. Introduction. MyCNC-ET5 control board provides Modbus/ASCII interface for access to Peripherals and Motion controller features of the controller. Modbus ASCII protocol implemented through RS485 and Ethernet. Physical specification of connection is: ) for RS485-5-n-8- ) for Ethernet UDP, port 43 Modbus server service is implementer in ET5 by default. Optional client features can be activated through Ethernet connection with mycnc control software. Implemented commands listed in tables below. Table 6. RS485 Modbus IO access commands (mycnc-et5). Description Value, range Address Read binary inputs. 6-bit value х8 Read/Write binary outputs (relay & open collector outputs) 6-bit value х84 Read ADC values (ADC... 6-bit value (low bit is actual ADC value) ADC4). х88, х89, х8а, х8в 3 Read/Write DAC outputs value (DAC, DAC). 6-bit value (low bit is actual avlue) х8с, х8d 4 Read/Write PWM outputs value(pwm... PWM4). 6-bit value (low bit is actual avlue) х8, х8, x8, x83 mycnc, CNC control and software

30 Table 7. RS485 Modbus Positioning commands Motion control access through Modbus (mycnc-et5). Description Value, range Address Motion speed set (pulses per 3-bit value, (х84 hi word, х85 lo sec), 3-bit format : 4.8 word) х84, х85 Acceleration set for motion 3-bit value, command (pulses per sec^), (х86 hi word, х87 lo word) integer value х86, х87 3 Absolute position/increment 3-bit value, for axis X (х8 hi word, х8 lo word) х8, х8 4 Absolute position/increment 3-bit value, for axis Y (х8 hi word, х83 lo word) х8, х83 5 Absolute position/increment 3-bit value, for axis Z (х84 hi word, х85 lo word) х84, х85 6 Absolute position/increment 3-bit value, for axis A (х86 hi word, х87 lo word) х86, х87 7 Absolute position/increment 3-bit value, for axis B (х88 hi word, х89 lo word) х88, х89 8 Absolute position/increment 3-bit value, for axis C (х8a hi word, х8b lo word) х8a, х8b 9 Start motion in given axes. 6-bit value (6 bit binary fields). in the fiels means moving in the given axis, - ignore increment, no motion. Bit axis X Bit axis Y Bit axis Z Bit 3 axis A Bit 4 axis B Bit 5 axis C Bit 5 - absolute programming, - incremental programming. x83 Set pulse/dir configuration 6 bit value ) bit...bit7 (8 bit value ) - pulse width -.6us us ) bit8...bit5 (8 bit value) pulse format, reserved 3 STEP/DIR STEP CW/ STEP CCW x84 Set Hard Limits 6-bit value x84 mycnc, CNC control and software

31 ) bit...bit9 ( bit value) input port number ) bit...bit3 (4 bit value) axis - axis X - axis Y - axis Z 3 - axis A 4 - axis B 5 - axis C axes (reserved) 3) bit 4 normally opened/closed state 4) bit 5 negative/positive limits - limit set for negative direction - limit for positive direction Example: a) Write x4 set Limit switch for axis X, negative direction, input number, opened input triggers the limit. b) Write x84 set Limit switch for axis Y, positive direction, input number, closed input triggers the limit. Multiplier ratio for Job X coordinate 3-bit value, fixed point format 8.4 (х85 hi word, х85 lo word) х85, х85 3 Multiplier ratio for Job Y coordinate 3-bit value, fixed point format 8.4 (х85 hi word, х853 lo word) х85, х853 4 Multiplier ratio for Job Z coordinate 3-bit value, fixed point format 8.4 (х854 hi word, х855 lo word) х854, х855 5 Multiplier ratio for Job A coordinate 3-bit value, fixed point format 8.4 (х856 hi word, х857 lo word) х856, х857 6 Multiplier ratio for Job B coordinate 3-bit value, fixed point format 8.4 (х858 hi word, х859 lo word) х858, х859 7 Multiplier ratio for Job C coordinate 3-bit value, fixed point format 8.4 (х85a hi word, х85b lo word) х85a, х85b 8 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 X coordinate (х85 hi word, х85 lo word) х86, х86 9 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 Y coordinate (х85 hi word, х853 lo word) х86, х863 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 Z coordinate (х854 hi word, х855 lo word) х864, х865 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 A coordinate (х856 hi word, х857 lo word) х866, х867 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 B coordinate (х858 hi word, х859 lo word) х868, х869 3 Multiplier ratio for Encoder 3-bit value, fixed point format 8.4 х86a, mycnc, CNC control and software

32 C coordinate (х85a hi word, х85b lo word) х86b 4 Read current Position X 3-bit value (х88 hi word, х88 lo word) x88, x88 5 Read current Position Y 3-bit value (х88 hi word, х883 lo word) x88, x883 6 Read current Position Z 3-bit value (х884 hi word, х885 lo word) x884, x885 7 Read current Position A 3-bit value (х886 hi word, х887 lo word) x886, x887 8 Read current Position B 3-bit value (х888 hi word, х889 lo word) x888, x889 9 Read current Position C 3-bit value (х88a hi word, х88b lo word) x88a, x88b 3 Read current motion code 8-bit value reflects Motion control current code. Codes list : 3 Idle (wait) 8 Linear interpolation 9 Arc/Spiral interpolation 8 Positioning command 9/'m' Manual/Jog motion 6/'t' PLC procedure running x9 3 Stop running program Stop program x9 3 Run Homing procedure Runs PLC procedure «HOME» x9 33 Reset Work/Machine coordinates Reset work/machine coordinates. 8-bit bit field. tells reset coordinates in thi axis, - leave unchanged. Bit reset X coordinate; Bit reset Y coordinate; Bit reset Z coordinate; Bit 3 reset Z coordinate; x93 34 Set Virtual Machine Variable 3-bit value # (var) (х98 hi word, х98 lo word) x98, x98 35 Set Virtual Machine Variable 3-bit value # (var) (х98 hi word, х983 lo word) x98, x Set Virtual Machine Variable 3-bit value # (var) (х984 hi word, х985 lo word) x984, x Set Virtual Machine Variable 3-bit value #3 (var3) (х986 hi word, х987 lo word) x986, x Set Virtual Machine Variable 3-bit value #4 (var4) (х988 hi word, х989 lo word) x988, x989 mycnc, CNC control and software

33 39 Set Virtual Machine Variable 3-bit value #5 (var5) (х98a hi word, х98b lo word) x98a, x98b 4 Set Virtual Machine Variable 3-bit value #6 (var6) (х98c hi word, х98d lo word) x98c, x98d 4 Set Virtual Machine Variable 3-bit value #7 (var7) (х98e hi word, х98f lo word) x98e, x98f 4 Set Virtual Machine Variable 3-bit value #8 (var8) (х99 hi word, х99 lo word) x99, x99 43 Set Virtual Machine Variable 3-bit value #9 (var9) (х99 hi word, х993 lo word) x99, x Set Virtual Machine Variable 3-bit value # (var) (х994 hi word, х995 lo word) x994, x Set Virtual Machine Variable 3-bit value # (var) (х996 hi word, х997 lo word) x996, x Set Virtual Machine Variable 3-bit value # (var) (х998 hi word, х999 lo word) x998, x Set Virtual Machine Variable 3-bit value #3 (var3) (х99a hi word, х99b lo word) x99a, x99b 47 Set Virtual Machine Variable 3-bit value #4 (var4) (х99c hi word, х99d lo word) x99c, x99d 48 Set Virtual Machine Variable 3-bit value #5 (var5) (х99e hi word, х99f lo word) x99e, x99f mycnc, CNC control and software